Manipulator system

A manipulator system comprising:

• a manipulator including an elongated insertion section, a movable section that is disposed at a distal end of the insertion section and that has an end effector at a distal end thereof, and a drive unit that is disposed at a proximal end of the insertion section and that drives the movable section;
• an operation input unit with which an operation input to the manipulator is input;
• a control unit for controlling the drive unit on the basis of the operation input that is input with the operation input unit;
• an endoscope;
• an overtube having a first channel through which the endoscope is made to pass and a second channel through which the manipulator is made to pass;
• and
• an endoscope-rotational-angle calculation unit for calculating, on the basis of the position of the movable section in an image acquired with the endoscope, a shifted angle of the endoscope relative to the first channel about a longitudinal axis,
• wherein the up/down direction of a coordinate system fixed to the endoscope and the up/down direction of a coordinate system fixed to the movable section are made to match by rotating the movable section relative to the second channel about the longitudinal axis thereof on the basis of the shifted angle calculated by the endoscope-rotational-angle calculation unit.