Medical manipulator system

A medical manipulator system comprising:

• a manipulator that is provided with a flexible insertion portion, a movable part that is provided at a distal end of the insertion portion, a drive unit that is detachably provided at a proximal end of the insertion portion and that generates a driving force, and a pair of tension transmission members that transmits the driving force generated in the drive unit by means of tensions to move the movable part in forward and reverse directions;
• an operation-information input unit for inputting an operation command for the manipulator;
• and
• a control unit that controls the drive unit on the basis of the operation command input by the operation-information input unit,
• wherein the drive unit is provided with a displacement sensor that detects a displacement direction and a displacement amount of the tension transmission members, and a tension-difference sensor that detects a tension difference between the pair of tension transmission members, and
• the control unit is provided with a storage unit that stores characteristics of the tension transmission members, and a parameter setting unit that sets a control parameter for controlling the drive unit on the basis of the characteristics stored in the storage unit, the tension difference detected by the tension-difference sensor, and the displacement amount and the displacement direction detected by the displacement sensor.