Medical manipuplator system

A medical manipulator system comprising:

• an endoscope having respective proximal end and a free tip end defined by an elongated insertion portion, the elongated insertion portion configured to be inserted into an insertion hole formed through a body of a patient, which the free tip end of the endoscope being disposed inside the body of the patient and the proximal end is disposed outside the body of the patient, respectively;
• a holder assembly having an articulated arm carrying the endoscope attached thereto and being actuated following movement of the endoscope and holds the endoscope in a stationary state at a desired position;
• a detection unit detects positions and attitudes of the elongated insertion portion in plurality states into which the endoscope being caused to swing about a constraint point;
• and
• a constraint point estimation unit estimates a position of the constraint point based on the positions and attitudes of the insertion portion as detected by the detection unit and wherein the medical manipulator system being capable of correcting movement of the insertion hole relative to reference coordinates of the medical manipulator without using any jig while maintaining an insertion portion of the endoscope in a state of being kept inserted in the insertion hole.