Manipulator system

A manipulator system comprising:

• a manipulator having an insertion section that includes an elongated flexible section with flexibility and that includes a bending section provided at a distal end of the flexible section, a treatment tool inserted in the insertion section along a longitudinal direction thereof, and a treatment-tool drive unit that causes the treatment tool to undergo advancement/retraction motion and rotational motion in the insertion section;
• an operation input unit via which an operator inputs an operating instruction to the treatment tool;
• a flexible-section shape detecting unit that detects a curved shape of the flexible section;
• a bending-section shape detecting unit that detects a curved shape of the bending section;
• a control unit that generates an advancement/retraction control signal and a rotation control signal for driving the treatment-tool drive unit according to the operating instruction input via the operation input unit;
• and
• a compensation-value setting unit that sets a compensation value for each of the advancement/retraction control signal and the rotation control signal on the basis of the curved shape of the flexible section detected by the flexible-section shape detecting unit and the curved shape of the bending section detected by the bending-section shape detecting unit,
• wherein the control unit corrects the advancement/retraction control signal and the rotation control signal with the compensation values set by the compensation-value setting unit and transmits the advancement/retraction control signal and the rotation control signal to the treatment-tool drive unit.