Medical manipulator system and control method and processor for medical manipulator system

Abstract

A medical manipulator system includes a medical manipulator comprising a bending portion, an actuator configured to bend the bending portion, a controller comprising an interface configured to which a bending manipulation for bending the bending portion is input, and configured to detect a movement amount of the interface, and a processor configured to control the actuator. The processor calculates displacement of a bending amount of the bending portion for a reference bending amount and causes the actuator to be driven on the basis of a ratio of a second bending amount to the movement amount of the interface calculated so that a difference between a first bending amount calculated on the basis of a driving amount of the actuator and the second bending amount calculated on the basis of the movement amount of the interface is eliminated.