Provided is a manipulator system (1) including: a manipulator (3) provided with an elongated insertion section, a movable section disposed at a distal end of the insertion section, 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 (5) with which an operation input to the manipulator (3) is input; a control unit (6) for controlling the drive unit on the basis of the operation input that has been input; an endoscope; an overtube (4) having a first channel through which the endoscope passes and a second channel through which the manipulator (3) passes; and an endoscope-rotational-angle calculation unit for calculating a shifted angle of the endoscope relative to the first channel about a longitudinal axis, wherein, on the basis of the shifted angle, the movable section is rotated relative to the second channel about the longitudinal axis thereof to match 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.