In a medical manipulator configured to have a manipulation unit including a first input unit and a second input unit that are exchangeable, a signal generation unit configured to process an input with respect to the manipulation unit based on a predetermined process condition and to generate a manipulation signal, an operating unit configured to be operated by the manipulation signal, and a detection unit configured to recognize a type of a used input unit, the process condition corresponded to the first input unit and the process condition corresponded to the second input unit differ, and the signal generation unit generates the manipulation signal based on the process condition corresponded to the input unit recognized by the detection unit.