A control device for surgical system that controls a surgical tool attached to a slave arm in accordance with manipulation input values for a position and an orientation from a remote control device, comprising a control unit that stores setting information for setting the position and the orientation of a first target portion of the surgical tool, corrects the manipulation input values in accordance with the setting information, and controls a position and an orientation of a post-correction second target portion of the surgical tool in compliance with corrected manipulation input values.