In order to improve work efficiency of inserting manipulators into proximal ends of an over tube, a medical manipulator system includes: manipulators having, at the proximal ends, proximal-end driving parts; an over tube having channels through which the manipulators pass; and a base provided with support parts to which proximal end parts of the over tube are attached, and driving sources that supply driving force to the proximal-end driving parts, wherein each support part includes a movable part movable between a first position where the longitudinal axis of the proximal end part is supported horizontally and a second position where the proximal end is supported at a further position from the top surface, and an urging part that moves the movable part to the second position during the proximal-end driving part is not connected to the driving source.