The invention has for its object to provide a manipulator and manipulator system in which a dynamic surplus is rapidly removed and a moving assembly actuates rapidly in association with the operation of an operating assembly. The manipulator 1 includes an operating assembly 2 operated by an operator, a moving assembly 3 operated by the operating assembly 2, a transmitting assembly 4 for coupling the operating assembly 2 to the moving assembly 3 to transmit driving force of the operating assembly 2 to the moving assembly 3, and a transmission compensating assembly 6 for making up for a dynamic surplus occurring in the transmitting assembly 4 in association with the operation of the operating assembly 2.

A manipulator and manipulator system in which a dynamic surplus is rapidly removed and a moving part actuates rapidly in association with the operation of an operating part. The manipulator includes an operating part operated by an operator, a moving part operated by the operating part, a transmitting part for coupling the operating part to the moving part to transmit driving force of the operating part to the moving part, a transmission compensating part for making up for a dynamic surplus occurring in the transmitting part in association with the operation of the operating part, an input part for acquiring a state of at least one of the operating, moving and transmitting part, and a control unit for controlling the transmission compensating part depending on the state acquired by the input part.

A medical manipulator system including: a manipulator with a flexible insertion portion, a movable part at a distal end of the insertion portion, a detachable drive unit at a proximal end of the insertion portion, and a pair of tension transmission members transmitting a driving force generated in the drive unit to move the movable part; an input unit inputting an operation command for the manipulator; and a control unit controlling the drive unit based on the input operation command, the drive unit having a displacement sensor detecting displacement direction and amount of the tension transmission members and a tension-difference sensor detecting a tension difference between the tension transmission members, the control unit has a storage unit storing characteristics of the tension transmission members and a setting unit setting a control parameter for controlling the drive unit based on the characteristics and the detected tension difference, displacement amount and direction.