MEDICAL ROBOT SYSTEM, MEDICAL ROBOT CONTROL METHOD, AND MEDICAL ROBOT CONTROL DEVICE

This medical manipulator system is provided with: a medical manipulator having a bending section and a bending line for bending the bending section; an actuator that bends the bending part by driving the bending wire; a sensor that detects the tension of the bending wire; and a control device that controls the actuator, the bending wires having a pair of first bending wires that bend the bending portion in a first direction, the control device performing a first tension control when a tension difference between the pair of first bending wires is greater than a first threshold value, and performing a second tension control when a tension difference between the pair of first bending wires is greater than a second threshold value. The first tension control is a control for driving at least one of the pair of first curved wires such that the tension difference becomes equal to or less than the first threshold value. 医疗用机械手系统具有：医疗用机械手，其具有弯曲部和使所述弯曲部弯曲的弯曲线；致动器，其通过驱动所述弯曲线而使所述弯曲部弯曲；传感器，其检测所述弯曲线的张力；以及控制装置，其控制所述致动器，所述弯曲