A master-slave manipulator comprising: a slave manipulator with joints (203, 204, 205, 206, 207, 208; 202, 203, 204, 205, 206, 207, 208; 202a, 202b, 203, 204, 205, 206, 207, 208) including multiple degrees of freedom; a master operation input device which allows an operator to uniquely input a position and an orientation, comprising a first operation unit configured to output the position and orientation, and a second operation unit (102; 102, 103; 1021; 1021, 103; 1022; 1022, 103; 1023; 1023, 103; 102b, 102a; 102b, 102a, 103; 1022, 1021, 102, 1023; 1022, 1021, 102, 1023, 103) pivotally fastened to the first operation unit and including at least a joint (102; 1021; 1022; 1023; 102b, 102a; 1022, 1021, 102, 1023) configured to output value of the joint (102; 1021; 1022; 1023; 102b, 102a; 1022, 1021, 102, 1023) independently with the output of the first operation unit; and a control unit configured to calculate a first driving amount of each joint (203, 204, 205, 206, 207, 208; 202, 203, 204, 205, 206, 207, 208; 202a, 202b, 203, 204, 205, 206, 207, 208) of the slave manipulator by using the position and orientation of the second operation unit (102; 102, 103; 1021; 1021, 103; 1022; 1022, 103; 1023; 1023, 103; 102b, 102a; 102b, 102a, 103; 1022, 1021, 102, 1023; 1022, 1021, 102, 1023, 103) as a position/orientation input command value for the end of the slave manipulator, to determine whether the slave manipulator has a redundant joint, to generate a first joint driving command value based on the first driving amount, and to control the slave manipulator in accordance with the first joint driving command value, when the slave manipulator includes no redundant joint, and configured to calculate a second driving amount of each joint (203, 204, 205, 206, 207, 208; 202, 203, 204, 205, 206, 207, 208; 202a, 202b, 203, 204, 205, 206, 207, 208) of the slave manipulator by using the position and orientation from the first operation unit as a position/orientation input command value for the end of the slave manipulator hypothetically including no redundant joint i.e. on the assumption that the distal end of the redundant joint is a fixed joint, to generate a second joint driving command value including a driving amount of the joint (102; 1021; 1022; 1023; 102b, 102a; 1022, 1021, 102, 1023) of the second operation unit (102; 102, 103; 1021; 1021, 103; 1022; 1022, 103; 1023; 1023, 103; 102b, 102a; 102b, 102a, 1031022, 1021, 102, 1023; 1022, 1021, 102, 1023, 103) and the second joint driving amount, and to control the slave manipulator in accordance with the second joint driving command value, when the slave manipulator includes at least a redundant joint. a slave manipulator with joints (203, 204, 205, 206, 207, 208; 202, 203, 204, 205, 206, 207, 208; 202a, 202b, 203, 204, 205, 206, 207, 208) including multiple degrees of freedom; a master operation input device which allows an operator to uniquely input a position and an orientation, comprising a first operation unit configured to output the position and orientation, and a second operation unit (102; 102, 103; 1021; 1021, 103; 1022; 1022, 103; 1023; 1023, 103; 102b, 102a; 102b, 102a, 103; 1022, 1021, 102, 1023; 1022, 1021, 102, 1023, 103) pivotally fastened to the first operation unit and including at least a joint (102; 1021; 1022; 1023; 102b, 102a; 1022, 1021, 102, 1023) configured to output value of the joint (102; 1021; 1022; 1023; 102b, 102a; 1022, 1021, 102, 1023) independently with the output of the first operation unit; and a control unit configured to calculate a first driving amount of each joint (203, 204, 205, 206, 207, 208; 202, 203, 204, 205, 206, 207, 208; 202a, 202b, 203, 204, 205, 206, 207, 208) of the slave manipulator by using the position and orientation of the second operation unit (102; 102, 103; 1021; 1021, 103; 1022; 1022, 103; 1023; 1023, 103; 102b, 102a; 102b, 102a, 103; 1022, 1021, 102, 1023; 1022, 1021, 102, 1023, 103) as a position/orientation input command value for the end of the slave manipulator, to determine whether the slave manipulator has a redundant joint, to generate a first joint driving command value based on the first driving amount, and to control the slave manipulator in accordance with the first joint driving command value, when the slave manipulator includes no redundant joint, and configured to calculate a second driving amount of each joint (203, 204, 205, 206, 207, 208; 202, 203, 204, 205, 206, 207, 208; 202a, 202b, 203, 204, 205, 206, 207, 208) of the slave manipulator by using the position and orientation from the first operation unit as a position/orientation input command value for the end of the slave manipulator hypothetically including no redundant joint i.e. on the assumption that the distal end of the redundant joint is a fixed joint, to generate a second joint driving command value including a driving amount of the joint (102; 1021; 1022; 1023; 102b, 102a; 1022, 1021, 102, 1023) of the second operation unit (102; 102, 103; 1021; 1021, 103; 1022; 1022, 103; 1023; 1023, 103; 102b, 102a; 102b, 102a, 1031022, 1021, 102, 1023; 1022, 1021, 102, 1023, 103) and the second joint driving amount, and to control the slave manipulator in accordance with the second joint driving command value, when the slave manipulator includes at least a redundant joint.