Medical support arm device and method of controlling medical support arm device

A medical support arm device comprising:

• a medical device configured to be used in a medical procedure on a patient;
• a multi joint arm having a distal end to which the medical device is disposed configured to have a higher degree of freedom than a degree of freedom necessary for controlling a spatial position and a pointing direction of the medical device;
• and
• control circuitry configured to
• control a driving of a plurality of joint units of the multi-joint arm,
• set a visual field area between an operator and a display, and
• displace at least one of a plurality of joints of the multi-joint arm so that the multi-joint arm avoids the visual field area while the spatial position and the pointing direction of the medical device are controlled, wherein
• in the multi joint arm, when a spatial position and a pointing direction of the distal end of the multi joint arm is controlled, the spatial position and the orientation of the medical device are controlled, and
• the multi joint arm is configured to change a pointing direction and a spatial position of the multi joint arm when the spatial position and the pointing direction of the medical device are controlled.

A method of controlling a medical support aim device comprising:

• controlling, by processing circuitry, driving of a multi joint arm to that a spatial position and a pointing direction of the multi joint arm is changeable when a spatial position and a pointing direction of a medical device are controlled when driving of a plurality of joints of the multi-joint arm are controlled, wherein movement of the multi-joint arm has a higher degree of freedom than a degree of freedom necessary for controlling the spatial position and the pointing direction of the medical device provided at a distal end of the multi-joint arm;
• setting a visual field area between an operator and a display;
• and
• displacing at least one of a plurality of joints of the multi-joint arm so that the multi-joint arm avoids the visual field area while the spatial position and the pointing direction of the medical device are controlled.