Medical robot arm apparatus, medical robot arm control system, medical robot arm control method, and program

A surgical imaging system comprising:

• a multi-link, multi-joint structure including a plurality of joints that interconnect a plurality of links to provide the multi-link, multi-joint structure with a plurality of degrees of freedom, at least one video camera being disposed on a distal end of the multi-link, multi-joint structure, the at least one video camera configured to capture a three-dimensional (3D), optically magnified image having a resolution of at least 3840×2160 pixels (4K resolution);
• at least one actuator that drives at least one of the plurality of joints;
• at least one display having a resolution of at least 3840×2160 pixels (4K resolution) that displays the 3D, optically magnified, 4K resolution image captured by the video camera;
• and
• circuitry configured to:
• control the at least one actuator such that a motion of the multi-link, multi-joint structure enables the video camera to maintain aim at a point, which is away from the video camera by a focal length, during movement of the video camera, and
• control the video camera to autofocus the 3D, optically magnified, 4K resolution image captured by the video camera aimed at the point.