Control system, control method, and surgical arm system

A control method for controlling a surgical arm device, comprising:

• acquiring, using processing circuitry, inclination information of the surgical arm device, the inclination information resulting from inclination of an operating table to which the surgical arm device is attached;
• calculating, using the processing circuitry, a correct direction of gravity force based on the inclination information;
• setting, using the processing circuitry, a computational condition including gravity compensation that compensates for the gravity force in the calculated correct direction of the gravity force;
• calculating, using the processing circuitry, a command value to the surgical arm device according to the computational condition;
• and
• issuing, using the processing circuitry, the command value to the surgical arm device.

A surgical arm system comprising:

• a multi-link structural body in which a plurality of links is coupled by a joint;
• and
• processing circuitry configured to
• acquire inclination information of the multi-link structural body, the inclination information resulting from inclination of an operating table to which the multi-link structural body is attached,
• calculate a correct direction of gravity force based on the inclination information,
• set a computational condition including gravity compensation that compensates for the gravity force in the calculated correct direction of the gravity force,
• acquire a state of the joint,
• calculate a command value to the multi-link structural body according to the computational condition and the state of the joint, and
• control driving of the joint according to the calculated command value.