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

A medical robot arm control method comprising:

• detecting states of a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom in a multi-link structure configured with the plurality of links;
• and
• controlling, using a drive control circuit, the plurality of joint units based on states of the plurality of joint units and a purpose of motion of the multi-link structure, wherein
• an imager is supported by the multi-link structure, and
• the purpose of motion is a movement in which the imager photographs a point and continues to photograph the same point through and after a movement of the imager to a different position in space during which a distance between the imager and the point in the space is maintained constant, the movement caused by an application of an external force by a user.

A non-transitory computer readable medium including executable instructions, which when executed by a computer cause the computer to execute a medical robot arm control method, the method comprising:

• detecting states of a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom in a multi-link structure configured with the plurality of links;
• and
• controlling the plurality of joint units based on states of the plurality of joint units and a purpose of motion of the multi-link structure, wherein
• an imager is supported by the multi-link structure, and
• the purpose of motion is a movement in which the imager photographs a point and continues to photograph the same point through and after a movement of the imager to a different position in space during which a distance between the imager and the point in the space is maintained constant, the movement caused by an application of an external force by a user.

A medical robot arm apparatus comprising:

• a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom in a multi-link structure configured with the plurality of links;
• a drive control circuit configured to control the plurality of joint units based on states of the plurality of joint units and a purpose of motion of the multi-link structure;
• and
• an imager configured to be supported by the multi-link structure, wherein the purpose of motion is a movement in which the imager photographs a point and continues to photograph the same point through and after a movement of the imager to a different position in space during which a distance between the imager and the point in the space is maintained constant.