Medical imaging apparatus, learning model generation method, and learning model generation program

A medical arm system comprising:

• a medical articulating arm provided with an endoscope at a distal end portion thereof;
• and
• control circuitry configured to
• predict future movement information for the medical articulating arm using a learned model generated based on learned previous movement information from a prior non-autonomous trajectory of the medical articulating arm performed in response to operator input and using current movement information for the medical articulating arm,
• generate control signaling to autonomously control movement of the medical articulating arm in accordance with the predicted future movement information for the medical articulating arm, and
• autonomously control the movement of the medical articulating arm in accordance with the predicted future movement information for the medical articulating arm based on the generated control signaling.