CPC A61B 90/50 (2016.02) [A61B 1/00149 (2013.01); A61B 34/30 (2016.02); A61B 34/70 (2016.02); A61B 90/361 (2016.02); A61B 17/00234 (2013.01); A61B 2034/301 (2016.02); A61B 2034/305 (2016.02)] | 19 Claims |
1. A medical arm system, comprising:
a multi-joint arm that includes:
a plurality of links connected by joints; and
a distal end to which an endoscope is connectable; and
a control unit configured to:
set, as a movable region of the endoscope connected to the multi-joint arm, a region distant by a specific distance from an organ in a body cavity of a body;
set a boundary of the movable region as a virtual plane in the body cavity; and
control the multi-joint arm to constrain a specific point of the endoscope on the virtual plane.
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