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|1. (WO2017169096) MEDICAL SUPPORT ARM CONTROL DEVICE, MEDICAL SUPPORT ARM DEVICE CONTROL METHOD, AND MEDICAL SYSTEM|
|Title:||MEDICAL SUPPORT ARM CONTROL DEVICE, MEDICAL SUPPORT ARM DEVICE CONTROL METHOD, AND MEDICAL SYSTEM|
The purpose of the invention in the present application is to provide a control device for a medical support arm for applying restrictions on the movement of the medical support arm device. This control device (20) for a medical support arm is provided with: a position-acquiring subsection (241) for detecting the spatial position of the action point on a multi-link structure (120) configured by connecting multiple links by joint sections; a comparing part (270) for comparing a previously set allowed movement area for said action point with said spatial position; and a movement-restricting part (272) for restricting the movement of the action point on the basis of the results of the comparison. As a result of said configuration, it is possible to apply restrictions on the movement of the medical support arm device.