Provided is a medical robot arm apparatus including a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom in driving of a multi-link structure configured with the plurality of links, and a drive control unit configured to control driving of the joint units based on states of the joint units. A front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus.

A medical observation apparatus (10) includes an imaging section (140), an arm section (110), and a control section (210). The imaging section (140) captures an observation target. The arm section (110) includes multiple links and joint sections (130) that join the links to each other, and supports the imaging section (140). The control section (210) controls a torque that drives the joint sections (130). When a surgeon imparts an external force to the arm section (110) or the imaging section (140), a torque (external torque) due to the external force acts on the joint sections (130). When a torque detection section (134) of the joint sections (130) detects the external torque, the control section (210) outputs a torque command value () such that a joint driving section (131) produces a torque in the same direction as the external torque. The torque command value () includes a component that cancels out a torque that a cable (495) twisted inside the joint sections (130) produces due to a restoring force. As a result, the surgeon is able to rotate the joint sections (130) as intended by imparting just a small external torque to the joint sections (130).

Provided is a medical robot arm apparatus including a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom in driving of a multi-link structure configured with the plurality of links, and a drive control unit configured to control driving of the joint units based on states of the joint units. A front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus.

Provided is a surgical imaging apparatus that includes a multi-link, multi-joint structure including a plurality of joints that interconnect a plurality of links to provide the multi-link, multi-joint structure with a plurality of degrees of freedom, at least one video camera being disposed on a distal end of the multi-link, multi-joint structure; at least one actuator that drives at least one of the plurality of joints; and circuitry that detects a joint force experienced at the at least one of the plurality of joints in response to an applied external force, and controls the at least one actuator based on the joint force so as to position the video camera.

Provided is a medical robot arm apparatus including a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom in driving of a multi-link structure configured with the plurality of links, and a drive control unit configured to control driving of the joint units based on states of the joint units. A front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus.