Patent ID: 9539059
Date: 2017-01-10
CPC Classifications: A61B,B25J,G05B

Claim:
1. 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 driving of a multi-link structure configured with the plurality of links; and a drive control circuit configured to control driving of the joint units based on states of the joint units, wherein a front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus, wherein the drive control circuit controls the driving of the joint units based on a control value acquired based on the detected states of the plurality of joint units, a purpose of motion, and a constraint condition of the multi-link structure, and wherein the purpose of motion is a turning movement in which the front edge unit installed at the front edge of the multi-link structure moves on a plane of a cone having a point as an apex in a state in which a direction of the front edge unit is fixed on the point in a space, and an axis of the cone is used as a pivot axis.