A treatment assistance apparatus , comprising: a base ; a first joint of which one side is coupled to the base to relatively move; a first arm of which one end is rotatably coupled to the other side of the first joint; a second joint of which one side is rotatably coupled to the other end of the first arm; an adapter arm of which one end is coupled to a first adapter to relatively move, and the first adapter is rotatably coupled to the other side of the second joint; a first driving part disposed in the first joint and configured to rotate the first arm; a second driving part disposed in the second joint and configured to rotate the adapter arm; a pressure part configured to constrain or release a relative motion of the first adapter; and a controller configured to control the first driving part, the second driving part and the pressure part, wherein the first adapter is coupled to the adapter arm by a ball joint, and is constrained by a first elastic body, and is released as the pressure part operates by the controller, and wherein the treatment assistance apparatus further comprises a sensor configured to detect pressure; wherein the controller controls the first driving part, the second driving part and the pressure part based on a pressure value detected by the sensor; wherein the controller, when the pressure detected by the sensor is less than a preset value, controls the first driving part and the second driving part, so that the other side of the second joint is to be positioned at a third position that is preset in order for the other side of the second joint to be farther from the base. a base ; a first joint of which one side is coupled to the base to relatively move; a first arm of which one end is rotatably coupled to the other side of the first joint; a second joint of which one side is rotatably coupled to the other end of the first arm; an adapter arm of which one end is coupled to a first adapter to relatively move, and the first adapter is rotatably coupled to the other side of the second joint; a first driving part disposed in the first joint and configured to rotate the first arm; a second driving part disposed in the second joint and configured to rotate the adapter arm; a pressure part configured to constrain or release a relative motion of the first adapter; and a controller configured to control the first driving part, the second driving part and the pressure part, wherein the first adapter is coupled to the adapter arm by a ball joint, and is constrained by a first elastic body, and is released as the pressure part operates by the controller, and wherein the treatment assistance apparatus further comprises a sensor configured to detect pressure; wherein the controller controls the first driving part, the second driving part and the pressure part based on a pressure value detected by the sensor; wherein the controller, when the pressure detected by the sensor is less than a preset value, controls the first driving part and the second driving part, so that the other side of the second joint is to be positioned at a third position that is preset in order for the other side of the second joint to be farther from the base. <EOS>