[Problem] To enhance usability for users and reduce the burden on users. [Solution] Provided is a medical robot arm device comprising: a plurality of joint sections that connect a plurality of links, and that achieve at least six degrees of freedom in driving a multi-link structure constituted by said plurality of links; and a drive control section that controls the driving of said joint sections on the basis of the state of said joint sections. A front-end unit attached to the front end of said multi-link structure comprises at least one medical tool.
MEDICAL ROBOT ARM DEVICE, MEDICAL ROBOT ARM CONTROL SYSTEM, MEDICAL ROBOT ARM CONTROL METHOD, AND PROGRAM