The present invention relates to a joint motion control apparatus. According to one aspect of the invention, there is provided a joint motion control apparatus, comprising: an annular unit and a rotating unit to guide and fix a wire such that the wire causes joint motion of an instrument according to the rotation thereof, wherein the annular unit comprises a first fixing unit and a second fixing unit, and wherein the rotating unit carries out sliding operation in a pitch or yaw direction via a sliding assistance member disposed with respect to the first or second fixing unit.
