An object of the present invention is to provide a mechanism capable of achieving both convenience and safety in surgery performed by inserting an endoscope into a human body. A plurality of links are connected by an articulation part, and a multi-joint arm to which an endoscope can be connected at the tip, a virtual surface is set in a body cavity of a patient, and a predetermined surface of the endoscope in the body cavity is set. A control unit that controls the articulated arm so as to constrain the point on the virtual plane. [Selection] Figure 1【課題】人体内部に内視鏡を挿入して行う手術に関し、利便性と安全性の確保とを両立させることが可能な仕組みを提案する。【解決手段】複数のリンクが関節部により連結され、先端に内視鏡を連結可能な多関節アームと、患者の体腔内に仮想面を設定し、前記内視鏡のうち前記体腔内の所定の点を前記仮想面上に拘束するように前記多関節アームを制御する制御部と、を備える医療用アームシステム。【選択図】図１
