[Problem] To prevent sight of an observation target from being lost from a visual field of a monitor.[Solution] A surgical arm system includes: an articulated arm in which a plurality of joints is rotatably connected by a plurality of links and which is capable of supporting an oblique-viewing endoscope at a tip； and a control system which controls the articulated arm to change a position and a posture of the oblique-viewing endoscope. The control system controls at least one of a rotation speed and a movement speed of the oblique-viewing endoscope in a visual field imaged through the oblique-viewing endoscope based on a position of the observation target in the visual field.
