PROBLEM TO BE SOLVED: To provide a medical instrument and a medical support arm device that enable contact force to be detected with a higher degree of precision.SOLUTION: A medical instrument includes at least one movable unit for executing predetermined processing for a biological tissue of a patient, a driving unit provided closer to a base end side than the movable unit for operating the movable unit, and a force sensor 107 provided between the driving unit and the movable unit for detecting contact force in the movable unit. Transmission of driving force from the driving unit to the movable unit is performed using the force or moment in a direction that detection priority in the force sensor is low.SELECTED DRAWING: Figure 3COPYRIGHT: (C)2017,JPO&INPIT【課題】より精度良く接触力を検出することを可能にする医療用器具及び医療用支持アーム装置を提供する。【解決手段】患者の生体組織に対して所定の処理をするための少なくとも1つの可動部と、可動部よりも基端側に設けられ、可動部を動作させる駆動部と、駆動部と可動部との間に設けられ、可動部における接触力を検出する力センサ107と、を備え、力センサにおける検出の優先度が低い方向の力又はモーメントを用いて、駆動部から可動部への駆動力の伝達が行われる、医療用器具を提供する。【選択図】図3
