PROBLEM TO BE SOLVED: To simultaneously achieve suppression of an operation related to entry into a predetermined area and improvement of operability of an arm related to movement to a desired position in a suitable mode. A medical arm system according to an embodiment includes an articulated structure that holds a medical instrument, a predetermined point on the medical instrument, and a virtual boundary that is set in a real space and has an opening. And a control unit that controls the operation of the multi-joint structure according to the spatial positional relationship of. [Selection diagram] Figure 1【課題】所定の領域への進入に係る操作の抑制と、所望の位置への移動に係るアームの操作性向上と、を好適な態様で両立可能とする。【解決手段】実施形態に係る医療用アームシステムは、医療器具を保持する多関節構造体と、前記医療器具上の所定の点と、実空間内に設定され、かつ開口部を有する仮想境界との空間的な位置関係に応じて前記多関節構造体の動作を制御する制御部とを備える。【選択図】図１
