Using farthest end the treatment section provided at the tip end of the manipulator is when viewed from the fixed end of the manipulator, operation of performing treatment of a target tissue to be treated subject while observing the image pickup unit A support system having a plurality of joints corresponding to a plurality of degrees of freedom, with the manipulator includes at least two redundant joints in mutually redundant relationship among the plurality of joints, the plurality of degrees of freedom an operation section for giving a corresponding operation information, and the target tissue or the treatment portion, and a positional relationship calculation unit for calculating a switching positional relationship between the imaging unit, a control for controlling the operation of the joint in accordance with the operation information comprising a unit and the control unit, based on the switching position relationship, as one of the driving joints of the at least two redundant joints, and controls the manipulator to the rest of the at least two redundant joint as a fixed joint , surgery support system.マニピュレータの固定端から見た場合の最も遠い端部である前記マニピュレータの先端側に設けられた処置部を用いて、撮像部で観察しながら処置対象となる対象組織の処置を行う手術支援システムであって、複数の自由度に対応した複数の関節を有し、該複数の関節の中に互いに冗長関係にある少なくとも2つの冗長関節が含まれる前記マニピュレータと、前記複数の自由度に対応した操作情報を与える操作部と、前記対象組織または前記処置部と、前記撮像部との間の切替え位置関係を算出する位置関係算出部と、前記操作情報に従って前記関節の動作を制御する制御部と、を備え、前記制御部は、前記切替え位置関係に基づいて、前記少なくとも2つの冗長関節の1つを駆動関節として、前記少なくとも2つの冗長関節の残りを固定関節として前記マニピュレータを制御する、手術支援システム。
