A medical procedure assist device comprises an articulated robot that has an articulated arm with a plurality of arms connected by joints, a position identifying unit (S130, S210), a region setting unit (S150), a tip position identifying unit (S190), and a controlling unit (S290). The position identifying unit (S130, S210) identifies a treatment site representing the location of a site on a patient where the medical procedure is to be performed. The region setting unit (S150) sets, using the treatment site identified by the position identifying unit as a reference point, a movement prohibited region that is outside of a movement permitted region in which the tip of the articulated arm can move during implementation of the medical procedure and that represents a region into which the tip of the articulated arm is prohibited from entering. The tip position identifying unit (S190) identifies the tip position representing the position of the tip of the articulated arm. The controlling unit (S290) executes safety controls to improve the safety of the medical procedure when the tip position identified by the tip position identifying unit (S190) moves into the movement prohibited region set by the region setting unit (S150).
