PROBLEM TO BE SOLVED: To provide a surgery assist device capable of controlling an attitude of a mechanically-controlled surgical instrument using a surgical instrument for treatment, while suppressing influence of intuitive and measurement errors.SOLUTION: The surgery assist device for controlling an attitude of a surgical instrument inserted from a first hole of an abdominal wall into a body cavity and mechanically driven, includes: measurement means that measures an insertion depth and insertion angle of a member inserted from a second hole of the abdominal wall into the body cavity a joint part whose position in the cavity is specified by the insertion depth and insertion angle of the surgical instrument and calculation means that, on the surgical instrument including a portion being movable at one or more degree of freedom by the joint part, determines a target position of a control object point for controlling mobility of the portion with a position of the joint part defined as a reference, on the basis of a measurement result by the measurement means. The calculation means determines the target position of the control object point according to variations in the insertion angle and insertion depth of the member from a first reference time when the control of the mobility of the portion with the point of the joint part defined as the reference, is started.SELECTED DRAWING: Figure 3【課題】機械的に制御される術具の姿勢を、処置のための術具を用いて直感的かつ計測誤差の影響を抑制しながら制御することが可能な手術支援装置を提供する。【解決手段】本発明に係る手術支援装置は、腹壁の第1の穴から体腔に挿入され且つ機械的に駆動される術具の姿勢を制御する手術支援装置であって、腹壁の第2の穴から体腔に挿入される部材の挿入深度及び挿入角度を計測する計測手段と、術具の挿入深度及び挿入角度によって体腔内の位置が特定される関節部と、関節部により1以上の自由度で可動する部分とを含む術具について、関節部の位置を基準とした部分の可動を制御するための被制御点の目標位置を、計測手段による計測結果に基づいて決定する演算手段と、を有する。そして当該演算手段は、関節部の位置を基準とした部分の可動の制御が開始される第1の基準時刻からの部材の挿入深度及び挿入角度の変化量に応じて、被制御点の目標位置を決定する。【選択図】図3
