| 摘要 |
This medical treatment assistance system is provided with: a multi-joint robot (32) having a multi-joint arm in which multiple arms are connected via joints; and a robot control unit (50). The robot control unit specifies a position of interest that indicates the position of a site of a patient where a medical treatment is to be performed (S130), and further specifies an arm motion state that represents the trajectory of the multi-joint arm in the medical treatment and the movable range of the multi-joint arm in the medical treatment (S140). Then, the robot control unit specifies a reference arrangement position at which a base point, which is a reference point for the motion of the multi-joint arm, is set on the basis of the relative positional relationship between the specified site of interest and the arm motion state so that a smooth movement state in which the multi-joint arm of the multi-joint robot can smoothly move is ensured in the medical treatment (S150). |
