A surgical system is disclosed, which comprises at least one electromechanical arm (200) selectively coupleable to a fixture, the at least one electromechanical arm (200) comprising a redundant degree of freedom comprising a combination of one or more electromechanical joints configured to permit motion of the at least one electromechanical arm while preserving a remote center substantially fixed in space. The redundant degree of freedom and a fixture permit repositioning of the at least one electromechanical arm (200) relative to a patient (2) on the bed, to increase free space around the patient and thereby enable a user (1) to stand adjacent the bed and simultaneously control the electromechanical tool (300) via the at least one portable user interface device and a manual tool (350).
