A reconfigurable robot system employing a base actuator (11), an instrument actuator (12), an end-effector (13) and arm sets (14, 15). Each arm set (14, 15) is operable to successively adjoin the base actuator (11), the instrument actuator (12) and the end-effector (13) into an arc configuration for moving the instrument as held by the end-effector (13) relative to a remote center of motion responsive to the base actuator (11) generating the rotational motion along a primary axis and/or the instrument actuator (12) generating the rotational motion along a secondary axis. Each arc configuration defines the remote center of motion as an intersection of the primary axis, the secondary axis and the longitudinal axis. The arm sets (14, 15) are partially or fully interchangeable for reconfiguring the arc configuration of the base actuator (11), the instrument actuator (12) and the end-effector (13).
