A kind of robot system uses the multiple operating robots (20) and surgical procedure controller (22) for executing surgical procedure in the anatomical structure (for example, heart) in anatomic region (for example, chest area). In operation, controller (22) by based on for executing the surgical procedure in the anatomical structure surgical planning (such as, assemble ablation plan, it includes the endocardial ablation plan of the epicardial ablation plan for melting the outside of heart and the inside for melting the heart) guide each operating robot (20) to correct the surgical planning in the navigation in the anatomic region and also by the partially or completely disability being navigated in the anatomic region based on the surgical planning relative to the anatomical structure in response to one or more of described operating robot (20) relative to the anatomical structure, automatically to control navigation of each operating robot (20) relative to the anatomical structure in the anatomic region.
