A surgical system comprising: a surgical mechanical arm comprising a plurality of surgical arm sections sequentially coupled by surgical arm joints an input arm comprising: a plurality of input arm sections sequentially coupled by input arm joints and an elongate handle: sized and shaped to be held between a human adults thumb and one or more finger, coupled to a distal end of said input arm by a flexion joint and extending proximally with respect to a most distal input arm section so a user grasping said handle bends said flexion joint to hold said handle above other portions of the input arm at least one sensor configured to measure movement of one or more of said sections and circuitry configured to receive a measurement signal from said at least one sensor and to generate a control signal, based on said measurement signal for control of movement of said surgical mechanical arm.
