A robotic surgery method includes coupling a first element of a fluoroscopic imaging system to a first robotic arm fixed relative to an operating room. The first robotic arm includes a mounting fixture configured to be interchangeably coupled to a surgical tool and the first element of the fluoroscopic imaging system. The method further includes mounting a second element of the fluoroscopic imaging system in a position and orientation relative to the first element such that a targeted patient tissue structure may be positioned there between. The method further includes utilizing a sensing system and one or more sensing elements coupled to each of the first and second elements of the imaging system to determine a relative spatial positioning between each of the first and second elements of the fluoroscopic imaging system. The first and second elements of the fluoroscopic imaging system are a source element and a detector element.
