A robotic arm according to various implementations includes: a tool driver configured to hold a surgical tool a first section comprising a first end coupled to a base, a second end distal from first end a first link that includes a motor configured to rotate at least a portion of the first section around a pitch axis a second link coupled to the first link, the second link including a motor configured to rotate at least a portion of the first section around a roll axis and a second section comprising: a first end coupled to the second end of the first section, a second end distal from the first end, a first link that includes a motor configured to rotate at least a portion of the second section around a roll axis, a second link coupled to the first link.
