A robotic surgery system having a mobile base and a first moveable support structure coupled between the mobile base and a first element of a fluoroscopic imaging system. The first element is a source element or a detector element, and a second element of the imaging system is a source element or a detector element. The second element is configured to be repositionable relative to patient tissue disposed between the first and second elements. The system further includes a coupling member configured to fixedly couple the first element to the second element, and a surgical instrument for conducting a procedure on the patient tissue. The system further includes a second moveable support structure coupled between the coupling member and the surgical instrument. The second moveable support structure includes one or more actuators which may be controlled to electromechanically characterize movement of the surgical instrument relative to the coupling member.
