#$%^&*AU2020203372A120200611.pdf#####H: nterwoven NRPortbl DCC GW 202940 L.docx-22/05/2020 ABSTRACT A robotic surgical system includes a robotic arm comprising a first segment having a first plurality of links and a first plurality of actuated joint modules providing the robotic arm with at least five degrees of freedom, and a second segment having a proximal end coupled to a distal end of the first segment, and comprising a second plurality of links and a second plurality of actuated joint modules providing the robotic arm with at least two degrees of freedom. The robotic surgical system further comprises an instrument driver coupled to the second segment and configured to hold a surgical instrument. The second arm segment is configured to move the surgical instrument within a generally spherical workspace, and the first arm segment is configured to move the location of the spherical workspace.7/30 CD o Lf 00n Lfl Ll C14 -- -- - ---0 In Lfln Ln LfO ii-l P? Lr LLf -f El' 4p 4 00 LiiM
