A surgical system for control of a surgical mechanical arm, which system comprises: at least one input arm comprising: a first section rotatable about a first section axis a second section rotatable about a second section axis a first bendable joint coupling said first and said second sections, where said first section axis and said second section axis are not collinear, for all angles of bending of said first bendable joint 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.
