A robotic surgical system, comprising: a base configured to be fixed with respect to an operating room； a robotic arm (34) coupled to the base (48), in which the robotic arm (34) comprises a fixed mounting element (50) configured to interchangeably engage a surgical tool and a first element (24) of a fluoroscopic imaging system (72) comprising a source element and a detector element, wherein the first element (24) is one of the source element and the detector element； a second element (26) of the fluoroscopic imaging system (72), wherein the second element (26) is the other of the source element and the detector element, the second element (26) configured to be repositionable with respect to the first element (24) of the fluoroscopic imaging system (72) and with respect to a tissue structure of the patient such that the structure of the patient's tissue can be placed between the first and second elements (24, 26) of the system (72) of fluoroscopic imaging； and a controller (74) operatively coupled to the robotic arm (34), configured the controller (74) to receive signals from a detection system (80) operatively coupled to the controller (74), configured the detection system (80) to detect the movement of one or more sensor elements coupled to each of the first and second elements (24, 26) of the fluoroscopic imaging system (72), and configured the controller (74) in addition to determine a relative spatial positioning between each one of the first and second elements (24, 26) of the fluoroscopic imaging system (72).Un sistema quirúrgico robótico, que comprende: una base configurada para ser fijada con respecto a una sala de operaciones； un brazo robótico (34) acoplado a la base (48), en el que el brazo robótico (34) comprende un elemento fijo (50) de montaje configurado para acoplarse de forma intercambiable a una herramienta quirúrgica y un elemento primero (24) de un sistema (72) de formación de imágenes fluoroscópicas que comprende un elemento fuente y un element
