A surgical robot system (100, 300, 600) comprising: a robot having a robot base (106, 400, 610), a robot arm (104, 604) coupled to the robot base, and an end-effector (112, 310, 602, 902, 912, 1002, 1020, 1120) coupled to the robot arm, the end-effector having a guide tube (112, 114, 606, 904, 1004a, 1004b, 1004c, 1030, 1034, 1122) with a longitudinal central axis, the end-effector and/or guide tube having a plurality of tracking markers (118, 702, 804, 906, 1420); wherein the surgical robot system (100, 300, 600) comprises: a curved connector rod having a centerline extending along a constant radius curvature; an arc inserter tool comprising a hub (1032, 1102) and a connector arm, the hub (1032, 1102) positionable with respect to the guide tube (112, 114, 606, 904, 1004a, 1004b, 1004c, 1030, 1034, 1122) such that the arc inserter tool is secured relative to the end-effector (112, 310, 602, 902, 912, 1002, 1020, 1120) such that the arc inserter tool is able to rotate with respect to the end-effector (112, 310, 602, 902, 912, 1002, 1020, 1120), the connector arm extending from the hub (1032, 1102) to a distal end configured to connect with the curved connector rod; and at least one camera (200, 326) able to detect the plurality of tracking markers on the end-effector (112, 310, 602, 902, 912, 1002, 1020, 1120) and/or guide tube (112, 114, 606, 904, 1004a, 1004b, 1004c, 1030, 1034, 1122); wherein the robot is configured to position the end-effector (112, 310, 602, 902, 912, 1002, 1020, 1120) with the central axis of the guide tube (112, 114, 606, 904, 1004a, 1004b, 1004c, 1030, 1034, 1122) at a desired location, wherein rotation of the arc inserter tool moves the curved connector rod over a radial path. a robot having a robot base (106, 400, 610), a robot arm (104, 604) coupled to the robot base, and an end-effector (112, 310, 602, 902, 912, 1002, 1020, 1120) coupled to the robot arm, the end-effector having a guide tube (112, 114, 606, 904, 1004a, 1004b, 1004c, 1030, 1034, 1122) with a longitudinal central axis, the end-effector and/or guide tube having a plurality of tracking markers (118, 702, 804, 906, 1420); wherein the surgical robot system (100, 300, 600) comprises: a curved connector rod having a centerline extending along a constant radius curvature; an arc inserter tool comprising a hub (1032, 1102) and a connector arm, the hub (1032, 1102) positionable with respect to the guide tube (112, 114, 606, 904, 1004a, 1004b, 1004c, 1030, 1034, 1122) such that the arc inserter tool is secured relative to the end-effector (112, 310, 602, 902, 912, 1002, 1020, 1120) such that the arc inserter tool is able to rotate with respect to the end-effector (112, 310, 602, 902, 912, 1002, 1020, 1120), the connector arm extending from the hub (1032, 1102) to a distal end configured to connect with the curved connector rod; and at least one camera (200, 326) able to detect the plurality of tracking markers on the end-effector (112, 310, 602, 902, 912, 1002, 1020, 1120) and/or guide tube (112, 114, 606, 904, 1004a, 1004b, 1004c, 1030, 1034, 1122); a curved connector rod having a centerline extending along a constant radius curvature; an arc inserter tool comprising a hub (1032, 1102) and a connector arm, the hub (1032, 1102) positionable with respect to the guide tube (112, 114, 606, 904, 1004a, 1004b, 1004c, 1030, 1034, 1122) such that the arc inserter tool is secured relative to the end-effector (112, 310, 602, 902, 912, 1002, 1020, 1120) such that the arc inserter tool is able to rotate with respect to the end-effector (112, 310, 602, 902, 912, 1002, 1020, 1120), the connector arm extending from the hub (1032, 1102) to a distal end configured to connect with the curved connector rod; and at least one camera (200, 326) able to detect the plurality of tracking markers on the end-effector (112, 310, 602, 902, 912, 1002, 1020, 1120) and/or guide tube (112, 114, 606, 904, 1004a, 1004b, 1004c, 1030, 1034, 1122); wherein the robot is configured to position the end-effector (112, 310, 602, 902, 912, 1002, 1020, 1120) with the central axis of the guide tube (112, 114, 606, 904, 1004a, 1004b, 1004c, 1030, 1034, 1122) at a desired location, wherein rotation of the arc inserter tool moves the curved connector rod over a radial path.