A tracking and guidance arrangement for a surgical robot system, the system comprising: an object-interacting device including an instrument engaged with a distal end of a guide arm, the instrument being adapted to interact with an object; a fiducial marker coupled to the object; a detector connected to a distal end of an articulating arm and co-operable therewith to be positioned adjacent to the fiducial marker, the detector being a camera or an electromagnetic detector configured to interact with the fiducial marker; and a proximal end of each of the guide arm and the articulating arm being mounted to a common base; a controller device including a hardware processor and memory, the controller device being configured to: receive data from the detector relative to the interaction thereof with the fiducial marker, determine an actual spatial relation between the fiducial marker and the detector based on the data, compare the actual spaced-apart relation to a planned spaced-apart relation between the camera or electromagnetic detector and the fiducial marker, manipulate the camera or electromagnetic detector or the articulating arm to move the camera or electromagnetic detector to the actual spaced-apart relation equal to the planned spaced-apart relation between the camera or electromagnetic detector and the fiducial marker, determine a spatial relation of the instrument relative to the fiducial marker, and direct the instrument, via the guide arm, to interact with the object according to the determined spatial relations. an object-interacting device including an instrument engaged with a distal end of a guide arm, the instrument being adapted to interact with an object; a fiducial marker coupled to the object; a detector connected to a distal end of an articulating arm and co-operable therewith to be positioned adjacent to the fiducial marker, the detector being a camera or an electromagnetic detector configured to interact with the fiducial marker; and a proximal end of each of the guide arm and the articulating arm being mounted to a common base; a controller device including a hardware processor and memory, the controller device being configured to: receive data from the detector relative to the interaction thereof with the fiducial marker, determine an actual spatial relation between the fiducial marker and the detector based on the data, compare the actual spaced-apart relation to a planned spaced-apart relation between the camera or electromagnetic detector and the fiducial marker, manipulate the camera or electromagnetic detector or the articulating arm to move the camera or electromagnetic detector to the actual spaced-apart relation equal to the planned spaced-apart relation between the camera or electromagnetic detector and the fiducial marker, determine a spatial relation of the instrument relative to the fiducial marker, and direct the instrument, via the guide arm, to interact with the object according to the determined spatial relations. receive data from the detector relative to the interaction thereof with the fiducial marker, determine an actual spatial relation between the fiducial marker and the detector based on the data, compare the actual spaced-apart relation to a planned spaced-apart relation between the camera or electromagnetic detector and the fiducial marker, manipulate the camera or electromagnetic detector or the articulating arm to move the camera or electromagnetic detector to the actual spaced-apart relation equal to the planned spaced-apart relation between the camera or electromagnetic detector and the fiducial marker, determine a spatial relation of the instrument relative to the fiducial marker, and direct the instrument, via the guide arm, to interact with the object according to the determined spatial relations.