A surgical system, comprising: at least one electromechanical arm (200, 2000, 2026, 2050) selectively coupleable to a fixture, the at least one electromechanical arm comprising a redundant degree of freedom comprising a combination of one or more electromechanical joints configured to permit motion of the at least one electromechanical arm while preserving a remote center substantially fixed in space; at least one electromechanical tool supported by the at least one electromechanical arm to define an electromechanical arm and tool assembly; a control system configured to electronically communicate with and control the operation of the electromechanical arm and tool assembly; and at least one portable handheld controller actuatable to communicate a control signal to the electromechanical arm and tool assembly via the control system to operate the electromechanical arm and tool assembly, wherein movements of the at least one portable handheld controller control movements of the electromechanical arm and tool assembly, wherein the electromechanical arm and tool assembly is configured to couple to a bed via the fixture such that the electromechanical arm and tool assembly is selectively positionable in any of a plurality of vertical positions relative to the bed and any of a plurality of laterally outward positions relative to the bed, wherein the redundant degree of freedom and the fixture permit repositioning of the at least one electromechanical arm relative to a patient on the bed, to increase free space around the patient and thereby enable a user to stand adjacent the bed and simultaneously operate a manual tool with one hand and control the electromechanical arm and tool assembly with another hand via the at least one portable handheld controller. at least one electromechanical arm (200, 2000, 2026, 2050) selectively coupleable to a fixture, the at least one electromechanical arm comprising a redundant degree of freedom comprising a combination of one or more electromechanical joints configured to permit motion of the at least one electromechanical arm while preserving a remote center substantially fixed in space; at least one electromechanical tool supported by the at least one electromechanical arm to define an electromechanical arm and tool assembly; a control system configured to electronically communicate with and control the operation of the electromechanical arm and tool assembly; and at least one portable handheld controller actuatable to communicate a control signal to the electromechanical arm and tool assembly via the control system to operate the electromechanical arm and tool assembly, wherein movements of the at least one portable handheld controller control movements of the electromechanical arm and tool assembly, wherein the electromechanical arm and tool assembly is configured to couple to a bed via the fixture such that the electromechanical arm and tool assembly is selectively positionable in any of a plurality of vertical positions relative to the bed and any of a plurality of laterally outward positions relative to the bed, wherein the redundant degree of freedom and the fixture permit repositioning of the at least one electromechanical arm relative to a patient on the bed, to increase free space around the patient and thereby enable a user to stand adjacent the bed and simultaneously operate a manual tool with one hand and control the electromechanical arm and tool assembly with another hand via the at least one portable handheld controller.