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. <EOS>