Patent ID: 8005571

Claim:
A surgical system comprising: a robot for operating on a part of a patient, the robot including: a movable support assembly arranged to be located in fixed position adjacent a patient; and two movable arms each carried on the support assembly, each arm having a plurality of degrees of freedom of movement and an end effector for carrying a selected surgical tool for operation on the patient; one or more force sensors for detecting a force applied to the surgical tool carried by at least one of the arms as a result of contact with the patient; where the end effector of one movable arm comprises: a first actuator configured to roll a surgical tool about a longitudinal axis; a collar configured to surround a portion of a surgical tool; and a second actuator operable to move the collar along the longitudinal axis, and a workstation and control system including: a pair of hand-controllers simultaneously manipulatable by an operator to control movement of a respective one or both of the arms; and at least one of the hand-controllers having force feedback arranged to be controlled in response to the detected force for providing haptic effect to the operator.