Surgical robotic system

A surgical robotic system comprising a robotic arm an end-effector and a control unit configured to controllably move the robotic arm and maintain the end-effector in at least one target position relative to a patient, wherein the control unit is configured to:

• (i) based on a first input continuously applied by a user onto the robotic arm, activate a hand guiding mode wherein the robotic arm is freely movable by the user;
• (ii) based on a second input different from the first input, continuously applied by the user onto the robotic arm, activate a computed trajectory mode wherein the robotic arm moves to a target position according to a computed trajectory;
• (iii) when the computed trajectory mode is activated, detect that the end-effector meets at least one predetermined safety condition and automatically switch to a servo-controlled mode wherein the robotic arm is automatically movable to maintain the end-effector in the target position relative to a tracker attached to the patient.