Workspace optimization for robotic surgery

A robotic system, comprising:

• a patient table comprising a base, a column supported by the base, and a platform supported by the column, the platform being configured to support a patient;
• an arm support coupled to the patient table by one or more set-up joints;
• a first robotic arm supported by the arm support, the first robotic arm comprising a first end effector and a first plurality of arm joints;
• a second robotic arm supported by the arm support, the second robotic arm comprising a second end effector and a second plurality of arm links;
• a processor;
• and
• at least one computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to:
• drive movement of the first end effector into a new pose during a surgical procedure by controlling a configuration of the first plurality of arm joints in response to inputs received from a surgeon console;
• determine an optimized position of the arm support based on information gathered by the processor;
• and
• drive movement of the arm support to the optimized position by controlling a configuration of the one or more set-up joints while the first end effector is being moved into the new pose without interrupting the movement of the first end effector.