Robotic arm

A robotic arm for use in surgery, microsurgery or supermicrosurgery, comprising:

• at least one instrument module comprising an instrument actuation submodule;
• wherein the instrument is a needle holder and/or forceps for surgery, microsurgery or supermicrosurgery, comprising two instrument beaks, at least one instrument hinge pin, at least two instrument handles and at least two handle joints,
• wherein the instrument actuation submodule is configured to operate grasp and roll orientation of an instrument,
• wherein the instrument actuation submodule comprises a first motor and a first drivetrain for actuation of the instrument roll orientation,
• wherein the instrument actuation submodule comprises a second motor and a second drivetrain for actuation of the instrument grasp orientation,
• at least one pitch module, and
• at least one yaw module,
• wherein the first motor and the second motor are integrated into the instrument actuation submodule side-by-side for compactness.