Guiding system for a surgical robotic system

A guiding system for a surgical robotic system, comprising

• a tool guide extending substantially around a tool guide axis,
• a tool extending substantially around a tool axis,
• an intermediate part mounted on the tool so that the tool and the intermediate part are integral in translation and so that the tool is mobile relative to the intermediate part in rotation around the tool axis, and
• first and second coupling links adapted to couple the intermediate part and the tool guide,
• wherein the guiding system presents:
• a first guiding configuration in which the first coupling link couples the intermediate part and the tool guide so that the intermediate part and the tool guide are mobile relative to each other according to a unique first degree of freedom, the first degree of freedom corresponding to a translation along the tool guide axis;
• and
• a second guiding configuration in which the second coupling link couples the intermediate part and the tool guide so that the intermediate part and the tool guide are mobile relative to each other according to the first degree of freedom and according to at least one additional degree of freedom.