Method for image-based robotic surgery

A robotic surgery method, comprising:

• a. moving a mobile base into a position upon an operating room floor adjacent a patient and temporarily fixing the position of the mobile base relative to the floor;
• b. coupling a first element of a fluoroscopic imaging system comprising a source element and a detector element to a first robotic arm coupled to the mobile base, the first robotic arm comprising a mounting fixture configured to be interchangeably coupled to a surgical tool and the first element of the fluoroscopic imaging system;
• c. mounting a second element of the fluoroscopic imaging system in a position and orientation relative to the first element such that a targeted patient tissue structure may be positioned between the first and second elements of the fluoroscopic imaging system;
• and
• d. utilizing a sensing system and one or more sensing elements coupled to each of the first and second elements of the fluoroscopic imaging system to determine a relative spatial positioning between each of the first and second elements of the fluoroscopic imaging system.