Robotic surgery system

A robotic surgical system, comprising:

• a cart extending vertically above a base;
• an arm assembly movably coupled to the cart, the arm assembly being selectively movable relative to the cart via a boom arm that connects the arm assembly to the cart to vary a height of the arm assembly relative to the base, the arm assembly pivotally coupled to the boom arm via a first joint and configured to pivot about a vertical axis through the first joint, the arm assembly comprising
• a plurality of transverse arm sections extending perpendicular to the boom arm, each transverse arm section telescopically coupled to another of the transverse arm sections and operable by one or more actuators to linearly extend relative thereto between an extended position and a retracted position,
• a support arm pivotally coupled to a last of the transverse arm sections about a second joint and extending downwardly therefrom;
• and
• a central drive unit pivotally coupled to the support arm about a third joint, the central drive unit comprising one or more robotic surgical instruments and an endoscope removably coupled thereto, the surgical instruments and endoscope configured to extend through a single insertion tube configured to be inserted through an incision location in a patient,
• wherein each of the joints and actuators is robotically controlled to adjust one or more of a lateral position, a pitch and a yaw of the central drive unit to thereby adjust a respective pitch and yaw of the surgical instruments and endoscope based on operator input, and to allow an insertion depth of the insertion tube when inserted in the patient to be adjustable to thereby adjust an insertion depth of the surgical instruments and endoscope in a surgical space within the patient based on operator input while maintaining a location of a remote center of motion at an incision location on the patient.