Co-manipulation surgical system having automated preset robot arm configurations

A co-manipulation surgical system to assist with laparoscopic surgery performed using a surgical instrument, the co-manipulation surgical system comprising:

• a robot arm comprising a proximal region having a base, a plurality of links, an elbow joint, a shoulder joint coupled to the base, and a distal region having a distal end configured to be removably coupled to the surgical instrument;
• and
• a platform coupled to the base of the robot arm, the platform configured to be moveable on a floor,
• wherein, in a drape mode, a link of the plurality of links between the elbow joint and the shoulder joint is configured to extend away from the base at a first angle and a link of the plurality of links distal to the elbow joint is configured to extend away from the base at a second angle so as to be more aligned with the floor, to thereby facilitate draping of the robot arm.