Robotic arm and robotic surgical system

A robotic arm system comprising:

• a first arm, wherein the first arm comprises:
• a first joint having a first axis of rotation;
• a second joint having a second axis of rotation;
• a third joint having a third axis of rotation;
• a fourth joint having a fourth axis of rotation;
• and
• a fifth joint having a fifth axis of rotation;
• a second arm coupled to the first arm such that the second arm pivots about the fifth axis of rotation, wherein the second arm comprises a sixth joint having a roll axis and a seventh joint having a pitch axis;
• a tool driver coupled to the second arm;
• a trocar coupled to the tool driver;
• a tool disposed within the trocar and coupled to the tool driver, wherein the tool driver is configured to translate the tool along a tool axis;
• and
• a processor configured to move a location of a remote center of motion of the trocar by moving at least the first arm, wherein the remote center of motion of the trocar corresponds to an intersection of the roll axis, a tool pitch axis that is parallel to the pitch axis, and the tool axis.