Surgical robotic system

A surgical robotic system comprising:

• a moveable base station, including an on-board computer;
• a machine vision camera electronically coupled to the computer;
• a surgical arm electronically coupled to the computer and movable based on commands processed by the computer;
• and an end effector attachable to the surgical arm, the end effector comprising an end effector base and an instrument adaptor, wherein the instrument adaptor is configured to hold an instrument, the end effector base and/or the instrument adaptor is powered to provide specialized motion to the instrument, and the end effector includes one or more machine vision markings so that the machine vision camera is able to determine a precise location of the end effector in real-time.