Configurable robotic surgical system with virtual rail and flexible endoscope

A surgical robotic system comprising:

• a first robotic arm coupled to a first position of a surgical instrument, the first robotic arm including a first torque sensor coupled to a joint of the first robotic arm;
• a second robotic arm coupled to a second position of the surgical instrument, the first position located at a predetermined distance from the second position, the second robotic arm including a second torque sensor coupled to a joint of the second robotic arm;
• and
• a controller configured to
• receive force feedback based on a force exerted on the surgical robotic system by a user of the surgical robotic system;
• determine whether the force feedback is a slow push, a tap, a double tap, a shake, or a strong pull;
• select an action for the robotic arms based on the determination regarding the force feedback, the selected action including one or more of:
• translating the robotic arms, rotating the robotic arms, stowing the robotic arms, and locking the robotic arms;
• determine a first movement vector and a second movement vector to perform the selected action using the robotic arms;
• provide, to the first robotic arm, a first command to move the surgical instrument along the first movement vector;
• and
• provide, to the second robotic arm, a second command to move the surgical instrument, simultaneously with the first robotic arm such that the predetermined distance is maintained, along the second movement vector.