A robot system for use in surgical procedures has two movable arms each carried on a wheeled base with each arm having a six of degrees of freedom of movement and an end effector which can be rolled about its axis and an actuator which can slide along the axis for operating different tools adapted to...http://www.google.de/patents/US7155316?utm_source=gb-gplus-sharePatent US7155316 - Microsurgical robot system
