Unlike the SpineAssist/Renaissance system where the surgeon actually performs the surgery using his own tactile sensations, this system consists of a surgical console where the surgeon is sitting away from the patient looking at a screen. In this system, the robot is equipped with various arms used to hold the endoscope and various surgical equipment. The surgeon controls the movements of the different arms in real time using two handles. It has several advantages over human hands such as allowing 7º of freedom in movements. Furthermore, it has a built-in system to reduce tremors by reducing movements by 1:1, 1:3 or