Medical devices for positioning, guidance and insertion of medical and surgical instruments such as needles, probes and catheters; surgical robots for minimally invasive surgery, namely, percutaneous ablation in the thorax or abdomen; surgical robots; surgical robots, namely, robotic arms; surgical robotic arms for medical use; robotic surgical system for conducting minimally invasive procedures, namely, percutaneous ablation in the thorax or abdomen, composed of a surgical robotic arm, computer hardware and recorded software for the control of robotic arms, a work station composed of electronic robotic control devices and one or several surgical devices and instruments, such as needles, probes and catheters; surgical drapes for percutaneous ablation in the thorax or abdomen; sensors and self-adhesive identification markers that are attached to the skin for the guidance of percutaneous ablation in the thorax or abdomen for medical use, namely, patient reference markers, patient reference sensors, tool reference markers, tool reference sensors, robot reference markers, robot reference sensors, respiratory sensors, optical markers, optical sensors, electromagnetic markers, and electromagnetic sensors; devices for displaying the operating area, namely, endoscopy cameras for medical purposes and cameras for the guidance of percutaneous ablation in the thorax or abdomen; medical apparatus for monitoring vital signs, blood pressure, heart rate and breathing; respiratory cycle monitoring device; medical guidewires for medical and surgical instruments such as needles, probes and catheters