In this chapter, the design and control of a robotic arm for medical applications will be explained in detail. A general purpose gross positioning robot arm for use in robot-assisted medical applications is introduced. The actuated macro manipulator can carry, appropriately orient, precisely position and firmly "lock" in place different types of micro robots and surgical tools necessary for applications in minimally invasive therapy. With a simple manipulation protocol, the clinician can easily operate the robot in manual mode. Also a remote control mode can be enabled for teleoperation of the robot, and a quick homing routine ensures its re-calibration. Robot workspace analysis is investigated by two methods to study the robot's singularity regions where a 3D visualization technique is used to visualize the location of the singularity trajectories. Performance analysis techniques using CAD software were used to quantify displacement and angular errors. It will be shown how the sophisticated configuration and joint architecture of the arm enable it to perform and interact efficiently with the constrained and limited workspace of surgical environments. The special features of the proposed robot make it well suited for use with new surgical tools and micro robots for a range of medical interventions.