CPC A61B 17/15 (2013.01) [A61B 17/142 (2016.11); A61B 17/1615 (2013.01); A61B 17/1703 (2013.01); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 34/76 (2016.02); A61B 17/157 (2013.01); A61B 34/25 (2016.02); A61B 90/03 (2016.02); A61B 2017/00128 (2013.01); A61B 2034/105 (2016.02); A61B 2034/2055 (2016.02)] | 20 Claims |
1. A surgical system, comprising:
a tool;
a robotic device configured to be coupled to the tool; and
a controller comprising a processor and non-transitory computer-readable memory storing instructions that, when executed, cause the processor to perform operations comprising:
controlling the robotic device in a first mode that provides automatic movement of the tool to a virtual plane correlated with an anatomical structure from a starting position away from the virtual plane; and
switching, based on arrival of the tool at the virtual plane via the automatic movement, from the first mode to a second mode;
controlling, in the second mode, the robotic device to force the tool to stay at the virtual plane while allowing manual repositioning of the tool along the virtual plane.
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