Robotically-assisted constraint mechanism

Storage media storing instructions that, when executed by a processor, cause the processor to perform operations comprising:

• determining a position of a guide relative to a plane, wherein the guide is coupled to a robotic device;
• commanding the robotic device to operate in a first mode and a second mode at different times, wherein the guide is manually manipulated by a user in the first mode and the robotic device operates autonomously in the second mode;
• and
• commanding the robotic device in the first mode to constrain movement of the guide to the plane, with the guide moveable along the plane to reach a target area of a patient's anatomy;
• commanding the robotic device in a third mode to lock the guide in a pose relative to the target area of the patient's anatomy such that a surgical procedure can be performed once the guide is locked in the pose;
• and
• switching into the third mode to lock the guide in the pose in response to movement of the guide to the pose and occurrence of both a first user input to a touchscreen and second user input to a foot pedal.

A method of operating a robotically-assisted surgical device, comprising:

• planning a bone resection to obtain a virtual plane defined relative to an anatomical feature;
• providing a robotic device and a guide coupled to the robotic device;
• operating the robotic device in a first mode in which the guide is manually moved by a user and, at different times, in a second mode in which the robotic device autonomously moves the guide;
• and
• operating the robotic device in a third mode in which the robotic device locks the guide in a position;
• wherein operating the robotic device in the first mode comprises causing the robotic device to constrain motion of the guide to the virtual plane while allowing the guide to be manually moved along the virtual plane;
• wherein operating the robotic device in the third mode is initiated in response to the guide moving to the position via constrained motion in the first mode and occurrence of both a first user interaction with a touchscreen and a second user interaction with a foot pedal.