Robotically-assisted surgical guide

A computer-assisted surgery system for performing a surgical procedure at a target area on a patient's anatomy, said computer-assisted surgery system comprising:

• a robotic device having a plurality of joints and a plurality of actuators;
• a guide mechanically coupled to said robotic device, wherein said robotic device is configured to constrain said guide according to a pre-defined virtual geometry with said guide being movable along said pre-defined virtual geometry toward the target area on the patient's anatomy;
• and
• a computer in communication with said robotic device and configured to command said robotic device to operate in one of a first mode in which said guide is manually manipulated by a user or a second mode in which said robotic device operates autonomously;
• wherein said robotic device is configured to be controlled by said computer to generate force feedback in said first mode in response to said guide being manually manipulated by the user in said first mode in order to constrain said guide with said pre-defined virtual geometry;
• wherein said robotic device is further controlled to lock the guide in a desired pose in response to the guide moving to the desired pose via manual manipulation in the first mode and occurrence of a combination of inputs to a foot pedal and a touchscreen.