Planning a tool path for an end-effector using an environmental map

Abstract

A system and method are provided for planning a tool path for an end-effector of a surgical robot from a first position to a second position using an environmental map. The end-effector may safely and efficiently follow the tool path to re-position the end-effector back to a cutting position following the displacement of the end-effector from the cutting position. Additionally, the environmental map is used to update a virtual representation of a bone to provide a user with visual feedback as to the progression of the end-effector tool as the tool removes material from the bone during a surgical procedure.

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