Systems And Methods For Controlling Robotic Movement Of A Tool Based On A Virtual Boundary

A method of operating a surgical system including a tool, a manipulator to support the tool, and a control system to control operation of the manipulator and movement of the tool based on a relationship between the tool and a first virtual boundary, the method comprising the control system:

• operating to maintain compliance of the tool with the first virtual boundary;
• while maintaining compliance of the tool with the first virtual boundary, enabling a user to select a second virtual boundary;
• and
• in response to user selecting the second virtual boundary, determining whether the tool is in compliance with the second virtual boundary.

A method of controlling a surgical manipulator that supports a tool, method comprising:

• controlling the surgical manipulator and movement of the tool for maintaining compliance of the tool with a first virtual boundary based on a relationship between the tool and the first virtual boundary;
• while maintaining compliance of the tool with the first virtual boundary, enabling a user to select a second virtual boundary;
• and
• in response to user selecting the second virtual boundary, determining whether the tool is in compliance with the second virtual boundary.