Method and apparatus for resecting bone using a planer and optionally using a robot to assist with placement and/or installation of guide pins

A method for performing a resection operation using a surgical navigation system and a robotic manipulator for performing a computer-assisted robotic surgery, the method comprising:

• coupling a first tracker to a bone to receive the resection operation;
• aligning the first tracker, a second tracker coupled to the robot manipulator, and a field of view of
• a camera of the surgical navigation system to track the first bone and a surgical instrument coupled to the robot manipulator for the resection operation by the surgical navigation system;
• aligning the surgical instrument coupled to the robot manipulator in an initial alignment with the bone;
• receiving a signal from the surgical navigation system that the initial alignment is in a rough alignment with a target pose of the surgical instrument relative to the bone;
• initiating the robot manipulator to perform a fine alignment of the surgical instrument to the target pose and perform the resection operation, wherein the initiating is responsive to the signal of rough alignment.