Ultrasonic Surgical System

An ultrasonic surgical tool system comprising:

• an ultrasonic instrument comprising an aspiration pathway, an irrigation pathway, a tip and a driver coupled to the tip, the driver configured to vibrate the tip to ablate tissue at a target site responsive to receiving an AC drive signal;
• a power supply coupled to the ultrasonic instrument and configured to generate the AC drive signal supplied to the driver of the ultrasonic instrument;
• a localizer configured to generate localization data indicative of a pose of the ultrasonic instrument in a known coordinate system;
• and
• a control system coupled to the power supply and the localizer and configured to:
• receive a medical image of the target site that includes a tumorous tissue region;
• based on the medical image, generate a virtual boundary associated with the tumorous tissue region in the known coordinate system;
• based on the localization data, track the pose of the ultrasonic instrument in the known coordinate system;
• and
• based on the tracked pose of the ultrasonic instrument and virtual boundary, set the AC drive signal generated by the power supply to induce first pulsed ultrasonic energy in the tip.