Surgical instrument including housing, a cutting accessory that extends from the housing and actuators that establish the position of the cutting accessory relative to the housing

An instrument for treating tissue during a medical procedure, said instrument comprising:

• a hand-held portion;
• a working portion movably coupled to said hand-held portion;
• said hand-held portion being configured to be manually supported and moved by a user during the medical procedure to treat the tissue of a patient with said working portion;
• a plurality of actuators operatively coupled to said working portion;
• a tracking device attached to said hand-held portion for tracking said instrument;
• a drive mechanism coupled to said working portion for rotating said working portion about a rotational axis wherein said drive mechanism is movable in at least one degree of freedom relative to said hand-held portion;
• wherein said actuators are configured to move said working portion relative to said hand- held portion in at least three degrees of freedom including pivoting said working portion in pitch and yaw about a pivot, and translating said working portion along a translation axis;
• and
• wherein one of said actuators is configured to be activated to electromechanically move said working portion along the translation axis relative to said hand-held portion.