System and method for demonstrating planned autonomous manipulation of an anatomy

A method of demonstrating planned autonomous manipulation of an anatomy by an end effector of a robotic surgical system, said method comprising:

• generating manipulation parameters representing planned constraints on autonomous manipulation of a volume of the anatomy by the end effector in a first mode;
• generating demonstrative parameters relating to the manipulation parameters and defined in relation to a surface of the anatomy such that the demonstrative parameters are less invasive to the anatomy than the manipulation parameters;
• and
• moving a demonstrative tool in accordance with the demonstrative parameters in a second mode thereby demonstrating planned constraints on autonomous manipulation of the anatomy in relation to the surface of the anatomy.

A method of demonstrating planned autonomous manipulation of an anatomy by a tool of a robotic surgical system, said method comprising:

• generating manipulation parameters representing planned constraints on autonomous manipulation of a volume of the anatomy by the tool in a first mode;
• generating demonstrative parameters relating to the manipulation parameters and defined in relation to a surface of the anatomy such that the demonstrative parameters are less invasive to the anatomy than the manipulation parameters;
• and
• moving the tool in accordance with the demonstrative parameters in a second mode thereby demonstrating planned constraints on autonomous manipulation of the anatomy in relation to the surface of the anatomy.