Abstract: The invention relates to a surgical system comprising: (i) a handheld device (100) comprising: a base (1), an end-effector (2) for mounting a surgical tool or tool guide, an actuation unit (4) connected to said base (1) and end-effector (2), a support unit (5) designed to make contact with the treated part to be treated or an adjacent region to provide a partial mechanical link between the base (1) or end-effector (2), and the part to be treated, (ii) a tracking unit (200), (iii) a control unit (300) configured to: (a) compute in real time an optimized path of the end-effector, (b) detect whether said computed path of the tool or end-effector can be achieved without changing the pose of the base, and, if not, determine a possible repositioning of the base with respect to the part to be treated, (c) configure the actuation unit so as to move the end-effector according to said computed path, and (d) iterate steps (a) to (c) until the planned volume has been treated, (iv) a user interface (400).

Abstract: The invention relates to a surgical system comprising: (i) a handheld device (100) comprising: a base (1), an end-effector (2) for mounting a surgical tool or tool guide, an actuation unit (4) connected to said base (1) and end-effector (2), a support unit (5) designed to make contact with the treated part to be treated or an adjacent region to provide a partial mechanical link between the base (1) or end-effector (2), and the part to be treated, (ii) a tracking unit (200), (iii) a control unit (300) configured to: (a) compute in real time an optimized path of the end-effector, (b) detect whether said computed path of the tool or end-effector can be achieved without changing the pose of the base, and, if not, determine a possible repositioning of the base with respect to the part to be treated, (c) configure the actuation unit so as to move the end-effector according to said computed path, and (d) iterate steps (a) to (c) until the planned volume has been treated, (iv) a user interface (400).

Abstract: The invention relates to a system for positioning a surgical device, said surgical device comprising: a base (1) designed to be held in a user's hand, an end-effector (2) for mounting a surgical tool, respectively a guide (20) for guiding a surgical tool (3), said surgical tool being designed to treat a planned volume of a part (P1) of a patient's body, an actuation unit (4) connected to said base (1) and said end-effector (2) for moving said surgical tool (3), respectively tool guide (20), with respect to the base (1) in order to treat said planned volume, said positioning system comprising: (i) a tracking unit (200) configured to determine in real time the pose of at least one of the tool (3), the end-effector (2) and the base (1) with respect to the part to be treated, (ii) a control unit (300) configured to: (a) compute in real time the working space of the surgical tool for said determined pose, (b) compute in real time the volume that remains to be treated to achieve the treatment of the planned v

Abstract: The invention relates to a system for positioning a surgical device, said surgical device comprising: a base (1) designed to be held in a user's hand, an end-effector (2) for mounting a surgical tool, respectively a guide (20) for guiding a surgical tool (3), said surgical tool being designed to treat a planned volume of a part (P1) of a patient's body, an actuation unit (4) connected to said base (1) and said end-effector (2) for moving said surgical tool (3), respectively tool guide (20), with respect to the base (1) in order to treat said planned volume, said positioning system comprising: (i) a tracking unit (200) configured to determine in real time the pose of at least one of the tool (3), the end-effector (2) and the base (1) with respect to the part to be treated, (ii) a control unit (300) configured to: (a) compute in real time the working space of the surgical tool for said determined pose, (b) compute in real time the volume that remains to be treated to achieve the treatment of the planned v

Abstract: The invention relates to a surgical system comprising: (i) a handheld device (100) comprising: a base (1), an end-effector (2) for mounting a surgical tool or tool guide, an actuation unit (4) connected to said base (1) and end-effector (2), a support unit (5) designed to make contact with the treated part to be treated or an adjacent region to provide a partial mechanical link between the base (1) or end-effector (2), and the part to be treated, (ii) a tracking unit (200), (iii) a control unit (300) configured to: (a) compute in real time an optimized path of the end-effector, (b) detect whether said computed path of the tool or end-effector can be achieved without changing the pose of the base, and, if not, determine a possible repositioning of the base with respect to the part to be treated, (c) configure the actuation unit so as to move the end-effector according to said computed path, and (d) iterate steps (a) to (c) until the planned volume has been treated, (iv) a user interface (400).