| abstract |
A system comprises an instrument adapted to be manually supported and moved by a user, said instrument including a working portion movably coupled to a hand-held portion, a plurality of actuators operatively coupled to said working portion for movement thereof relative to said hand-held portion, and a plurality of sensors for sensing positions of said working portion; and a control system communicating with said actuators to control said actuators, said control system being configured to establish a home position of said working portion relative to said hand-held portion and track deviation of said working portion from the home position as said working portion moves in one or more of the plurality of degrees of freedom relative to the hand-held portion in order to maintain a desired relationship to a virtual boundary, wherein the control system is configured to control a cutting speed of the working portion based on the deviation. |