INSTRUMENT CHIRURGICAL COMPRENANT UN BOITIER, UN ACCESSOIRE DE COUPE QUI S'ETEND A PARTIR DU BOITIER ET DES ACTIONNEURS QUI ETABLISSENT LA POSITION DE L'ACCESSOIRE DE COUPE PAR RAPPORT AU BOITIER
An instrument for treating tissue during a medical procedure includes a hand-held portion anda working portion. The hand-held portion is manually supported and moved by auser and the workingportion is movably coupled to the hand-held portion. A tracking device isattached to the hand-heldportion for tracking the instrument. The tracking device is in communicationwith a control system,which is used to keep the working portion within or outside of a boundary. Aplurality of actuatorsare operatively coupled to the working portion. The control system instructsthe actuators to movethe working portion relative to the hand-held portion during the medicalprocedure in order tomaintain a desired relationship between the working portion and the boundary.
