The present invention relates to a robotic device (10) for performing a medical intervention on a patient (30) using a medical instrument (13), comprising: - a robot arm (11) having several degrees of freedom and having an end suitable for receiving the medical instrument, - an image capture system (14) suitable for capturing position information concerning the anatomy of the patient, - a storage medium (15) including a biomechanical model of the human body, - a processing circuit (17) configured to determine a position setpoint and an orientation setpoint for said medical instrument on the basis of the biomechanical model, on the basis of the position information and on the basis of a trajectory to be followed by the medical instrument (13) in order to perform the medical intervention, - a control circuit (16) configured to control the robot arm (11) in order to place the medical instrument (13) in the position setpoint and the orientation setpoint.
