Robotic System And Method For Reorienting A Surgical Instrument Moving Along A Tool Path

A surgical manipulator comprising: a surgical instrument and an energy applicator extending from said surgical instrument, and wherein said surgical instrument and said energy applicator define a common axis; and at least one controller configured to: model said surgical instrument and said energy applicator as a virtual rigid body; define a reference surface aperture in a reference surface; determine forces and torques to be applied to the virtual rigid body to maintain the common axis within the reference surface aperture; reposition said surgical instrument, based on the forces and torques, to maintain the common axis within the reference surface aperture; and dynamically change a shape of the reference surface aperture.