System for the treatment of a planned volume of a body part

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-effect or according to said computed path, and (d) iterate steps (a) to (c) until the planned volume has been treated, (iv) a user interface (400).