DELIVERY SYSTEM FOR DELIVERING MATERIAL TO A TARGET SITE

A delivery system (100') for delivering a material to a target site (112) comprises a robotic manipulator (302) comprising a plurality of links (306) forming an arm and one or more joint motors (120', 122', 124') coupled to said plurality of links (306). A delivery instrument (100') is attached to the robotic manipulator (302). A delivery device (102) of the delivery system (100') has an opening (109) and is configured to deliver the material to the target site (112) through the opening (109). The delivery device (102) is removably attached to the delivery instrument (100'). A navigation system (104) of the delivery system (100') is configured to track the delivery device (102) and the target site (112) and to generate position signals. A controller (106') of the delivery system (100') is in communication with said delivery device (102) and said navigation system (104). The controller (106') is configured to define a virtual boundary (110) associated with the target site (112), wherein the virtual boundary (110) is utilized to constrain movement of the delivery device (102), and to control movement of said opening (109) with respect to the virtual boundary (110) based on the position signals from the navigation system (104), by controlling said one or more joint motors (120', 122', 124') to move said opening (109) via one or more of said links (306).