MEASUREMENT GUIDED RESURFACING DURING ROBOTIC RESECTION

A surgical system is provided for robotically resecting tissue. The system includes a surgical robot with an end-effector configured to remove tissue along a path up to a planned boundary. A computing system interfaces with the surgical robot and includes one or more processors, non-transient storage memory, and software executable instructions. The computing system records deviations between the end-effector and the planned boundary while the end-effector removes tissue along the path during a first pass. The system then determines if the end-effector should perform a subsequent pass along at least a portion of the path based on the recorded deviations. A method for robotically resecting tissue along a path up to a planned boundary is also provided that determined on the recorded deviations, if the end-effector should perform a subsequent pass along at least a portion of the path.