The system and method includes a manipulator for manipulating a surgical instrument relative to a patient's body and, a position sensor for sensing the position of the surgical instrument relative to the patient's body. The manipulator can be manually or computer actuated and can have brakes to limit...http://www.google.fr/patents/US6024695?utm_source=gb-gplus-shareBrevet US6024695 - System and method for augmentation of surgery
