The present disclosure relates to a surgical system for treating an anatomical structure according to a plurality of target planes and/or axes, comprising: a robotic device (1) comprising: an end effector (2) defining a current plane or axis, an actuation unit (11) coupled to the end effector (2), a tracking unit (3) configured to determine a pose of the current plane or axis, a control unit coupled to the tracking unit and configured to control the actuation unit (11) to align the current plane or axis of the end effector (2) with each one of the plurality of target planes and/or axes to treat the anatomical structure, the robotic device being operable in at least the following modes: a working mode wherein a treatment is being performed with the end effector constrained to one target plane or axis by the actuation unit, and a waiting mode wherein no treatment is being performed and the actuation unit is operable to move the end effector in alignment with another target plane or axis, wherein the control unit is further configured to: (a) determine that the robotic device (1) is in the waiting mode; (b) detect a triggering force applied to the end effector (2) and/or the actuation unit (11) in at least one first direction; (c) as a result of determination (a) and detection (b), trigger a position change of the end effector (2) by the actuation unit (11) to align the current plane or axis with a next target plane or axis.