A surgical system and method involve a robotic system that has a moveable arm that supports an end effector relative to a surgical site to remove material from a bone. A scanner scans the surgical site and detects a vessel on the bone. Controller(s) is/are coupled to the robotic system and the scanner. The controller(s) obtain image data of the bone and receive, from the scanner, positional information of the vessel on the bone. The controller(s) input the positional information of the vessel to the image data of the bone and generate a boundary for the vessel. The controller(s) register the boundary to the bone for navigation and control the robotic system to remove material from the bone with the end effector and prevent interaction between the end effector and the vessel with the boundary.