A method for debriding an infected implant area using a robotic-assisted surgery system. The method includes determining, by a processing circuit associated with a computer, an area to be debrided, the debridement area including at least a surface of an implant or patient tissue, and generating, by the processing circuit, a plan for debriding the debridement area. The method further includes controlling a debridement tool, by the robotic-assisted surgery system, while the debridement tool is used to carry out the debridement plan, and monitoring the debridement by the processing circuit.