How do I get a robot to execute a plan based on 2D images?

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I'm working on a project that requires me to use a navigation tracking camera to visualise the movement of instrumentation and an IRB 120 robotic arm to perform spinal surgery.

The task requires me to

1. use the navigation camera to track reference markers specifically placed on the phantom spine model and the IRB120 robot end effector
2. develop planning for the IRB 120 robot to position itself in specific drilling trajectories on the spine
3. execute these planning paths on the IRB 120 so that it moves towards the planned paths and positions itself in these planned paths over the spine

How do I plan precisely for my robot to position itself over the spine in specific trajectories for drilling?