System and method for interactive haptic positioning of a medical device
First Claim
1. A method, comprising:
- defining a virtual pathway to a target region of an anatomy of a patient; and
modifying said virtual pathway during a medical procedure based at least in part on a current pose of a haptic device such that said virtual pathway extends from a current position of said haptic device to said target region.
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Accused Products
Abstract
A combination of a haptic device and a computer-assisted medical system is used for interactive haptic positioning of a medical device coupled to the haptic device. A reconfigurable haptic object facilitates the positioning of the medical device and/or the haptic device. The haptic object may be modified in response to application of a force against the haptic object by a user of the haptic device pushing the haptic device against the haptic object. Preferably, the haptic object moves in the direction of the force applied by the haptic device. The medical device may be guided to a desired pose relative to a target area from its current position. The user may approach the target area from its current position and still be provided with haptic cues to enable the user to guide the medical device to the target area.
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Citations
58 Claims
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1. A method, comprising:
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defining a virtual pathway to a target region of an anatomy of a patient; and
modifying said virtual pathway during a medical procedure based at least in part on a current pose of a haptic device such that said virtual pathway extends from a current position of said haptic device to said target region. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method for interactive haptic positioning of a haptic device during a medical procedure of an anatomy of a patient, comprising:
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defining a virtual pathway to a target region of said anatomy of said patient;
generating at least one haptic interaction wrench based at least in part on a current pose of said haptic device;
modifying said virtual pathway based at least in part on said at least one haptic interaction wrench such that said virtual pathway extends from a current position of said haptic device to said target region; and
guiding a user in moving said haptic device into a desired pose relative to said target region from said current pose. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22)
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23. A method, comprising:
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defining a virtual pathway to a target region of an anatomy of a patient; and
modifying said virtual pathway during a medical procedure based at least in part on a current pose of a haptic device to move said haptic device from said current pose to a desired pose relative to said target region. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36)
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37. A system for haptic positioning of a haptic device during a medical procedure, comprising:
application logic operatively associated with said haptic device and operable to;
define a virtual pathway to a target region of an anatomy of a patient; and
modify said virtual pathway during said medical procedure based at least in part on a current pose of said haptic device such that said virtual pathway extends from a current position of said haptic device to said target region. - View Dependent Claims (38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50)
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51. A haptic surgical system, comprising:
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a computer-aided surgery system;
a haptic device coupled to said computer-aided surgery system; and
application logic operatively associated with said haptic device and operable to;
define a virtual pathway to a target region of an anatomy of a patient;
generate at least one haptic interaction wrench based at least in part on a current pose of said haptic device;
modify said virtual pathway based at least in part on said at least one haptic interaction wrench such that said virtual pathway extends from a current position of said haptic device to said target region; and
guide a user in moving said haptic device into a desired pose relative to said target region from said current pose. - View Dependent Claims (52, 53, 54, 55, 56, 57, 58)
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Specification