Haptic guidance system and method

• US 20060142657A1
• Filed: 02/21/2006
• Published: 06/29/2006
• Est. Priority Date: 03/06/2002
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Roche, Martin, Ebbitt, Peter, Kang, Hyosig, Mozes, Alon, Moses, Dennis, Quaid, Arthur, Salcedo, Juan, Abovitz, Rony, Illsley, Scott, Arata, Louis, Mears, Dana, Hand, Randall, Hajaj, Binyamin, Dugal, Amardeep Singh, Ferre, Maurice R., Glauser, Sandi, Tapia, William, Blackwell, Timothy, Aly, Sherif
• Granted Patent: US 8,010,180 B2
• Time in Patent Office: Days
• US Class Current: 600/424
• CPC Class Codes: A61B 17/1675 for the knee
• CPC Class Codes: A61B 17/1677 for the patella
• CPC Class Codes: A61B 17/1695 Trepans or craniotomes, i.e. specially adapted for drilling thin bones such as the skull
• CPC Class Codes: A61B 17/17 Guides or aligning means for drills , mills, pins or wires
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 17/1739 specially adapted for particular parts of the body
• CPC Class Codes: A61B 17/1764 for the knee
• CPC Class Codes: A61B 17/1767 for the patella
• CPC Class Codes: A61B 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/108 Computer aided selection or customisation of medical implants or cutting guides
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/207 : Divots for calibration
• CPC Class Codes: A61B 2034/252 : indicating steps of a surgical procedure
• CPC Class Codes: A61B 2034/254 : being adapted depending on the stage of the surgical procedure
• CPC Class Codes: A61B 2034/305 : Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/08021 : of the patient or his organs
• CPC Class Codes: A61B 2090/365 : augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/3937 : Visible markers
• CPC Class Codes: A61B 2090/3983 : Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 : Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 : User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/35 : for telesurgery
• CPC Class Codes: A61B 34/37 : Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 5/1127 : using markers
• CPC Class Codes: A61B 5/745 : using a holographic display
• CPC Class Codes: A61B 90/14 : Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: A61F 2/30942 : for designing or making customized prostheses, e.g. using templates, CT or NMR scans, finite-element analysis or CAD-CAM techniques
• CPC Class Codes: A61F 2/38 : for elbows or knees
• CPC Class Codes: A61F 2002/4632 : using computer-controlled surgery, e.g. robotic surgery
• CPC Class Codes: A61F 2002/4633 : for selection of endoprosthetic joints or for pre-operative planning
• CPC Class Codes: A61N 1/0534 : Electrodes for deep brain stimulation
• CPC Class Codes: A61N 1/3605 : Implantable neurostimulators for stimulating central or peripheral nerve system
• CPC Class Codes: A61N 1/372 : Arrangements in connection with the implantation of stimulators
• CPC Class Codes: G05B 2219/36432 : By putting some constraints on some DOF, move within limited volumes, areas, planes, limits motion in x, y or z planes, virtual reality constraints
• CPC Class Codes: G05B 2219/39196 : Use of passive joint, no actuator but brake, brake on or off
• CPC Class Codes: G05B 2219/40478 : Graphic display of work area of robot, forbidden, permitted zone
• CPC Class Codes: G05B 2219/45117 : Medical, radio surgery manipulator
• CPC Class Codes: G05B 2219/45171 : Surgery drill
• CPC Class Codes: G06F 3/016 : Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/63 : for local operation
• CPC Class Codes: G16Z 99/00 : Subject matter not provided for in other main groups of this subclass

Abstract

A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.

Claims

1. A surgical apparatus, comprising:

a surgical device configured to be manipulated by a user to perform a procedure on a patient; and

a computer system programmed;

to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and

to adjust the control parameters in response to movement of the anatomy during the procedure.

2. The surgical apparatus of claim 1, wherein the surgical device includes an arm, a surgical tool coupled to the arm, and an interface associated with at least one of the arm and the surgical tool.

3. The surgical apparatus of claim 2, wherein the interface includes a first part configured to enable the user to change a configuration of the arm and a second part configured to enable the user to move the surgical tool relative to the arm.

4. The surgical apparatus of claim 3, wherein the first part comprises a joint of the arm and the second part comprises at least one of a distal end of the arm and the surgical tool.

5. The surgical apparatus of claim 2, wherein the computer system is programmed to control the surgical device to generate at least one of a force, a torque, and vibration based on a position of the surgical tool relative to at least one of a virtual object associated with the anatomy, a parameter relative to the anatomy, and the anatomy.

6. The surgical apparatus of claim 1, wherein the surgical device includes a feedback mechanism;

and the computer system is configured to control the feedback mechanism to communicate information to the user, while the user manipulates the surgical device, about a location of the portion of the surgical device relative to at least one of a virtual object associated with the anatomy, a parameter relative to the anatomy, and the anatomy.

7. The surgical apparatus of claim 6, wherein the feedback mechanism includes at least one motor for producing at least one of a force, a torque, and vibration.

8. The surgical apparatus of claim 1, wherein the surgical device includes at least one feedback mechanism configured to supply feedback to the user manipulating the surgical device;

and the computer system is programmed to control the at least one feedback mechanism to provide haptic guidance to the user, while the user manipulates the surgical device, based on the relationship between the anatomy of the patient and the at least one of a position, an orientation, a velocity, and an acceleration of the portion of the surgical device.

9. The surgical apparatus of claim 8, wherein the at least one feedback mechanism includes a motor configured to supply force feedback opposing the user'"'"'s manipulation of the surgical device.

10. The surgical apparatus of claim 9, wherein the computer system is programmed to permit the user to overcome the force feedback and move the surgical device to a desired location.

11. The surgical apparatus of claim 8, wherein the at least one feedback mechanism includes an oscillator for producing vibration.

12. The surgical apparatus of claim 1, wherein the computer system is programmed to control the surgical device using impedance control.

13. The surgical apparatus of claim 1, wherein the computer system is programmed to determine the control parameters based at least in part on a virtual object associated with the anatomy.

14. The surgical apparatus of claim 1, wherein the computer system is programmed to adjust a virtual object associated with the anatomy in response to movement of the anatomy during the procedure by monitoring detected movement of the anatomy and then adjusting the virtual object in response to the detected movement.

15. The surgical apparatus of claim 1, further comprising a detection device for determining a pose of an object.

16. The surgical apparatus of claim 15, wherein the detection device is mounted to the surgical device.

17. The surgical apparatus of claim 16, wherein the detection device is moveable from a first position to a second position relative to the surgical device.

18. The surgical apparatus of claim 16, wherein the detection device is fixed in position with respect to the surgical device.

19. The surgical apparatus of claim 15, further comprising at least one trackable element detectable by the detection device and configured to be attached to an object to be tracked.

20. The surgical apparatus of claim 19, wherein the at least one trackable element comprises an array of markers having a unique geometric arrangement and having a known geometric relationship to the object when the at least one trackable element is attached to the object.

21. The surgical apparatus of claim 19, wherein the computer system is programmed to alert the user if the detection device is unable to detect the at least one trackable element during the procedure.

22. The surgical apparatus of claim 19, wherein the at least one trackable element includes a fixation device for attachment to the anatomy.

23. The surgical apparatus of claim 22, wherein the fixation device includes at least one bone pin.

24. The surgical apparatus of claim 19, wherein the at least one trackable element is disposed on the surgical device.

25. The surgical apparatus of claim 24, wherein the at least one trackable element is moveable between a first position and a second position relative to the surgical device.

26. The surgical apparatus of claim 24, wherein the at least one trackable element is fixed in position with respect to the surgical device.

27. The surgical apparatus of claim 19, wherein the surgical device includes an arm configured to engage a surgical tool, and wherein the at least one trackable element is configured to be disposed on at least one of a distal end of the arm and the surgical tool.

28. The surgical apparatus of claim 19, wherein the at least one trackable element is coupled to a probe.

29. The surgical apparatus of claim 19, wherein the at least one trackable element includes a feature for verifying a calibration of a probe.

30. The surgical apparatus of claim 29, wherein the feature comprises a divot.

31. The surgical apparatus of claim 15, wherein the detection device is configured to be connected to an object to be tracked.

32. The surgical apparatus of claim 31, wherein the detection device includes a fixation device for attachment to a bone of the patient.

114. The method of claim 112, further comprising the steps of:

activating the virtual object so that movement of the portion of the haptic device is constrained along the pathway; and

deactivating the virtual object when the portion of the haptic device reaches the second position.

115. The method of claim 114, further comprising the step of:

deactivating the virtual object to enable the portion of the haptic device to deviate from the pathway.

33. A surgical apparatus, comprising:

a haptic device configured to be manipulated by a user to perform a procedure on a patient, the haptic device including at least one feedback mechanism configured to supply feedback to the user manipulating the haptic device; and

a computer system programmed to implement control parameters for controlling the at least one feedback mechanism to provide haptic guidance to the user, while the user manipulates the haptic device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the haptic device.

34. The surgical apparatus of claim 33, wherein the computer system is programmed to:

adjust the control parameters in response to movement of the anatomy during the procedure.

35. The surgical apparatus of claim 33, wherein the haptic device includes an arm, a surgical tool coupled to the arm, and an interface associated with at least one of the arm and the surgical tool.

36. The surgical apparatus of claim 34, wherein the interface includes a first part configured to enable the user to change a configuration of the arm and a second part configured to enable the user to move the surgical tool relative to the arm.

37. The surgical apparatus of claim 36, wherein the first part comprises a joint of the arm and the second part comprises at least one of a distal end of the arm and the surgical tool.

38. The surgical apparatus of claim 34, wherein the computer system is programmed to control the haptic device to generate at least one of a force, a torque, and vibration based on a position of the surgical tool relative to at least one of a virtual object associated with the anatomy, a parameter relative to the anatomy, and the anatomy.

39. The surgical apparatus of claim 33, wherein the computer system is configured to control the feedback mechanism to communicate information to the user, while the user manipulates the haptic device, about a location of the portion of the haptic device relative to at least one of a virtual object associated with the anatomy, a parameter relative to the anatomy, and the anatomy.

40. The surgical apparatus of claim 33, wherein the feedback mechanism includes at least one motor for producing at least one of a force, a torque, and vibration.

41. The surgical apparatus of claim 33, wherein the at least one feedback mechanism includes a motor configured to supply force feedback opposing the user'"'"'s manipulation of the haptic device.

42. The surgical apparatus of claim 41, wherein the computer system is programmed to permit the user to overcome the force feedback and move the haptic device to a desired location.

43. The surgical apparatus of claim 33, wherein the computer system is programmed to control the haptic device using impedance control.

44. The surgical apparatus of claim 33, wherein the computer system is programmed to determine the control parameters based at least in part on a virtual object associated with the anatomy.

45. The surgical apparatus of claim 33, wherein the computer system is programmed to adjust a virtual object associated with the anatomy in response to movement of the anatomy during the procedure by monitoring detected movement of the anatomy and then adjusting the virtual object in response to the detected movement.

46. The surgical apparatus of claim 33, further comprising a detection device for determining a pose of an object.

47. The surgical apparatus of claim 46, wherein the detection device is mounted to the haptic device.

48. The surgical apparatus of claim 47, wherein the detection device is moveable from a first position to a second position relative to the haptic device.

49. The surgical apparatus of claim 47, wherein the detection device is fixed in position with respect to the haptic device.

50. The surgical apparatus of claim 46, further comprising at least one trackable element detectable by the detection device and configured to be attached to an object to be tracked.

51. The surgical apparatus of claim 50, wherein the at least one trackable element comprises an array of markers having a unique geometric arrangement and having a known geometric relationship to the object when the at least one trackable element is attached to the object.

52. The surgical apparatus of claim 50, wherein the computer system is programmed to alert the user if the detection device is unable to detect the at least one trackable element during the procedure.

53. The surgical apparatus of claim 50, wherein the at least one trackable element includes a fixation device for attachment to the anatomy.

54. The surgical apparatus of claim 53, wherein the fixation device includes at least one bone pin.

55. The surgical apparatus of claim 50, wherein the at least one trackable element is disposed on the haptic device.

56. The surgical apparatus of claim 55, wherein the at least one trackable element is moveable between a first position and a second position relative to the haptic device.

57. The surgical apparatus of claim 55, wherein the at least one trackable element is fixed in position with respect to the haptic device.

58. The surgical apparatus of claim 50, wherein the haptic device includes an arm configured to engage a surgical tool, and wherein the at least one trackable element is configured to be disposed on at least one of a distal end of the arm and the surgical tool.

59. The surgical apparatus of claim 50, wherein the at least one trackable element is coupled to a probe.

60. The surgical apparatus of claim 50, wherein the at least one trackable element includes a feature for verifying a calibration of a probe.

61. The surgical apparatus of claim 60, wherein the feature comprises a divot.

62. The surgical apparatus of claim 46, wherein the detection device is configured to be connected to an object to be tracked.

63. The surgical apparatus of claim 62, wherein the detection device includes a fixation device for attachment to a bone of the patient.

64. A surgical method, comprising the steps of:

creating a representation of an anatomy of a patient;

associating the anatomy and a surgical device with the representation of the anatomy;

manipulating the surgical device to perform a procedure on a patient by moving a portion of the surgical device in a region of the anatomy;

controlling the surgical device to provide at least one of haptic guidance and a limit on manipulation of the surgical device, based on a relationship between the representation of the anatomy and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device; and

adjusting the representation of the anatomy in response to movement of the anatomy during the procedure.

65. The method of claim 64, further comprising the step of:

defining a parameter relative to the representation of the anatomy.

66. The method of claim 65, wherein the parameter comprises a distance.

67. The method of claim 65, further comprising the step of:

controlling the surgical device to provide the at least one of haptic guidance and a limit on manipulation of the surgical device based on the parameter and the at least one of a position, an orientation, a velocity, and an acceleration of the portion of the surgical device.

68. The method of claim 64, further comprising the step of:

associating a virtual object with the representation of the anatomy.

69. The method of claim 68, further comprising the step of:

controlling the surgical device to provide the at least one of haptic guidance and a limit on manipulation of the surgical device based on the virtual object and the at least one of a position, an orientation, a velocity, and an acceleration of the portion of the surgical device.

70. The method of claim 68, further comprising the steps of:

monitoring a position of the anatomy to detect movement of the anatomy; and

adjusting the virtual object in response to the detected movement.

71. The method of claim 68, wherein the step of controlling the surgical device includes constraining the portion of the surgical device against penetrating at least a portion of the virtual object.

72. The method of claim 68, wherein at least a portion of the virtual object represents a portion of material to be removed from the anatomy.

73. The method of claim 68, wherein a shape of at least a portion of the virtual object substantially corresponds to a shape of a surface of an implant to be fitted to the anatomy.

74. The method of claim 68, further comprising the step of:

superimposing a representation of the virtual object on the representation of the anatomy.

75. The method of claim 68, wherein the virtual object represents a pathway from a first position to a second position.

76. The method of claim 75, wherein second position includes a target region of the anatomy.

77. The method of claim 75, further comprising the steps of:

activating the virtual object so that movement of the portion of the surgical device is constrained along the pathway; and

deactivating the virtual object when the portion of the surgical device reaches the second position.

78. The method of claim 77, further comprising the step of:

deactivating the virtual object to enable the portion of the surgical device to deviate from the pathway.

79. The method of claim 64, wherein the surgical device includes an arm, a surgical tool coupled to the arm, and an interface associated with at lest one of the arm and the surgical tool.

80. The method of claim 79, wherein the interface includes a first part configured to enable a user to change a configuration of the arm and a second part configured to enable the user to move the surgical tool relative to the arm.

81. The method of claim 79, further comprising the step of:

manipulating the interface to simultaneously change a configuration of the arm and move the surgical tool relative to the arm.

82. The method of claim 64, wherein the step of controlling the surgical device includes controlling a feedback mechanism to generate at least one of a force, a torque, and vibration.

83. The method of claim 64, wherein the step of controlling the surgical device includes generating force feedback that opposes a user'"'"'s manipulation of the surgical device.

84. The method of claim 83, wherein the force feedback is determined based on a proximity of the portion of the surgical device to a virtual boundary associated with the representation of the anatomy.

85. The method of claim 83, wherein a magnitude of the force feedback increases as the portion of the surgical device approaches a virtual boundary associated with the representation of the anatomy.

86. The method of claim 64, wherein the haptic guidance communicates information to a user manipulating the surgical device about a position of the portion of the surgical device relative to at least one of a virtual boundary associated with the representation of the anatomy, a parameter relative to the representation of the anatomy, and the anatomy.

87. The method of claim 64, further comprising the step of:

offsetting a force feedback curve for controlling the surgical device by a desired value.

88. The method of claim 87, further comprising the steps of:

storing the desired value; and

associating the desired value with a user.

89. The method of claim 87, wherein the step of offsetting the force feedback curve includes increasing or decreasing a size of a haptic object.

90. The method of claim 87, wherein the step of offsetting the force feedback curve includes increasing or decreasing a size of a representation of a surgical tool coupled to the surgical device.

91. The method of claim 64, further comprising the steps of:

monitoring a position of the surgical device.

92. The method of claim 64, further comprising the steps of:

creating a representation of a surgical tool coupled to the surgical device.

93. The method of claim 92, further comprising the steps of:

updating the representation of the surgical tool as a user manipulates the surgical device to perform the procedure on the patient.

94. The method of claim 92, wherein the representation of the surgical tool includes a representation of at least one of a tip of the surgical tool and a shaft of the surgical tool.

95. The method of claim 92, further comprising the step of:

indicating an allowable angle of inclination of a shaft of the surgical tool.

96. The method of claim 64, further comprising the steps of:

creating a representation of at least a portion of material to be removed from the anatomy;

manipulating the surgical device to remove material from the anatomy; and

creating a representation of the material removed by the surgical device.

97. The method of claim 96, further comprising the steps of:

creating the representation of the portion of material to be removed in a first color;

creating the representation of the material removed by the surgical device in a second color when a desired amount of material has been removed; and

creating the representation of the material removed by the surgical device in a third color when the material removed by the surgical device exceeds the desired amount of material.

98. The method of claim 64, further comprising the step of:

generating at least one display configured to guide a user manipulating the surgical device through the procedure.

99. The method of claim 98, wherein the at least one display prompts the user to perform a task.

100. A surgical method, comprising the steps of:

creating a representation of an anatomy of a patient;

associating the anatomy and a haptic device with the representation of the anatomy;

manipulating the haptic device to perform a procedure on a patient by moving a portion of the haptic device in a region of the anatomy;

the haptic device including at least one feedback mechanism configured to supply feedback during manipulation; and

controlling the at least one feedback mechanism to provide haptic guidance, during manipulation of the haptic device, based on a relationship between the representation of the anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the haptic device.

101. The method of claim 100, further comprising the step of:

adjusting the representation of the anatomy of the patient in response to movement of the anatomy during the procedure.

102. The method of claim 100, further comprising the step of:

defining a parameter relative to the representation of the anatomy.

103. The method of claim 102, wherein the parameter comprises a distance.

104. The method of claim 102, further comprising the step of:

controlling the haptic device to provide the at least one of haptic guidance based on the parameter and the at least one of a position, an orientation, a velocity, and an acceleration of the portion of the haptic device.

105. The method of claim 100, further comprising the step of:

associating a virtual object with the representation of the anatomy.

106. The method of claim 105, further comprising the step of:

controlling the haptic device to provide the haptic guidance based on the virtual object and the at least one of a position, an orientation, a velocity, and an acceleration of the portion of the haptic device.

107. The method of claim 105, further comprising the steps of:

monitoring a position of the anatomy to detect movement of the anatomy; and

adjusting the virtual object in response to the detected movement.

108. The method of claim 105, wherein the step of controlling the haptic device includes constraining the portion of the haptic device against penetrating at least a portion of the virtual object.

109. The method of claim 105, wherein at least a portion of the virtual object represents a portion of material to be removed from the anatomy.

110. The method of claim 105, wherein a shape of at least a portion of the virtual object substantially corresponds to a shape of a surface of an implant to be fitted to the anatomy.

111. The method of claim 105, further comprising the step of:

superimposing a representation of the virtual object on the representation of the anatomy.

112. The method of claim 105, wherein the virtual object represents a pathway from a first position to a second position.

113. The method of claim 112, wherein second position includes a target region of the anatomy.

116. The method of claim 100, wherein the haptic device includes an arm, a surgical tool coupled to the arm, and an interface associated with at least one of the arm and the surgical tool.

117. The method of claim 116, wherein the haptic device includes a first part configured to enable a user to change a configuration of the arm and a second part configured to enable the user to move the surgical tool relative to the arm.

118. The method of claim 116, further comprising the step of:

manipulating the interface to simultaneously change a configuration of the arm and move the surgical tool relative to the arm.

119. The method of claim 100, where the feedback supplied by the feedback mechanism includes at least one of a force, a torque, and vibration.

120. The method of claim 100, wherein the feedback supplied by the feedback mechanism opposes a user'"'"'s manipulation of the haptic device.

121. The method of claim 120, wherein the feedback is determined based on a proximity of the portion of the haptic device to a virtual boundary associated with the representation of the anatomy.

122. The method of claim 120, wherein a magnitude of the feedback increases as the portion of the haptic device approaches a virtual boundary associated with the representation of the anatomy.

123. The method of claim 100, wherein the haptic guidance communicates information to a user manipulating the surgical device about a position of the portion of the surgical device relative to at least one of a virtual boundary associated with the representation of the anatomy, a parameter relative to the representation of the anatomy, and the anatomy.

124. The method of claim 100, further comprising the step of:

offsetting a force feedback curve for controlling the haptic device by a desired value.

125. The method of claim 124, further comprising the steps of:

storing the desired value; and

associating the desired value with a user.

126. The method of claim 124, wherein the step of offsetting the force feedback curve includes increasing or decreasing a size of a haptic object.

127. The method of claim 124, wherein the step of offsetting the force feedback curve includes increasing or decreasing a size of a representation of a surgical tool coupled to the haptic device.

128. The method of claim 100, further comprising the steps of:

monitoring a position of the haptic device.

129. The method of claim 100, further comprising the steps of:

creating a representation of a surgical tool coupled to the haptic device.

130. The method of claim 129, further comprising the steps of:

updating the representation of the surgical tool as a user manipulates the haptic device to perform the procedure on the patient.

131. The method of claim 129, wherein the representation of the surgical tool includes a representation of at least one of a tip of the surgical tool and a shaft of the surgical tool.

132. The method of claim 129, further comprising the step of:

indicating an allowable angle of inclination of a shaft of the surgical tool.

133. The method of claim 100, further comprising the steps of:

creating a representation of at least a portion of material to be removed from the anatomy;

manipulating the haptic device to remove material from the anatomy; and

creating a representation of the material removed by the surgical device.

134. The method of claim 133, further comprising the steps of:

creating the representation of the portion of material to be removed in a first color;

creating the representation of the material removed by the haptic device in a second color when a desired amount of material has been removed; and

creating the representation of the material removed by the haptic device in a third color when the material removed by the haptic device exceeds the desired amount of material.

135. The method of claim 100, further comprising the step of:

generating at least one display configured to guide a user manipulating the haptic device through the procedure.

136. The method of claim 135, wherein the at least one display prompts the user to perform a task.

137. A method for joint replacement, comprising the steps of:

creating a representation of a first bone;

creating a representation of a second bone;

planning bone preparation for implanting a first implant on the first bone;

preparing the first bone to receive the first implant by manipulating a surgical tool to sculpt the first bone;

planning bone preparation for implanting a second implant on the second bone after preparing the first bone; and

preparing the second bone to receive the second implant by manipulating the surgical tool to sculpt the second bone.

138. The method of claim 137, further comprising the steps of:

designating landmarks on the representation of the first bone; and

designating landmarks on the representation of the second bone.

139. The method of claim 138, wherein the landmarks on the representation of the first bone include at least one of a medial malleolus, a lateral malleolus, a rotational landmark, a knee center, a hip center, a medial epicondyle, and a lateral epicondyle.

140. The method of claim 138, wherein the landmarks on the representation of the second bone include at least one of a medial malleolus, a lateral malleolus, a rotational landmark, a knee center, a hip center, a medial epicondyle, and a lateral epicondyle.

141. The method of claim 137, wherein the step of planning bone preparation for implanting the first implant includes superimposing a representation of the first implant on the representation of the first bone.

142. The method of claim 137, wherein the step of planning bone preparation for implanting the second implant includes superimposing a representation of the second implant on the representation of the second bone.

143. The method of claim 137, wherein the step of planning bone preparation for implanting the first implant includes associating a representation of the first implant with the representation of the first bone.

144. The method of claim 137, wherein the step of planning bone preparation for implanting the second implant includes associating a representation of the second implant with the representation of the second bone.

145. The method of claim 137, wherein the step of planning bone preparation for implanting the first implant includes adjusting at least one of a depth, a rotation, a medial/lateral position, an anterior/posterior position, an internal/external angle, a varus/valgus angle, a flexion angle, and a size of a representation of the first implant.

146. The method of claim 137, wherein the step of planning bone preparation for implanting the second implant includes adjusting at least one of a depth, a rotation, a medial/lateral position, an anterior/posterior position, an internal/external angle, a varus/valgus angle, a flexion angle, and a size of a representation of the second implant.

147. The method of claim 137, further comprising the step of:

displaying at least one of a depth, an internal/external angle, a varus/valgus angle, a flexion angle, and a size of a representation of the first implant on a display device.

148. The method of claim 137, further comprising the step of:

displaying at least one of a depth, an internal/external angle, a varus/valgus angle, a flexion angle, and a size of a representation of the second implant on a display device.

149. The method of claim 137, wherein the step of planning bone preparation for implanting the first implant includes associating a representation of the first implant with the representation of the first bone based at least in part on a detected location of cartilage in a region of the first bone.

150. The method of claim 137, further comprising the step of:

adjusting the representation of the first bone in response to movement of the first bone.

151. The method of claim 137, further comprising the step of:

adjusting the representation of the second bone in response to movement of the second bone.

152. The method of claim 137, wherein the step of planning bone preparation for implanting the first implant includes detecting a height of a cartilage surface above the first bone.

153. The method of claim 152, wherein the step of planning bone preparation for implanting the first implant includes aligning at least a portion of a representation of the first implant with a representation of the height of the cartilage surface.

154. The method of claim 137, further comprising the step of:

fitting the first implant to the first bone.

155. The method of claim 154, wherein the step of planning bone preparation for implanting the second implant includes associating a representation of the second implant with the representation of the second bone based at least in part on a detected location of the first implant on the first bone.

156. The method of claim 154, further comprising the steps of:

moving a joint to a first position;

identifying a first point corresponding to a first location in the joint, when the joint is in the first position;

moving the joint to a second position;

identifying a second point corresponding to a second location in the joint, when the joint is in the second position;

planning bone preparation for implanting the second implant on the second bone based at least in part on the first and second points.

157. The method of claim 156, wherein the step of moving the joint to the first position includes moving the joint into one of flexion and extension.

158. The method of claim 156, wherein the step of moving the joint to the second position includes moving the joint into one of flexion and extension.

159. The method of claim 156, wherein at least one of the first location and the second location includes a location on the first implant fitted to the first bone.

160. The method of claim 156, wherein at least one of the first location and the second location includes a location on a pre-existing implant disposed in the joint.

161. The method of claim 156, wherein the step of planning bone preparation for implanting the second implant includes aligning a centerline of a representation of the second implant with the first and second points.

162. The method of claim 137, wherein the step of preparing the first bone includes constraining the surgical tool against at least one of penetrating a virtual boundary associated with the representation of the first bone and exceeding a parameter defined with respect to the representation of the first bone.

163. The method of claim 137, wherein the step of preparing the second bone includes constraining the surgical tool against at least one of penetrating a virtual boundary associated with the representation of the second bone and exceeding a parameter defined with respect to the representation of the second bone.

164. The method of claim 137, further comprising the steps of:

sculpting the first bone with a surgical tool; and

constraining the surgical tool so that a tip of the surgical tool is constrained against penetrating a virtual boundary.

165. The method of claim 164, wherein at least a portion of the virtual boundary comprises a representation of the first implant.

166. The method of claim 164, wherein a shape of at least a portion of the virtual boundary corresponds to a shape of a surface of the first implant.

167. The method of claim 164, further comprising the steps of:

adjusting the virtual boundary in response to movement of the first bone.

168. The method of claim 137, further comprising the steps of:

sculpting the second bone with a surgical tool; and

constraining the surgical tool so that a tip of the surgical tool is constrained against penetrating a virtual boundary.

169. The method of claim 168, wherein at least a portion of the virtual boundary comprises a representation of the second implant.

170. The method of claim 168, wherein a shape of at least a portion of the virtual boundary corresponds to a shape of a surface of the second implant.

171. The method of claim 168, further comprising the steps of:

adjusting the virtual boundary in response to movement of the second bone.

172. The method of claim 137, wherein the step of preparing the first bone includes the steps of:

superimposing a representation of a portion of material to be removed from the first bone on the representation of the first bone; and

updating the representation of the portion of material to be removed from the first bone with a representation of a portion of material actually removed by the surgical tool.

173. The method of claim 172, wherein the portion of material to be removed corresponds to at least a portion of a virtual object associated with the representation of the first bone.

174. The method of claim 137, wherein the step of preparing the second bone includes the steps of:

superimposing a representation of a portion of material to be removed from the second bone on the representation of the second bone; and

updating the representation of the portion of material to be removed from the second bone with a representation of a portion of material actually removed by the surgical tool.

175. The method of claim 174, wherein the portion of material to be removed corresponds to at least a portion of a virtual object associated with the representation of the second bone.

176. The method of claim 137, further comprising the steps of:

creating a representation of the surgical tool; and

updating the representation of the surgical tool and at least one of the representation of the first and the representation of the second bone as the surgical tool and at least one of the first bone and the second bone move.

177. The method of claim 137, further comprising the steps of:

placing at least one of the first bone and the second bone in a support device; and

actuating the support device to move at least one of the first bone and the second bone from a first position to a second position.

178. The method of claim 177, wherein the step of actuating the support device includes the steps of:

determining an actual pose of at least one of the first bone and the second bone;

determining a desired pose of the at least one of the first bone and the second bone; and

actuating the support device to move the at least one of the first bone and the second bone from the actual pose to the desired pose.

179. A surgical planning method, comprising the steps of:

detecting a height of a cartilage surface above a bone;

creating a representation of the bone and a representation of the height of the cartilage surface; and

planning bone preparation for implanting an implant on the bone based at least in part on the detected height of the cartilage surface.

180. The method of claim 179, wherein the step of planning bone preparation includes aligning at least a portion of a representation of the implant with the representation of the height of the cartilage surface.

181. The method of claim 179, wherein the step of planning bone preparation includes adjusting at least one of a depth, a rotation, a medial/lateral position, an anterior/posterior position, an internal/external angle, a varus/valgus angle, a flexion angle, and a size of a representation of the implant.

182. The method of claim 179, further comprising the step of:

displaying at least one of a depth, an internal/external angle, a varus/valgus angle, a flexion angle, and a size of a representation of the implant on a display device.

183. The method of claim 180, wherein the representation of the height of the cartilage surface includes at least one of a visual representation and a numerical representation.

184. The method of claim 180, further comprising the step of:

superimposing a representation of the implant on the representation of the bone.

185. The method of claim 179, further comprising the step of:

associating a representation of an implant with the representation of the bone.

186. The method of claim 179, further comprising the steps of:

sculpting the bone with a surgical tool; and

constraining the surgical tool so that a tip of the surgical tool is constrained against penetrating a virtual boundary.

187. The method of claim 186, wherein at least a portion of the virtual boundary comprises a representation of the implant.

188. The method of claim 186, wherein a shape of at least a portion of the virtual boundary corresponds to a shape of a surface of the implant.

189. The method of claim 179, further comprising the steps of:

sculpting the bone to receive the implant; and

fitting the implant to the bone.

190. The method of claim 189, further comprising the steps of:

creating a representation of a second bone of the joint;

moving the joint to a first position;

identifying a first point corresponding to a first location in the joint, when the joint is in the first position;

moving the joint to a second position;

identifying a second point corresponding to a second location in the joint, when the joint is in the second position;

planning bone preparation for implanting a second implant on the second bone based at least in part on the first and second points.

191. The method of claim 190, wherein the step of moving the joint to the first position includes moving the joint into one of flexion and extension.

192. The method of claim 190, wherein the step of moving the joint to the second position includes moving the joint into one of flexion and extension.

193. The method of claim 190, wherein at least one of the first location and the second location includes a location on the implant fitted to the bone.

194. The method of claim 190, wherein at least one of the first location and the second location includes a location on a pre-existing implant disposed in the joint.

195. The method of claim 190, wherein the step of planning bone preparation for implanting the second implant includes aligning a centerline of a representation of the second implant with the first and second points.

196. The method of claim 190, wherein the step of planning bone preparation for implanting the second implant includes adjusting at least one of a depth, a rotation, a medial/lateral position, an anterior/posterior position, an internal/external angle, a varus/valgus angle, a flexion angle, and a size of a representation of the second implant.

197. The method of claim 190, further comprising the step of:

superimposing a representation of the second implant on the representation of the second bone.

198. The method of claim 190, further comprising the step of:

displaying at least one of a depth, an internal/external angle, a varus/valgus angle, a flexion angle, and a size of a representation of the second implant on a display device.

199. The method of claim 190, further comprising the step of:

associating a representation of the second implant with the representation of the second bone.

200. The method of claim 190, further comprising the steps of:

sculpting the second bone with a surgical tool; and

constraining the surgical tool so that a tip of the surgical tool is constrained against penetrating a virtual boundary.

201. The method of claim 200, wherein at least a portion of the virtual boundary comprises a representation of the second implant.

202. The method of claim 200, wherein a shape of at least a portion of the virtual boundary corresponds to a shape of a surface of the second implant.

203. The method of claim 200, further comprising the steps of:

adjusting the virtual boundary in response to movement of the second bone.

204. A surgical planning method, comprising the steps of:

creating a representation of a bone of a joint;

moving the joint to a first position;

identifying a first point corresponding to a first location in the joint, when the joint is in the first position;

moving the joint to a second position;

identifying a second point corresponding to a second location in the joint, when the joint is in the second position; and

planning bone preparation for implanting an implant on the bone based at least in part on the first and second points.

205. The method of claim 204, wherein the step of moving the joint to the first position includes moving the joint into one of flexion and extension.

206. The method of claim 204, wherein the step of moving the joint to the second position includes moving the joint into one of flexion and extension.

207. The method of claim 204, wherein at least one of the first location and the second location includes a location on an implant disposed on an opposite bone of the joint.

208. The method of claim 204, wherein at least one of the first location and the second location includes a location on a second implant disposed in the joint.

209. The method of claim 204, wherein the step of planning bone preparation includes aligning a centerline of a representation of the implant with the first and second points.

210. The method of claim 204, wherein the step of planning bone preparation includes adjusting at least one of a depth, a rotation, a medial/lateral position, an anterior/posterior position, an internal/external angle, a varus/valgus angle, a flexion angle, and a size of a representation of the implant.

211. The method of claim 204, further comprising the step of:

superimposing a representation of the implant on the representation of the bone.

212. The method of claim 204, further comprising the step of:

displaying at least one of a depth, an internal/external angle, a varus/valgus angle, a flexion angle, and a size of a representation of the implant on a display device.

213. The method of claim 204, further comprising the step of:

associating a representation of the implant with the representation of the bone.

214. The method of claim 204, further comprising the steps of:

sculpting the bone with a surgical tool; and

constraining the surgical tool so that a tip of the surgical tool is constrained against penetrating a virtual boundary.

215. The method of claim 214, wherein at lease a portion of the virtual boundary comprises a representation of the implant.

216. The method of claim 214, wherein a shape of at least a portion of the virtual boundary corresponds to a shape of a surface of the implant.

217. The method of claim 214, further comprising the steps of:

adjusting the virtual boundary in response to movement of the bone.