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System and method for interactive haptic positioning of a medical device

  • US 7,747,311 B2
  • Filed: 03/06/2003
  • Issued: 06/29/2010
  • Est. Priority Date: 03/06/2002
  • Status: Active Grant
First Claim
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1. A surgical method comprising:

  • defining a virtual pathway to a target region of an anatomy of a patient on whom a surgical procedure is to be performed, defining the virtual pathway including defining a cutting surface that defines a surface of bone that is to be sculpted to receive an implant device;

    storing the defined virtual pathway;

    providing virtual pathway haptic feedback to a surgeon indicative of interaction between a surgical instrument attached to a haptic device and the stored virtual pathway;

    providing protective haptic feedback to the surgeon indicative of interaction between the surgical instrument and a virtual boundary defining an anatomical structure of the patient to be avoided;

    modifying said virtual pathway during the surgical procedure based at least in part on a current pose of the surgical instrument; and

    dynamically enabling and disabling portions of the cutting surface to facilitate smoothly transitioning from one portion of the cutting surface to another portion of the cutting surface without leaving sharp edges.

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