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Guidance system and method for surgical procedures with improved feedback

DC
  • US 7,831,292 B2
  • Filed: 07/16/2003
  • Issued: 11/09/2010
  • Est. Priority Date: 03/06/2002
  • Status: Active Grant
First Claim
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1. A method for use of a computer-assisted surgery system during a medical procedure, comprising:

  • receiving information on an object of interest;

    tracking a position of a manually manipulated tool mechanically coupled to a haptic device as a surgeon manually holds and manipulates the tool;

    determining a scalar distance between a current position of said tool and said object of interest; and

    providing an indication of said scalar distance to a user of said tool,wherein the object of interest includes at least one haptic virtual object that represents a virtual cutting boundary for the tool and that is defined at least in part by;

    a mapping between a pose of the tool and an output wrench of the haptic device, and,wherein providing the indication of the scalar distance includes activating at least one actuator of the haptic device to generate the output wrench when the tool intrudes on the virtual cutting boundary.

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