System and method for interactive haptic positioning of a medical device
First Claim
1. A haptic surgical system, comprising:
- a computer-aided surgery system;
a haptic device coupled to a surgical instrument and said computer-aided surgery system; and
a processor programmed to;
define a virtual surface associated with target region of an anatomy of a patient;
generate a haptic interaction wrench based at least in part on a current pose of said surgical instrument relative to the virtual surface to guide said surgical instrument; and
dynamically enable and disable portions of the virtual surface to facilitate a transition from one portion of the virtual surface to another portion of the virtual surface.
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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
32 Claims
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1. A haptic surgical system, comprising:
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a computer-aided surgery system; a haptic device coupled to a surgical instrument and said computer-aided surgery system; and a processor programmed to; define a virtual surface associated with target region of an anatomy of a patient; generate a haptic interaction wrench based at least in part on a current pose of said surgical instrument relative to the virtual surface to guide said surgical instrument; and dynamically enable and disable portions of the virtual surface to facilitate a transition from one portion of the virtual surface to another portion of the virtual surface. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for haptic positioning of a surgical instrument, comprising:
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defining a virtual pathway to a target region of an anatomy of a patient and a virtual boundary defining an anatomical structure of the patient to be avoided, wherein defining the virtual pathway includes defining a virtual cutting surface; storing the defined virtual pathway and the defined virtual boundary; generating a virtual pathway haptic feedback based at least in part on a current pose of the surgical instrument relative to the stored virtual pathway and a protective haptic feedback indicative of interaction between the surgical instrument and the virtual boundary; and dynamically enabling and disabling portions of the virtual cutting surface to facilitate a transition from one portion of the virtual cutting surface to another portion of the virtual cutting surface. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A method for haptic positioning of a surgical instrument comprising:
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displaying a graphical representation of a joint of a patient; defining at least one virtual surface in a target region of the joint; applying haptic feedback to a manual input device associated with the surgical instrument, the haptic feedback indicative of a relationship between the surgical instrument and the virtual surface, modifying the haptic feedback based on a current position and orientation of the surgical instrument to guide the surgical instrument from the current position and orientation to a desired position and orientation relative to said target region, and dynamically enabling and disabling portions of the virtual surface to facilitate a transition from one portion of the virtual surface to another portion of the virtual surface. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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26. A system for haptic positioning of a medical device coupled to a haptic device, the system comprising:
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a display configured to display a graphical representation of an anatomy of a patient containing a target region; a tracking system configured to track a position and orientation of the medical device relative to the target region; a processor programmed to; define a virtual pathway based on user input information, the virtual pathway depicting a proposed path to be followed by the medical device relative to the target region of the anatomy of the patient, display a visual representation of the virtual pathway and a current position and orientation of the medical device, and dynamically enable and disable portions of the virtual pathway to facilitate a transition from one portion of the virtual pathway to another portion of the virtual pathway; and a haptic feedback system which provides haptic feedback to the haptic device indicative of (1) an interaction between the medical device and a region of anatomy of the patient to be avoided and (2) the current orientation of the medical device relative to the virtual pathway. - View Dependent Claims (27, 28, 29, 30, 31, 32)
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Specification