Apparatus and method for haptic rendering
First Claim
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1. A method for generating a haptic force comprising the steps of:
- defining a haptic interaction point (HIP) position in virtual space, the HIP position corresponding to a physical point associated with a surgical tool;
defining a primary proxy position on a primary proxy surface;
defining a secondary proxy position on a secondary proxy surface, wherein the secondary proxy surface is positioned at a predetermined distance from the primary proxy surface and between the primary proxy surface and an expected cutting surface of a bone;
generating a first haptic force, by a haptic device, based on the primary proxy position and the HIP position when the HIP position is located between the primary proxy surface and the secondary proxy surface at a distance less than or equal to the predetermined distance from the primary proxy position, wherein the first haptic force is directed toward the primary proxy position; and
generating a second haptic force, by a haptic device, based on the secondary proxy position and the HIP position when the HIP position is located between the secondary proxy surface and the expected cutting surface at a distance greater than the predetermined distance from the primary proxy position, wherein the second haptic force is directed toward the secondary proxy position.
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Abstract
In one aspect, the invention relates to a method for generating a haptic penalty force, including in one embodiment, the steps of: defining a primary proxy position; defining a secondary proxy position; defining a HIP position; generating a first force in response to the primary proxy position and the HIP position and generating a second force in response to the secondary proxy position and the HIP position.
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Citations
17 Claims
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1. A method for generating a haptic force comprising the steps of:
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defining a haptic interaction point (HIP) position in virtual space, the HIP position corresponding to a physical point associated with a surgical tool; defining a primary proxy position on a primary proxy surface; defining a secondary proxy position on a secondary proxy surface, wherein the secondary proxy surface is positioned at a predetermined distance from the primary proxy surface and between the primary proxy surface and an expected cutting surface of a bone; generating a first haptic force, by a haptic device, based on the primary proxy position and the HIP position when the HIP position is located between the primary proxy surface and the secondary proxy surface at a distance less than or equal to the predetermined distance from the primary proxy position, wherein the first haptic force is directed toward the primary proxy position; and generating a second haptic force, by a haptic device, based on the secondary proxy position and the HIP position when the HIP position is located between the secondary proxy surface and the expected cutting surface at a distance greater than the predetermined distance from the primary proxy position, wherein the second haptic force is directed toward the secondary proxy position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An apparatus for generating a haptic force on a user comprising:
a computer system comprising a processor configured to execute a series of steps to determine and generate the haptic force, the steps comprising; defining a haptic interaction point (HIP) position in virtual space, the HIP position corresponding to a physical point associated with a surgical tool; defining a primary proxy position on a primary proxy surface; defining a secondary proxy position on a secondary proxy surface, wherein the secondary proxy surface is positioned at a predetermined distance from the primary proxy surface and between the primary proxy surface and an expected cutting surface of a bone; generating a first haptic force, by a haptic device, based on the primary proxy position and the HIP position when the HIP position is located between the primary proxy surface and the secondary proxy surface at a distance less than or equal to the predetermined distance from the primary proxy position, wherein the first haptic force is directed toward the primary proxy position; and generating a second haptic force, by a haptic device, based on the secondary proxy position and the HIP position when the HIP position is located between the secondary proxy surface and the expected cutting surface at a distance greater than the predetermined distance from the primary proxy position, wherein the second haptic force is directed toward the secondary proxy position. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
Specification