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Apparatus and method for haptic rendering

  • US 8,571,628 B2
  • Filed: 12/27/2006
  • Issued: 10/29/2013
  • Est. Priority Date: 03/06/2002
  • Status: Active Grant
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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