Systems and methods for guiding an instrument using haptic object with collapsing geometry
First Claim
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1. A method for guiding an instrument, comprising:
- establishing, by a processor associated with a computer, a target axis that comprises a target point;
defining, by the processor, a virtual haptic volume based, at least in part, on the target point and the target axis; and
determining, by the processor, whether a position of a reference point of an instrument is within the virtual haptic volume;
upon determining that the position of the instrument reference point is within the virtual haptic volume, determining, by the processor, an orientation angle of an axis of the instrument relative to a plane normal to the target axis; and
determining, by the processor, a decrease in the orientation angle of the axis of the instrument relative to the plane normal to the target axis;
decreasing, by the processor, the virtual haptic volume based on the decrease in the orientation angle of the axis of the instrument relative to the plane normal to the target axis.
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Abstract
A computer-implemented method for guiding an instrument, comprises determining, by a processor associated with a computer, a current orientation angle of an instrument axis relative to a target axis. The method also comprises establishing, by the processor, a haptic boundary associated with the instrument based on the determined orientation angle of the instrument axis relative to the target axis. The haptic boundary is configured to constrain the instrument axis from being moved to an angle substantially greater than the current orientation angle.
16 Citations
7 Claims
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1. A method for guiding an instrument, comprising:
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establishing, by a processor associated with a computer, a target axis that comprises a target point; defining, by the processor, a virtual haptic volume based, at least in part, on the target point and the target axis; and determining, by the processor, whether a position of a reference point of an instrument is within the virtual haptic volume; upon determining that the position of the instrument reference point is within the virtual haptic volume, determining, by the processor, an orientation angle of an axis of the instrument relative to a plane normal to the target axis; and determining, by the processor, a decrease in the orientation angle of the axis of the instrument relative to the plane normal to the target axis; decreasing, by the processor, the virtual haptic volume based on the decrease in the orientation angle of the axis of the instrument relative to the plane normal to the target axis. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification