Patent ID: 7206627
Filing Date: 2007-04-17
Classification: A61B,B25J

Abstract:
1. A method for intra-operative planning of a medical procedure using a haptic device, comprising: registering said haptic device to at least a portion of an anatomy of a patient on which said medical procedure is to be performed; associating at least one attractive haptic object with a target region of said anatomy; associating at least one repulsive haptic object with at least one anatomical obstacle to be avoided during said medical procedure; providing at least one attractive haptic cue from said at least one attractive haptic object and at least one repulsive haptic cue from said at least one repulsive haptic object to guide a user in positioning said haptic device relative to said portion of said anatomy such that a medical device when coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical obstacles; and providing a special haptic cue in response to canceling of haptic cues from at least two haptic objects.