A computer-implemented method for customizing an interactive haptic boundary based on a patient-specific feature, comprising: positioning a virtual implant model in a desired position relative to a virtual model associated with the anatomy of the patient; identifying a reference feature associated with a virtual implant model ; determining , based on the desired position of the virtual implant model relative to the virtual model associated with the patient's anatomy, an intersection between the identified reference feature and a virtual model associated with an anatomy of the patient; generating a preliminary virtual haptic boundary based on the determined intersection between the identified reference feature associated with the virtual implant model and the virtual model associated with the anatomy of the patient; modifying the preliminary virtual haptic boundary by: identifying an anatomic feature of the patient's anatomy on the virtual model of the patient's anatomy; estimating an intersection between the reference feature associated with the virtual implant model and the anatomic feature on the virtual model by determining a difference between a position of a portion of the generated preliminary virtual haptic boundary and the anatomic feature associated with the bone; and generating a modified haptic boundary based, at least in part, on the determined difference between the position of the portion of the preliminary virtual haptic boundary and the anatomic feature associated with the bone. positioning a virtual implant model in a desired position relative to a virtual model associated with the anatomy of the patient; identifying a reference feature associated with a virtual implant model ; determining , based on the desired position of the virtual implant model relative to the virtual model associated with the patient's anatomy, an intersection between the identified reference feature and a virtual model associated with an anatomy of the patient; generating a preliminary virtual haptic boundary based on the determined intersection between the identified reference feature associated with the virtual implant model and the virtual model associated with the anatomy of the patient; modifying the preliminary virtual haptic boundary by: identifying an anatomic feature of the patient's anatomy on the virtual model of the patient's anatomy; estimating an intersection between the reference feature associated with the virtual implant model and the anatomic feature on the virtual model by determining a difference between a position of a portion of the generated preliminary virtual haptic boundary and the anatomic feature associated with the bone; and identifying an anatomic feature of the patient's anatomy on the virtual model of the patient's anatomy; estimating an intersection between the reference feature associated with the virtual implant model and the anatomic feature on the virtual model by determining a difference between a position of a portion of the generated preliminary virtual haptic boundary and the anatomic feature associated with the bone; and generating a modified haptic boundary based, at least in part, on the determined difference between the position of the portion of the preliminary virtual haptic boundary and the anatomic feature associated with the bone. <EOS>