Patent ID: 8571628

Claim:
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.