System and method for using a haptic device as an input device

Abstract

The invention generally pertains to a combination of a haptic device with a computer-assisted surgery system. The haptic device may be used as an input device, allowing information to pass from the user to the computer-assisted surgery system, and providing functionality similar to common user interface devices, such as a mouse or any other input device. When used as an input device, it may be used for defining anatomical reference geometry, manipulating the position and/or orientation of virtual implants, manipulating the position and/or orientation of surgical approach trajectories, manipulating the positions and/or orientation of bone resections, and the selection or placement of any other anatomical or surgical feature.

1 . A method for using a haptic device as an input device, comprising:
 receiving information identifying an object to be controlled by said haptic device, said object being associated with a computer-assisted surgery system;   receiving input from said haptic device; and   modifying said object in response to receiving input from said haptic device.   
     
     
         2 . The method of  claim 1 , wherein said object is selected from the group consisting of a user interface object, a virtual implant, a surgical approach trajectory, an anatomical reference geometry, a bone resection, an anatomical feature, and a surgical feature. 
     
     
         3 . The method of  claim 1 , wherein said object is displayed on a display device associated with said computer-assisted surgery system, said object being selected from the group consisting of a cursor, a slider bar, a dial, a knob, and a button. 
     
     
         4 . The method of  claim 1 , further comprising storing a reference pose of said haptic device. 
     
     
         5 . The method of  claim 4 , further comprising associating said reference pose with a desired placement of a medical device coupled with said haptic device. 
     
     
         6 . The method of  claim 5 , further comprising updating said desired placement based at least in part on a change in said reference pose. 
     
     
         7 . The method of  claim 6 , further comprising updating said reference pose of said haptic device based at least in part on a change in pose of said haptic device. 
     
     
         8 . The method of  claim 7 , further comprising applying a haptic wrench to said haptic device such that, upon being released, said haptic device tends to return to said updated reference pose. 
     
     
         9 . The method of  claim 4 , further comprising applying a haptic wrench to said haptic device such that, upon being released, said haptic device tends to return to said reference pose. 
     
     
         10 . The method of  claim 1 , further comprising storing positional information of a tip of said haptic device. 
     
     
         11 . The method of  claim 1 , further comprising correlating said object with said haptic device to facilitate mapping of movement of said haptic device into a corresponding modification of said object. 
     
     
         12 . The method of  claim 1 , further comprising determining a change in pose of said haptic device. 
     
     
         13 . The method of  claim 1 , wherein said input comprises a change in pose of said haptic device. 
     
     
         14 . The method of  claim 13 , wherein said modifying step comprises modifying said object based at least in part on said change in pose of said haptic device relative to a reference pose of said haptic device. 
     
     
         15 . The method of  claim 1 , wherein said input comprises a wrench applied to the haptic device by a user. 
     
     
         16 . The method of  claim 1 , wherein said modifying said object comprises changing a position of said object on a display device based at least in part on a change in position of a tip of said haptic device. 
     
     
         17 . The method of  claim 1 , further comprising restricting the movement of said haptic device such that said haptic device moves only in a predetermined direction. 
     
     
         18 . The method of  claim 1 , further comprising restricting the movement of said haptic device such that the movement of said haptic device in a predetermined direction is easier than in other directions. 
     
     
         19 . The method of  claim 1 , further comprising restricting the movement of said haptic device such that said haptic device is prevented from moving in at least one predetermined direction. 
     
     
         20 . The method of  claim 1 , further comprising restricting the movement of said haptic device such that the movement of said haptic device in at least one predetermined direction is more difficult than in other directions. 
     
     
         21 - 47 . (canceled)