Systems and methods for haptic control of a surgical tool

Abstract

A surgical system includes a surgical tool and a processing circuit. The processing circuit is configured to provide a plurality of virtual haptic interaction points where each virtual haptic interaction point is associated with a portion of the surgical tool such that movement of the surgical tool corresponds to movement of the plurality of virtual haptic interaction points, establish a haptic object that defines a working boundary for the surgical tool, and constrain at least one of the portions of the surgical tool based on a relationship between at least one of the plurality of virtual haptic interaction points and the haptic object.

What is claimed is: 
     
         1 . A surgical system, comprising:
 a surgical tool; and   a processing circuit configured to:
 provide a plurality of virtual haptic interaction points, each virtual haptic interaction point associated with a portion of the surgical tool, wherein movement of the plurality of virtual haptic interaction points corresponds to movement of the surgical tool; 
 establish a haptic object that defines a working boundary for the surgical tool; and 
 constrain at least one of the portions of the surgical tool based on a relationship between at least one of the plurality of virtual haptic interaction points and the haptic object. 
   
     
     
         2 . The surgical system of  claim 1 , wherein a first haptic interaction point is associated with a cutting portion of the surgical tool and a second haptic interaction point is associated with an outer edge of the surgical tool. 
     
     
         3 . The surgical system of  claim 2 , wherein the haptic object includes a working boundary configured to constrain the outer edge of the surgical tool from contacting an area outside of the working boundary. 
     
     
         4 . The surgical system of  claim 1 , wherein the processing circuit is further configured to:
 establish a virtual entry boundary; and   activate the haptic object in response to at least one of the plurality of virtual haptic interaction points crossing the virtual entry boundary.   
     
     
         5 . The surgical system of  claim 4 , wherein the processing circuit is further configured to switch the surgical system from a free manipulation mode to a haptic control mode in response to an interaction between the at least one of the plurality of virtual haptic interaction points and the virtual entry boundary. 
     
     
         6 . The surgical system of  claim 4 , wherein the processing circuit is further configured to:
 deactivate the haptic object upon occurrence of an event;   evaluate a plurality of conditions after the event has ended;   reactivate the haptic object if the plurality of conditions are met.   
     
     
         7 . The surgical system of  claim 4 , wherein the processing circuit is further configured to:
 establish a virtual exit boundary; and   deactivate the haptic object in response to the plurality of virtual haptic interaction points crossing the virtual exit boundary.   
     
     
         8 . The surgical system of  claim 1 , wherein the processing circuit is further configured to automatically modify at least one of an orientation and a position of the at least one of the portions of the surgical tool based on the relationship between at least one of the plurality of virtual haptic interaction points and the haptic object. 
     
     
         9 . The surgical system of  claim 1 , wherein the haptic object includes at least one of a linear haptic object defining a one-dimensional working boundary, a planar haptic object defining a two-dimensional working boundary, and a three-dimensional haptic object defining a three-dimensional working boundary. 
     
     
         10 . The surgical system of  claim 1 , wherein the surgical tool includes at least one of a spherical burr and a sagittal saw. 
     
     
         11 . A method for using a surgical system, comprising:
 providing a surgical tool;   providing a plurality of virtual haptic interaction points associated with a plurality of portions of the surgical tool, wherein movement of the plurality of virtual haptic interaction points corresponds to movement of the surgical tool;   establishing a haptic object that defines a working boundary for the surgical tool; and   constraining at least one of the portions of the surgical tool based on a relationship between at least one of the plurality of virtual haptic interaction points and the haptic object.   
     
     
         12 . The method of  claim 11 , wherein a first haptic interaction point is associated with a cutting portion of the surgical tool and a second haptic interaction point is associated with an outer edge of the surgical tool. 
     
     
         13 . The method of  claim 12 , further comprising establishing the haptic object such that the working boundary is configured to constrain the outer edge of the surgical tool from contacting an area outside of the working boundary. 
     
     
         14 . The method of  claim 11 , further comprising:
 providing a virtual entry boundary; and   activating the haptic object in response to at least one of the plurality of virtual haptic interaction points crossing the virtual entry boundary.   
     
     
         15 . The method of  claim 14 , further comprising:
 deactivating the haptic object upon occurrence of an event;   evaluating a plurality of conditions after the event has ended;   reactivating the haptic object if the plurality of conditions are met.   
     
     
         16 . The method of  claim 14 , further comprising:
 providing a virtual exit boundary; and   deactivating the haptic object in response to the plurality of virtual haptic interaction points crossing the virtual exit boundary.   
     
     
         17 . The method of  claim 11 , further comprising automatically modifying at least one of an orientation and a position of the at least one of the portions of the surgical tool based on the relationship between the plurality of virtual haptic interaction points and the haptic object. 
     
     
         18 . The method of  claim 11 , wherein the haptic object includes at least one of a linear haptic object, a planar haptic object, and a three-dimensional haptic object defining a one-dimensional working boundary, a two-dimensional working boundary, and a three-dimensional working boundary, respectively. 
     
     
         19 . The method of  claim 11 , wherein the surgical tool includes at least one of a spherical burr and a sagittal saw. 
     
     
         20 . A computer-readable storage medium having instructions thereon that, when executed by a processing circuit, aid in the planning or performance of a surgical procedure, the medium comprising:
 instructions for associating a plurality of portions of a surgical tool with a plurality of virtual haptic interaction points such that movement of the plurality of virtual haptic interaction points corresponds to movement of the surgical tool;   instructions for activating a haptic object that defines a working boundary for the surgical tool; and   instructions for constraining at least one of the plurality of portions of the surgical tool within the working boundary based on a relationship between at least one of the plurality of virtual haptic interaction points and the haptic object.