Neural monitor-based dynamic haptics

A surgical system, comprising:

• a robotic device;
• a surgical tool coupled to the robotic device and comprising a distal end;
• a neural monitor configured to generate an electrical signal and apply the electrical signal to the distal end of the surgical tool, wherein the electrical signal causes innervation of a first portion of a patient's anatomy which generates an electromyographic signal;
• a sensor configured to measure the electromyographic signal;
• wherein the neural monitor is configured to:
• measure a distance between the distal end of the surgical tool and a portion of nervous tissue based on the electrical signal and the electromyographic signal;
• and
• cause feedback to be provided to the robotic device based on the distance;
• wherein the robotic device is configured to vary a force on the surgical tool as a function of the distance measured by the neural monitor such that the robotic device constrains the surgical tool from reaching the portion of the nervous tissue;
• wherein the feedback causes the robotic device to modify the force by adding a component to the force that points away from the nervous tissue, wherein a magnitude of the component is proportional to the feedback.