Techniques For Reducing Latency During Tracking A Handheld Surgical Instrument Using Mesh To Mesh Collisions And A Modified End Effector Model

A method of tracking an end effector of a handheld surgical instrument relative to a target anatomical feature, the method comprising:

• receiving a selection of the end effector,
• associating an end effector model with the handheld surgical instrument based on the selection of the end effector,
• receiving a selection of a security margin,
• modifying a spatial dimension of the end effector model based on the selected security margin,
• determining a pose of the modified end effector model,
• determining a pose of a patient boundary associated with the target anatomical feature, and
• controlling an alert module based on the pose of the patient boundary and the pose of the modified model of the end effector.

A method of tracking an end effector of a handheld surgical instrument relative to a target anatomical feature, the method comprising:

• receiving a selection of the end effector,
• associating an end effector model with the handheld surgical instrument based on the selection of the end effector,
• receiving a selection of a security margin,
• modifying a spatial dimension of the end effector model based on the selected security margin,
• determining a pose of the modified end effector model,
• determining a pose of a patient boundary associated with the target anatomical feature, and
• controlling the handheld surgical instrument based on the pose of the patient boundary and the pose of the modified model of the end effector.