System and method for intra-operative haptic planning of a medical procedure

A method for intra-operative planning of a medical procedure using a haptic device, comprising:

• displaying a computer reconstructed diagnostic representation of at least an internal portion of an anatomy of a patient on which said medical procedure is to be performed;
• registering said haptic device, said diagnostic representation, and said anatomy portion with each other;
• marking said target region on said displayed representation;
• identifying and marking at least one anatomical obstacle on said displayed representation;
• superimposing a virtual tool on the displayed representation;
• dynamically changing a position of said virtual tool displayed on said displayed representation in response to a change in position of said haptic device;
• associating at least one attractive haptic object with said target region;
• associating at least one repulsive haptic object with said at least one anatomical obstacle to be avoided during said medical procedure;
• providing at least one attractive haptic cue from said at least one attractive haptic object and at least one repulsive haptic cue from said at least one repulsive haptic object to guide a user in positioning said haptic device relative to said portion of said anatomy such that a medical device when coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical obstacles.

A method for intra-operative planning of a medical procedure using a haptic device, comprising:

• registering said haptic device to at least a portion of an anatomy of a patient on which said medical procedure is to be performed;
• associating at least one attractive haptic object with a target region of said anatomy portion;
• associating at least one repulsive haptic object with at least one anatomical obstacle to be avoided during said medical procedure;
• and
• providing (1) at least one attractive haptic cue from said at least one attractive haptic object, (2) at least one repulsive haptic cue from said at least one repulsive haptic object to guide a user in positioning said haptic device relative to said portion of said anatomy, and (3) providing a special haptic cue in response to canceling of haptic cues from multiple haptic objects such that a medical device coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical obstacles when said medical device is in an operating state.

A method for intra-operative planning of a medical procedure using a haptic device, comprising:

• registering said haptic device to at least one of a portion of an anatomy of a patient on which said medical procedure is to be performed and a displayed representation of said anatomy portion;
• associating at least one attractive haptic object with a target region of said anatomy portion;
• associating at least one repulsive haptic object with at least one anatomical obstacle to be avoided during said medical procedure;
• and
• determining, based at least in part on at least one attractive haptic cue provided by said at least one attractive haptic object and at least one repulsive haptic cue provided by said repulsive haptic object, a pose for said haptic device relative to said portion of said anatomy where a medical device when coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical obstacles.

A system for intra-operative planning of a medical procedure using a haptic device, comprising:

• application logic operatively associated with said haptic device and operable to:
• register said haptic device to at least a portion of an anatomy of a patient to be operated on;
• provide at least one attractive haptic cue from at least one attractive haptic object associated with a target region of said anatomy on which said medical procedure is to be performed and at least one repulsive haptic cue from a repulsive haptic object associated with at least one anatomical obstacle to be avoided during said medical procedure to guide a user in positioning said haptic device in a pose relative to said target region such that a medical device when coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical;
• and
• lock in said pose in which the medical device intersects the target region without intersecting any of the at least one anatomical obstacles.

A haptic surgical system, comprising:

• a computer-aided surgery system;
• a haptic device coupled to said computer-aided surgery system and registered to at least one of a portion of an anatomy of a patient on which said medical procedure is to be performed and a displayed representation of said anatomy portion;
• and
• intra-operative planning application logic operatively associated with said haptic device and operable to:
• with a surgical tool in a non-operative or detached state, provide at least one attractive haptic cue from at least one attractive haptic object associated with a target region of said anatomy of the patient and at least one repulsive haptic cue from a repulsive haptic object associated with at least one anatomical obstacle to be avoided during said medical procedure to guide a user in positioning said haptic device relative to said target region such that said surgical tool coupled to said haptic device in an operative and attached state intersects said target region without intersecting any of said at least one anatomical obstacles;
• and
• with said surgical tool in said operative and attached state, providing at least one haptic cue to constrain said surgical tool as said surgical tool is moved to said target region.

A surgical planning method comprising:

• displaying a diagnostic image of a portion of anatomy of a patient who is a candidate for a surgical procedure;
• on the image, designating a target region and at least an obstacle to be avoided;
• associating an attractive haptic object with the target region;
• associating a repulsive haptic object with each obstacle;
• registering a haptic device With the diagnostic image;
• with the haptic device, interacting with the attractive haptic object, and the repulsive haptic object to plan the surgical procedure.