# US 8,571,628 B2 · Apparatus and method for haptic rendering

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- Number: US 8,571,628 B2
- Document ID: US8571628B2
- Status: Granted
- Kind: B2
- Application number: 11/646,204
- Filed: 2006-12-27
- Published: 2007-06-21
- Granted: 2013-10-29
- Earliest claimed: 2002-03-06
- Assignees: MAKO Surgical Corp.
- Applicants: Hyosig Kang; Arthur E. Quaid; Dennis Moses
- Inventors: Hyosig Kang; Arthur E. Quaid; Dennis Moses
- Web page: https://patentgrep.com/patent/US8571628B2

## CPC

- A61B 34/30: Surgical robots
- A61B 17/1675: {for the knee}
- A61B 17/1695: {Trepans or craniotomes, i.e. specially adapted for drilling thin bones such as the skull}
- A61B 17/1703: {using imaging means, e.g. by X-rays}
- A61B 17/1764: {for the knee}
- A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 34/35: for telesurgery
- A61B 34/37: Leader-follower robots (A61B34/35 takes precedence)
- A61B 34/70: {Manipulators specially adapted for use in surgery}
- A61B 34/71: {Manipulators operated by drive cable mechanisms}
- A61B 34/74: {Manipulators with manual electric input means}
- A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback}
- A61B 90/36: {Image-producing devices or illumination devices not otherwise provided for}
- A61B 90/361: {Image-producing devices, e.g. surgical cameras}
- A61B 90/37: {Surgical systems with images on a monitor during operation}
- A61F 2/30942: {for designing or making customized prostheses, e.g. using templates, CT or NMR scans, finite-element analysis or CAD-CAM techniques}
- A61N 1/0534: {Electrodes for deep brain stimulation}
- A61N 1/3605: {Implantable neurostimulators for stimulating central or peripheral nerve system}
- A61N 1/372: Arrangements in connection with the implantation of stimulators
- G06F 3/016: {Input arrangements with force or tactile feedback as computer generated output to the user}
- G16Z 99/00: Subject matter not provided for in other main groups of this subclass
- A61B 5/1127: {using markers}
- A61B 5/745: {using a holographic display}
- A61B 17/1677: {for the patella}
- A61B 17/17: Guides {or aligning means} for drills {, mills, pins or wires}
- A61B 17/1739: {specially adapted for particular parts of the body}
- A61B 17/1767: {for the patella}
- A61B 34/25: {User interfaces for surgical systems}
- A61B 90/14: Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
- A61B 2017/00115: {with audible or visual output}
- A61B 2017/00119: {alarm; indicating an abnormal situation}
- A61B 2017/00725: {Calibration or performance testing}
- A61B 2034/102: {Modelling of surgical devices, implants or prosthesis}
- A61B 2034/105: {Modelling of the patient, e.g. for ligaments or bones}
- A61B 2034/107: {Visualisation of planned trajectories or target regions}
- A61B 2034/108: {Computer aided selection or customisation of medical implants or cutting guides}
- A61B 2034/2048: {using an accelerometer or inertia sensor}
- A61B 2034/2051: {Electromagnetic tracking systems}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2034/2059: {Mechanical position encoders}
- A61B 2034/2068: {using pointers, e.g. pointers having reference marks for determining coordinates of body points}
- A61B 2034/207: {Divots for calibration}
- A61B 2034/252: {indicating steps of a surgical procedure}
- A61B 2034/254: {being adapted depending on the stage of the surgical procedure}
- A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms}
- A61B 2090/08021: {of the patient or his organs}
- A61B 2090/365: {augmented reality, i.e. correlating a live optical image with another image}
- A61B 2090/3937: {Visible markers}
- A61B 2090/3983: {Reference marker arrangements for use with image guided surgery}
- A61F 2/38: for elbows or knees
- A61F 2002/4632: {using computer-controlled surgery, e.g. robotic surgery}
- A61F 2002/4633: {for selection of endoprosthetic joints or for pre-operative planning}
- G05B 2219/36432: By putting some constraints on some DOF, move within limited volumes, areas, planes, limits motion in x, y or z planes, virtual reality constraints
- G05B 2219/39196: Use of passive joint, no actuator but brake, brake on or off
- G05B 2219/40478: Graphic display of work area of robot, forbidden, permitted zone
- G05B 2219/45117: Medical, radio surgery manipulator
- G05B 2219/45171: Surgery drill
- G16H 20/40: relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
- G16H 40/63: for local operation
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C)
- A61N: ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY (measurement of bioelectric currents A61B; surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body A61B18/00; anaesthetic apparatus in general A61M; incandescent lamps H01K; infrared radiators for heating H05B)
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- G16Z: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS, NOT OTHERWISE PROVIDED FOR
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA

## Abstract

In one aspect, the invention relates to a method for generating a haptic penalty force, including in one embodiment, the steps of: defining a primary proxy position; defining a secondary proxy position; defining a HIP position; generating a first force in response to the primary proxy position and the HIP position and generating a second force in response to the secondary proxy position and the HIP position.

## Claims

### Claim 1

A method for generating a haptic force comprising the steps of:
defining a haptic interaction point (HIP) position in virtual space, the HIP position corresponding to a physical point associated with a surgical tool;
defining a primary proxy position on a primary proxy surface;
defining a secondary proxy position on a secondary proxy surface, wherein the secondary proxy surface is positioned at a predetermined distance from the primary proxy surface and between the primary proxy surface and an expected cutting surface of a bone;
generating a first haptic force, by a haptic device, based on the primary proxy position and the HIP position when the HIP position is located between the primary proxy surface and the secondary proxy surface at a distance less than or equal to the predetermined distance from the primary proxy position, wherein the first haptic force is directed toward the primary proxy position; and
generating a second haptic force, by a haptic device, based on the secondary proxy position and the HIP position when the HIP position is located between the secondary proxy surface and the expected cutting surface at a distance greater than the predetermined distance from the primary proxy position, wherein the second haptic force is directed toward the secondary proxy position.

### Claim 2 (depends on 1)

The method of claim 1 wherein the predetermined distance is a desired offset distance.

### Claim 3 (depends on 1)

The method of claim 1 wherein the second haptic force is a function of a distance between the secondary proxy position and the HIP position.

### Claim 4 (depends on 1)

The method of claim 1 wherein the first haptic force is determined based, at least in part, on a distance between the primary proxy position and the HIP position.

### Claim 5 (depends on 1)

The method of claim 1 wherein the secondary proxy position is determined based, at least in part, on interactions between the HIP and a virtual haptic object.

### Claim 6 (depends on 1)

The method of claim 1 wherein the first haptic force is a non-zero constant value.

### Claim 7 (depends on 1)

The method of claim 1 wherein the second haptic force is linearly proportional to the distance between the secondary proxy and a virtual haptic object.

### Claim 8 (depends on 7)

The method of claim 7 wherein the virtual haptic object corresponds to the expected cutting surface of the bone.

### Claim 9 (depends on 1)

The method of claim 1 wherein the first and second haptic forces are each non-zero.

### Claim 10

An apparatus for generating a haptic force on a user comprising:
a computer system comprising a processor configured to execute a series of steps to determine and generate the haptic force, the steps comprising:
defining a haptic interaction point (HIP) position in virtual space, the HIP position corresponding to a physical point associated with a surgical tool;
defining a primary proxy position on a primary proxy surface;
defining a secondary proxy position on a secondary proxy surface, wherein the secondary proxy surface is positioned at a predetermined distance from the primary proxy surface and between the primary proxy surface and an expected cutting surface of a bone;
generating a first haptic force, by a haptic device, based on the primary proxy position and the HIP position when the HIP position is located between the primary proxy surface and the secondary proxy surface at a distance less than or equal to the predetermined distance from the primary proxy position, wherein the first haptic force is directed toward the primary proxy position; and
generating a second haptic force, by a haptic device, based on the secondary proxy position and the HIP position when the HIP position is located between the secondary proxy surface and the expected cutting surface at a distance greater than the predetermined distance from the primary proxy position, wherein the second haptic force is directed toward the secondary proxy position.

### Claim 11 (depends on 10)

The apparatus of claim 10 wherein the second haptic force is determined, at least in part, in response to a distance between the secondary proxy position and the HIP position.

### Claim 12 (depends on 10)

The apparatus of claim 10 wherein the first haptic force is determined based, at least in part, on a distance between the primary proxy position and the HIP position.

### Claim 13 (depends on 10)

The apparatus of claim 10 wherein the secondary proxy position is determined based, at least in part, on interactions between the HIP and a virtual haptic object.

### Claim 14 (depends on 10)

The apparatus of claim 10 wherein the first haptic force is a non-zero constant value.

### Claim 15 (depends on 10)

The apparatus of claim 10 wherein the second haptic force is linearly proportional to the distance between the secondary proxy and a virtual haptic object.

### Claim 16 (depends on 15)

The apparatus of claim 15 wherein the virtual haptic object corresponds to the expected cutting surface of the bone.

### Claim 17 (depends on 10)

The apparatus of claim 10 wherein the first and second haptic forces are each non-zero.