Haptic guidance method

A method, comprising:

• utilizing a computing system to create a representation of first and second bones of a physical joint comprising a pre-existing implant coupled to the first bone;
• moving the physical joint to a first position;
• placing a tip of a tracked probe on a reference point of the pre-existing implant when the joint is in the first position;
• utilizing the computing system to identify a first point in the representation that corresponds to a first location of the reference point on the pre-existing implant in the joint when in the first position;
• moving the physical joint to a second position that is different from the first position;
• placing a tip of a tracked probe on the reference point of the pre-existing implant when the joint is in the second position;
• utilizing the computing system to identify a second point in the representation that corresponds to a second location of the reference point on the pre-existing implant in the joint when in the second position;
• and
• planning preparation of the second bone for implantation of a second implant of the joint on the second bone based at least in part on the first and second points.