SYSTEMS AND METHODS FOR HAPTIC CONTROL OF A SURGICAL TOOL
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United States of America Patent
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app pub date -
Aug 12, 2015
filing date -
Dec 21, 2012
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Abandoned
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Abstract
A surgical system includes a surgical tool and a processing circuit. The processing circuit is configured to provide a plurality of virtual haptic interaction points where each virtual haptic interaction point is associated with a portion of the surgical tool such that movement of the surgical tool corresponds to movement of the plurality of virtual haptic interaction points, establish a haptic object that defines a working boundary for the surgical tool, and constrain at least one of the portions of the surgical tool based on a relationship between at least one of the plurality of virtual haptic interaction points and the haptic object.
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