Systems and methods for guiding an instrument using haptic object with collapsing geometry
US9289264B2 · kind B2 · utility
18Cited by
2References
7Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Dec 29, 2011 |
| Grant date | Mar 22, 2016 |
| Priority date | — |
| Expiry date | Apr 22, 2034 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B34/76
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A computer-implemented method for guiding an instrument, comprises determining, by a processor associated with a computer, a current orientation angle of an instrument axis relative to a target axis. The method also comprises establishing, by the processor, a haptic boundary associated with the instrument based on the determined orientation angle of the instrument axis relative to the target axis. The haptic boundary is configured to constrain the instrument axis from being moved to an angle substantially greater than the current orientation angle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.