Systems and methods for generating customized control boundaries

1. A method for customizing an interactive control boundary based on a patient-specific anatomy, comprising:

creating a virtual representation of an anatomy of the patient;

obtaining a standard control boundary defining a portion of bone to be resected;

defining a location of the standard control boundary on the virtual representation of the anatomy of the patient;

creating a reference feature associated with the standard control boundary;

determining an intersection between the reference feature and an anatomic perimeter of the virtual representation of the anatomy;

identifying an anatomic feature at the intersection of the reference feature and the anatomic perimeter of the virtual representation of the anatomy;

modifying at least one edge of the standard control boundary to modify the portion of bone to be resected based on the anatomic feature to generate a customized control boundary;

displaying the customized control boundary on a display; and

registering the customized control boundary to the anatomy of the patient to define areas of the anatomy of the patient in which a surgical instrument coupled to an articulated robotic device is permitted to operate.

2. The method of claim 1 , wherein the anatomic feature is identified on the anatomic perimeter.

3. The method of claim 1 , wherein the anatomic feature is identified on the virtual representation of the anatomy within or on the outside of the anatomic perimeter, or both.

4. The method of claim 1 , wherein the anatomic feature is automatically determined.

5. The method of claim 1 , wherein the anatomic feature is determined based on a received signal including information indicative of an anatomic feature manually identified by a user.

6. The method of claim 1 , wherein the standard control boundary is based on at least one of a size and a shape of an implant model.

7. The method of claim 1 , wherein the standard control boundary is based on at least one of a size of a cutting tool, a shape of a cutting tool, a planned approach angle of the cutting tool for performing a procedure, and a planned path of the cutting tool for performing the procedure.

8. The method of claim 7 , wherein the standard control boundary is configured to accommodate the size and the shape of the cutting tool.

9. The method of claim 1 , further including displaying the virtual representation associated with the anatomy of the patient on the display.

10. The method of claim 1 , wherein the reference feature is a plane associated with the standard control boundary.

11. The method of claim 1 , further comprising:

receiving a signal indicative of a user-defined modification to the standard control boundary or the customized control boundary; and

modifying the standard control boundary or the customized control boundary based on the received signal.

12. The method of claim 1 , further comprising:

receiving a signal indicative of a user-defined offset of the standard control boundary; and

modifying the standard control boundary based, at least in part, on the received signal indicative of a user-defined offset.

13. The method of claim 1 , further comprising:

receiving computed tomography (CT) data associated with the patient's anatomy; and

generating a virtual model associated with the patient's anatomy based on the CT data.

14. The method of claim 1 , further comprising:

generating the virtual representation associated with the patient's anatomy utilizing an imageless system.

15. The method of claim 1 , wherein customizing the control boundary is performed pre-operatively.

16. The method of claim 1 , wherein customizing the control boundary is performed intra-operatively.

17. The method of claim 1 , further comprising modifying the customized control boundary to generate a second customized control boundary.

18. The method of claim 17 , wherein the customized control boundary and the second customized control boundary are both generated pre-operatively or intra-operatively.

19. The method of claim 17 , wherein the customized control boundary is generated pre-operatively and the second customized control boundary is generated intra-operatively.

20. A computer-assisted surgery system comprising:

an articulated robotic device;

a surgical instrument coupled to the articulated robotic device;

a display;

an input device configured to receive data input by a user; and

a processor operatively coupled to the input device and the display and configured to:

create a virtual representation of an anatomy of the patient;

identify a standard control boundary defining a portion of bone to be resected;

define a location of the standard control boundary on the virtual representation of the anatomy of the patient;

create a reference feature associated with the standard control boundary;

determine an intersection between the reference feature and an anatomic perimeter of the virtual representation of the anatomy;

identify an anatomic feature at the intersection of the reference feature and the anatomic perimeter of the virtual representation of the anatomy;

modify at least one edge of the standard control boundary to modify the portion of bone to be resected based on the anatomic feature to generate a customized control boundary;

display the customized control boundary on the display; and

register the customized control boundary to the anatomy of the patient to define areas of the anatomy of the patient in which the surgical instrument coupled to the articulated robotic device is permitted to operate.

21. The computer assisted surgery system of claim 20 , wherein the anatomic feature is identified on the anatomic perimeter.

22. The computer assisted surgery system of claim 20 , wherein the anatomic feature is identified on the virtual representation of the anatomy within or on the outside of the anatomic perimeter, or both.

23. The computer assisted surgery system of claim 20 , wherein the anatomic feature is automatically determined.

24. The computer assisted surgery system of claim 20 , wherein the anatomic feature is determined based on a received signal including information indicative of an anatomic feature manually identified by a user.

25. The computer assisted surgery system of claim 20 , wherein the standard control boundary is based on at least one of a size and a shape of an implant model.

26. The computer assisted surgery system of claim 20 , wherein the standard control boundary is based on at least one of a size of a cutting tool, a shape of a cutting tool, a planned approach angle of the cutting tool for performing a procedure, and a planned path of the cutting tool for performing the procedure.

27. The computer assisted surgery system of claim 26 , wherein the standard control boundary is configured to accommodate the size and the shape of the cutting tool.

28. The computer assisted surgery system of claim 20 , wherein the reference feature is a plane associated with the standard control boundary.

29. The computer assisted surgery system of claim 20 , wherein the processor is further configured to:

receive a signal including information indicative of anatomic features defined by a user; and

identify the anatomic features based on the received signal.

30. The computer assisted surgery system of claim 20 , wherein the processor is further configured to:

receive a signal indicative of a user-defined offset of the standard control boundary; and

adjust the position of the standard control boundary based on the received signal.