A combination of a haptic device and a computer-assisted medical system is
used for interactive haptic positioning of a medical device coupled to
the haptic device. A reconfigurable haptic object facilitates the
positioning of the medical device and/or the haptic device. The haptic
object may be modified in response to application of a force against the
haptic object by a user of the haptic device pushing the haptic device
against the haptic object. Preferably, the haptic object moves in the
direction of the force applied by the haptic device. The medical device
may be guided to a desired pose relative to a target area from its
current position. The user may approach the target area from its current
position and still be provided with haptic cues to enable the user to
guide the medical device to the target area.