A method for generating a customized haptic boundary based on a patient-specific anatomy includes identifying a standard haptic boundary based on a geometry of a virtual implant model to be implanted on the anatomy. The method also includes identifying a reference feature associated with a virtual implant model and determining an intersection between the identified reference feature and a virtual model associated with an anatomy of the patient. An anatomic perimeter at the intersection between the identified reference feature and the virtual model of the anatomy is identified and an one anatomic feature is determined on the virtual model of the anatomy. The standard haptic boundary is modified based on the anatomic feature to generate a customized haptic boundary.