SYSTEMS AND METHODS FOR CONSTRAINED MOTION CONTROL OF MEDICAL DEVICES

Systems and methods for constrained motion control of a medical device are provided. In one aspect, a robotic system includes an instrument having an end effector; a robotic arm configured to control movement of the instrument and the end effector; and an input device configured to receive input for controlling movement of the instrument and the end effector. The instrument is movable with a different number of degrees of freedom (DOF) than the input device. The system is configured to: determine a Jacobian matrix associating the input of the input device with robotic arm commands for effecting movement of the end effector indicated by the input; modifying the Jacobian matrix via discarding at least one row of the Jacobian matrix; and determining a robotic arm command for effecting the movement of the instrument indicated by the input based on the modified Jacobian matrix. 本发明提供了用于医疗器械的约束运动控制的系统和方法。在一个方面，机器人系统包括器械，该器械具有端部执行器；机器人臂，该机器人臂被配置成控制该器械和该端部执行器的移动；和输入装置，该输入装置被配置成接收用于控制该器械和该端部执行器的移动的输入。该器械能够以与该输入装置不同数量的