The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 08, 2025
Filed:
Jan. 21, 2021
Auris Health, Inc., Redwood City, CA (US);
Andrea Bajo, Palo Alto, CA (US);
Auris Health, Inc., Redwood City, CA (US);
Abstract
Systems and methods for constrained motion control of medical instruments 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 an input for controlling movement of the instrument and end effector. The instrument is capable of moving in a different number of degrees-of-freedom (DOFs) than the input device. The system is configured to determine a Jacobian matrix relating the input to the input device to robotic arm commands for achieving a motion of the end effector indicated by the input, modify the Jacobian matrix via discarding at least one row of the Jacobian matrix, and determine a robotic arm command for achieving the motion of the instrument indicated by the input based on the modified Jacobian matrix.