B25J 9/00
Program-controlled manipulators
B25J9/00 (Program-controlled manipulators) appears on 23,155 US grants and 28,915 published applications in this corpus.
Search patents in B25J- Granted patents
- 23,155
- Published applications
- 28,915
- Assignees
- 6,058
- Inventors
- 40,870
- Latest grant
- 6 Oct 2026
Filings by year
| Year | Granted patents | Published applications |
|---|---|---|
| 1976 | 14 | 0 |
| 1977 | 21 | 0 |
| 1978 | 20 | 0 |
| 1979 | 16 | 0 |
| 1980 | 19 | 0 |
| 1981 | 33 | 0 |
| 1982 | 23 | 0 |
| 1983 | 28 | 0 |
| 1984 | 49 | 0 |
| 1985 | 96 | 0 |
| 1986 | 96 | 0 |
| 1987 | 150 | 0 |
| 1988 | 118 | 0 |
| 1989 | 135 | 0 |
| 1990 | 122 | 0 |
| 1991 | 120 | 0 |
| 1992 | 90 | 0 |
| 1993 | 105 | 0 |
| 1994 | 117 | 0 |
| 1995 | 103 | 0 |
| 1996 | 119 | 0 |
| 1997 | 97 | 0 |
| 1998 | 141 | 0 |
| 1999 | 111 | 0 |
| 2000 | 122 | 0 |
| 2001 | 146 | 56 |
| 2002 | 141 | 141 |
| 2003 | 131 | 179 |
| 2004 | 144 | 200 |
| 2005 | 104 | 222 |
| 2006 | 143 | 236 |
| 2007 | 140 | 233 |
| 2008 | 115 | 282 |
| 2009 | 101 | 332 |
| 2010 | 175 | 386 |
| 2011 | 199 | 424 |
| 2012 | 276 | 413 |
| 2013 | 395 | 555 |
| 2014 | 443 | 703 |
| 2015 | 626 | 834 |
| 2016 | 766 | 1044 |
| 2017 | 870 | 1283 |
| 2018 | 977 | 1768 |
| 2019 | 1305 | 2170 |
| 2020 | 1670 | 2465 |
| 2021 | 1703 | 2634 |
| 2022 | 1896 | 2589 |
| 2023 | 2114 | 2590 |
| 2024 | 2266 | 2627 |
| 2025 | 2460 | 2472 |
| 2026 | 1784 | 2077 |
By publication year. Applications have been published since 2001. 2026 runs to 8 Oct.
Subgroups
Granted patents
- B25J 9/16Program controls15,933
- B25J 9/10Program-controlled manipulators: characterised by positioning means for manipulator elements4,386
- B25J 9/02Program-controlled manipulators: characterised by movement of the arms2,275
- B25J 9/0009Constructional details1,392
- B25J 9/0084Comprising a plurality of manipulators1,346
- B25J 9/0006Exoskeletons, i.e. resembling a human figure912
- B25J 9/0093Co-operating with conveyor means845
- B25J 9/06Program-controlled manipulators: characterised by multi-articulated arms773
All 13 subgroupsShow fewer
- B25J 9/003Program-controlled manipulators: having parallel kinematics626
- B25J 9/0003Home robots, i.e. small robots for domestic use505
- B25J 9/08Program-controlled manipulators: characterised by modular constructions505
- B25J 9/0096Co-operating with a working support427
- B25J 9/0081Program-controlled manipulators: with leader teach-in means332
Recent patents
- System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement6 Oct 2026US 12,751,779 B2Intuitive Surgical Operations, Inc.
- Two-tool anatomy stabilization6 Oct 2026US 12,751,781 B2LEM Surgical AG
- Bilateral surgical robotic system6 Oct 2026US 12,751,782 B2LEM Surgical AG
- Method for moving an exoskeleton6 Oct 2026US 12,751,886 B2Wandercraft
- Information processing device, information processing method, and information processing program6 Oct 2026US 12,752,416 B2Sony Group Corporation
- Device for automatically inserting and manipulating a medical tool into and within a bodily lumen8 Oct 2026US 2026/0305918 A1Microbot Medical Ltd.
- Robotic manipulation of a surgical tool handle8 Oct 2026US 2026/0305919 A1Microbot Medical Ltd.
- Inverse kinematics of a surgical robot for teleoperation with hardware constraints8 Oct 2026US 2026/0306201 A1Auris Health, Inc.
- Method and Apparatus for Generating a Reciprocating Sanding or Polishing Path8 Oct 2026US 2026/0307199 A1ABB Schweiz AG
- Component handling systems and methods8 Oct 2026US 2026/0307214 A1Magswitch Automation Company
Most cited
By later US patents
- Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity3,169US 5,792,135 AIntuitive Surgical, Inc. · 1998
- Method and apparatus for performing minimally invasive cardiac procedures2,567US 5,855,583 AComputer Motion, Inc. · 1999
- Alignment of master and slave in a minimally invasive surgical apparatus2,565US 6,364,888 B1Intuitive Surgical, Inc. · 2002
- Remote center positioning device with flexible drive2,445US 5,817,084 ASRI International · 1998
- Robotic apparatus2,381US 6,786,896 B1Massachusetts Institute of Technology · 2004