B25J 9/16
Program controls
Official title: Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418)
B25J9/16 (Program controls) appears on 15,933 US grants and 20,652 published applications in this corpus.
Search patents in B25J- Granted patents
- 15,933
- Published applications
- 20,652
- Assignees
- 4,071
- Inventors
- 29,400
- Latest grant
- 6 Oct 2026
Filings by year
| Year | Granted patents | Published applications |
|---|---|---|
| 1976 | 1 | 0 |
| 1977 | 3 | 0 |
| 1978 | 3 | 0 |
| 1979 | 6 | 0 |
| 1980 | 3 | 0 |
| 1981 | 2 | 0 |
| 1982 | 4 | 0 |
| 1983 | 5 | 0 |
| 1984 | 15 | 0 |
| 1985 | 18 | 0 |
| 1986 | 28 | 0 |
| 1987 | 25 | 0 |
| 1988 | 27 | 0 |
| 1989 | 43 | 0 |
| 1990 | 51 | 0 |
| 1991 | 45 | 0 |
| 1992 | 33 | 0 |
| 1993 | 46 | 0 |
| 1994 | 70 | 0 |
| 1995 | 59 | 0 |
| 1996 | 76 | 0 |
| 1997 | 56 | 0 |
| 1998 | 84 | 0 |
| 1999 | 63 | 0 |
| 2000 | 72 | 0 |
| 2001 | 92 | 28 |
| 2002 | 81 | 73 |
| 2003 | 82 | 109 |
| 2004 | 85 | 126 |
| 2005 | 58 | 132 |
| 2006 | 98 | 138 |
| 2007 | 87 | 142 |
| 2008 | 68 | 130 |
| 2009 | 50 | 182 |
| 2010 | 99 | 196 |
| 2011 | 105 | 245 |
| 2012 | 137 | 256 |
| 2013 | 220 | 339 |
| 2014 | 285 | 452 |
| 2015 | 450 | 577 |
| 2016 | 540 | 729 |
| 2017 | 610 | 895 |
| 2018 | 724 | 1245 |
| 2019 | 898 | 1558 |
| 2020 | 1151 | 1788 |
| 2021 | 1220 | 1922 |
| 2022 | 1394 | 1911 |
| 2023 | 1545 | 1967 |
| 2024 | 1691 | 2084 |
| 2025 | 1913 | 1830 |
| 2026 | 1412 | 1598 |
By publication year. Applications have been published since 2001. 2026 runs to 8 Oct.
Subgroups
Granted patents
- B25J 9/1694Characterised by use of sensors other than normal servo-feedback from position, speed5,479
- B25J 9/1656Characterised by programming, planning systems for manipulators5,466
- B25J 9/1679Characterised by the tasks executed5,401
- B25J 9/1628Characterised by the control loop4,299
- B25J 9/1602Characterised by the control system, structure, architecture2,234
- B25J 9/1674Characterised by safety, monitoring, diagnostic2,158
- B25J 9/1612Characterised by the hand, wrist, grip control1,254
- B25J 9/1615Characterised by special kind of manipulator1,228
All 9 subgroupsShow fewer
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
- Inspection robot with forward and rearward sensor mount groups6 Oct 2026US 12,752,417 B2Gecko Robotics, Inc.
- Expedited robot teach-through initialization from previously trained system6 Oct 2026US 12,752,420 B2Sanctuary Cognitive Systems Corporation
- 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
- Component handling systems and methods8 Oct 2026US 2026/0307215 A1Magswitch Automation Company
- Modularized home robot8 Oct 2026US 2026/0307239 A1Trifo, Inc.
Most cited
By later US patents
- 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
- Robotic apparatus2,381US 6,786,896 B1Massachusetts Institute of Technology · 2004
- Image-directed robotic system for precise robotic surgery including redundant consistency checking2,101US 5,408,409 AInternational Business Machines Corporation · 1995
- Grip strength with tactile feedback for robotic surgery2,047US 6,594,552 B1Intuitive Surgical, Inc. · 2003