How a Robot Arm Can Be Manually Moved While Staying Safe
This patent describes how a robotic arm can be partly moved by a human, like pushing it, while the robot's computer automatically handles other movements to keep it stable or avoid obstacles.
Original patent title: “System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement”
This patent describes how a robotic arm can be partly moved by a human, like pushing it, while the robot's computer automatically handles other movements to keep it stable or avoid obstacles. Granted to Intuitive Surgical Operations in 2024 with 29 claims, and it is expected to expire in 2043.
Coverage
What does this patent actually cover?
The patent details a system for controlling a robotic manipulator arm, often used in applications like surgery. It features a "manipulation mode" where a processor fully controls the arm to move a tool (end effector) and pivot it around a fixed point (remote center). Crucially, it introduces "clutch modes" that allow a human to manually adjust parts of the arm's position. For example, in the "arm-null-perpendicular-clutch mode," the system automatically maintains the remote center's position (by "servoing" specific joints) while allowing a human to manually move the end effector (by "floating" other joints with friction or gravity compensation). Simultaneously, the system can perform "auxiliary tasks" like avoiding collisions or optimizing the arm's posture by controlling motion in the intersection of the remote center's and end effector's null-spaces, as described in claimsclaimsThe numbered statements at the end of a patent that legally define what the inventor owns.Read more → 1, 7, and 8.
The gap
What does this patent NOT cover?
- Robot arms that are entirely manually operated without any computer assistance for stability or auxiliary tasks.
- Systems where the robot arm cannot perform auxiliary tasks, such as collision avoidance or posture optimization, while being manually positioned.
- Clutching mechanisms that do not involve actively "servoing" to maintain a specific point (like a remote center or end effector) while another part is "floated" by a user.
- Robot arms that lack sufficient degrees of freedom to have a null-space for the end effector or remote center, which is necessary for the described concurrent control.
- Systems that do not apply friction compensation or gravity compensation when allowing manual "floating" of the arm's joints.
These exclusions are unique to PatentBrief — derived from the actual claim language, not patent-office boilerplate.
Key facts
What made this novel
The noveltynoveltyThe requirement that an invention be different from anything publicly known before its priority date.Read more → lies in the concurrent control strategy: simultaneously allowing manual "floating" of certain arm movements (with friction/gravity compensation), actively "servoing" to maintain critical points like a remote center, and using the remaining "null-space" to perform background "auxiliary tasks" such as collision avoidance or optimizing joint positions.
The Patent Drawing
Schematic visualization of the patent's claim structure. Hand-drawn diagrams in progress for each landmark patent.
Where you've seen this
Real-world examples
Intuitive Surgical da Vinci surgical systems
Other advanced robotic-assisted surgical platforms
Collaborative industrial robots (cobots) that allow human guidance
Robots used in hazardous environments requiring human-in-the-loop control
Why it matters
The bigger picture
This technology is vital for advanced robotics, particularly in surgical systems where surgeons need precise control but also benefit from the robot handling complex background tasks. It allows for a more intuitive and safer interaction between a human operator and a robot. This enables surgeons to focus on the primary task while the robot automatically manages critical constraints like maintaining a pivot point or preventing collisions, enhancing both precision and safety in delicate procedures.
Filed
March 17, 2023
Granted
August 20, 2024
Market context
Who's building on this
Companies in this space
Intuitive Surgical, the assigneeassigneeThe entity that owns the patent — usually the inventor's employer or a company.Read more →, is a leading developer and builder of robotic surgical systems that utilize such advanced control strategies. Other major medical device companies like Medtronic and Johnson & Johnson's Ethicon, which are also active in surgical robotics, are likely developing or incorporating similar human-robot interaction and control technologies. Furthermore, companies in the collaborative robotics space, such as Universal Robots, are also advancing systems that allow for safe and intuitive manual guidance of robot arms.
Market impact
This type of control system has significantly influenced the market for robotic-assisted surgery by making human-robot collaboration more intuitive and safer. It has enabled surgeons to perform complex procedures with enhanced precision and reduced invasiveness, thereby expanding the scope and adoption of robotic surgery. The ability to combine manual dexterity with automated safety features has become a key differentiator for advanced robotic platforms, driving innovation and competition in the medical robotics sector.
Claim 1 — Plain English
What this patent covers
The patent details a system for controlling a robotic manipulator arm, often used in applications like surgery. It features a "manipulation mode" where a processor fully controls the arm to move a tool (end effector) and pivot it around a fixed point (remote center). Crucially, it introduces "clutch modes" that allow a human to manually adjust parts of the arm's position. For example, in the "arm-null-perpendicular-clutch mode," the system automatically maintains the remote center's position (by "servoing" specific joints) while allowing a human to manually move the end effector (by "floating" other joints with friction or gravity compensation). Simultaneously, the system can perform "auxiliary tasks" like avoiding collisions or optimizing the arm's posture by controlling motion in the intersection of the remote center's and end effector's null-spaces, as described in claims 1, 7, and 8.
The clever bit
The novelty lies in the concurrent control strategy: simultaneously allowing manual "floating" of certain arm movements (with friction/gravity compensation), actively "servoing" to maintain critical points like a remote center, and using the remaining "null-space" to perform background "auxiliary tasks" such as collision avoidance or optimizing joint positions.
What it does not cover
- Robot arms that are entirely manually operated without any computer assistance for stability or auxiliary tasks.
- Systems where the robot arm cannot perform auxiliary tasks, such as collision avoidance or posture optimization, while being manually positioned.
- Clutching mechanisms that do not involve actively "servoing" to maintain a specific point (like a remote center or end effector) while another part is "floated" by a user.
- Robot arms that lack sufficient degrees of freedom to have a null-space for the end effector or remote center, which is necessary for the described concurrent control.
- Systems that do not apply friction compensation or gravity compensation when allowing manual "floating" of the arm's joints.
Patent timeline
Application submitted to the patent office
Application published, typically 18 months after filing
Patent officially issued
Patent enters public domain
PatentBrief Score
Impact Score
Early stage
Citation count
0/40
No citations yet
Claim breadth
19/20
Very broad protection
Recency
20/20
Granted within 5 years
Assignee scale
0/20
Independent or smaller assigneeassigneeThe entity that owns the patent — usually the inventor's employer or a company.Read more →
PatentBrief Impact Score — based on citation count, claim breadth, recency, and assignee scale. Not a legal assessment.
Heuristic Value Estimate
What this patent might be worth
$26K – $84K
Midpoint $53K · 16.5 yr remaining · industry ×0.9
Heuristic only — blends forward/backward citation counts, claim scope, time remaining, litigation history, and CPC-derived industry baseline. Real valuations need a professional appraisal.
Claim text not yet imported for this patent
The original legal language
Original claims
29 claims as filed with the patent office.
Concepts involved
Citations
Patent lineage
Cite this patent
Swarup, N., & Hourtash, A. M. (2024). How a Robot Arm Can Be Manually Moved While Staying Safe (U.S. Patent No. 12,064,197). U.S. Patent and Trademark Office. https://patentbrief.org/patent/us/12064197/system-and-methods-for-positioning-a-manipulator-arm-by-clutching-within-a-null-
Auto-generated from the patent record. Double-check author order and the issue date against the official USPTO document before submitting.
Embed
Add this patent to your site
Drop this plain-English patent card into any blog post or article — free, no signup. It always links back to the full breakdown here.
<div data-patentlens-widget data-patent-number="US12064197"></div> <script src="https://patentbrief.org/embed.js" async></script>
Stay in the loop
Get a weekly digest of new patents.
One email per week. No spam. Unsubscribe anytime.
Keep exploring
Related patents you should know
US 4683195 · 1987
How to Make Billions of Copies of a DNA Segment
This patent describes the Polymerase Chain Reaction (PCR), a method to rapidly create many copies of a specific piece of DNA or RNA, enabling its detection and analysis.
Cetus Corp
US 8697359 · 2014
How to Edit Genes in Human Cells Using an Engineered CRISPR System
This patent describes an engineered CRISPR-Cas9 system for precisely cutting DNA in eukaryotic cells to change how genes work, opening the door for gene editing in complex organisms.
Massachusetts Institute of Technology
US 7657849 · 2010
How the iPhone's Slide-to-Unlock Gesture Works
Apple's 2010 patent describes unlocking a device by dragging a specific graphical image across the touchscreen along a predefined path, a gesture that became iconic with the original iPhone.
Apple Inc
US 4733665 · 1988
How Doctors Implant a Permanent Stent Using a Balloon
This patent describes the method for placing a permanent, expandable wire mesh tube inside a blood vessel or other body tube using a balloon-tipped catheter to widen it and keep it open.
Expandable Grafts Partnership
US 4965188 · 1990
How to Make Many Copies of a DNA Piece with Heat
This patent describes the Polymerase Chain Reaction (PCR) method, a technique to make millions of copies of a specific DNA segment using a heat-resistant enzyme and repeated temperature changes.
Cetus Corp
US 4235871 · 1980
How to Encapsulate Active Materials in Lipid Bubbles Efficiently
This patent describes a method for trapping biologically active substances inside tiny, multi-layered fat bubbles called liposomes, using a specific water-in-oil emulsion and gel-forming process to improve how much material gets captured.
Individual
More to explore
More in Software & Internet
US 4405829 · 1983 · Massachusetts Institute of Technology
How RSA Public-Key Encryption Keeps Digital Messages Secret
US 6285999 · 2001 · Leland Stanford Junior University
How Websites Get Ranked by Importance
US 5960411 · 1999 · Amazon com Inc
How Amazon's One-Click Ordering Works for Online Purchases
US 7669123 · 2010 · Facebook Inc
Displaying Friends' Activities in a Social Network Feed
New to patents?
Common Questions
Frequently Asked Questions
What does How a Robot Arm Can Be Manually Moved While Staying Safe cover?
This patent describes how a robotic arm can be partly moved by a human, like pushing it, while the robot's computer automatically handles other movements to keep it stable or avoid obstacles.
Who owns patent US 12064197?
Intuitive Surgical Operations owns this patent, granted in 2024.
When does this patent expire?
This patent is expected to expire on March 17, 2043, when the invention enters the public domain.
What problem does this patent solve?
This technology is vital for advanced robotics, particularly in surgical systems where surgeons need precise control but also benefit from the robot handling complex background tasks. It allows for a more intuitive and safer interaction between a human operator and a robot. This enables surgeons to focus on the primary task while the robot automatically manages critical constraints like maintaining a pivot point or preventing collisions, enhancing both precision and safety in delicate procedures.
What does this patent NOT cover?
Robot arms that are entirely manually operated without any computer assistance for stability or auxiliary tasks.
Same assignee
More from Intuitive Surgical Operations
Patent monitoring