How Surgical Robots Reconfigure Their Arms Without Moving the Tool Tip
This patent describes how a surgical robot arm can move and reshape itself to avoid obstacles or improve its position, all while keeping its surgical tool perfectly still at the patient's entry point or target.
Original patent title: “Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space”
This patent describes how a surgical robot arm can move and reshape itself to avoid obstacles or improve its position, all while keeping its surgical tool perfectly still at the patient's entry point or target. Granted to Intuitive Surgical Operations in 2018 with 23 claims and 2 forward citations, and it is expected to expire in 2036.
Coverage
What does this patent actually cover?
The patent details a method for a robot arm, like those used in surgery, to reconfigure its shape without disturbing the position or orientation of its working end, called the distal portion or end effector. When the robot receives a 'reconfiguration command' (ClaimclaimA numbered sentence at the end of a patent that legally defines what the inventor owns. The most important section.Read more → 1), it calculates specific joint velocities for its multiple joints. These calculated movements ensure that while parts of the arm shift, the distal portion remains in its 'desired state' (Claim 1), meaning its position, orientation, or velocity stays unchanged (Claim 4). This is achieved by ensuring the combined joint velocities lie within the 'null-space' of the manipulator arm's Jacobian (Claim 2), which means these joint movements have no effect on the end effector's position. For example, a surgeon could command the robot arm to move its elbow out of the way to prevent it from bumping into another instrument, all while the scalpel at the arm's tip remains precisely where it needs to be.
The gap
What does this patent NOT cover?
- Does not cover robot arm movements where the distal portion (the tool tip) is intended to move or change its state.
- Does not cover robot arms that lack sufficient 'degrees of freedom' (extra joints) to allow for internal reconfiguration without moving the end effector.
- Does not cover systems that reconfigure the arm by physically detaching and reattaching segments, rather than by coordinated joint movements.
- Does not cover simple robot arm movements that only involve moving the end effector to a new position without any concurrent internal arm reconfiguration.
- Does not cover reconfigurations that do not involve calculating joint velocities based on a kinematic Jacobian or similar mathematical model.
These exclusions are unique to PatentBrief — derived from the actual claim language, not patent-office boilerplate.
Key facts
What made this novel
The core innovation is using the 'null-space' of the robot arm's kinematics. This mathematical concept identifies specific ways the robot's joints can move that change the arm's shape but have absolutely no effect on the position or orientation of the tool at its very end. This allows for internal arm adjustments without disturbing the surgical task.
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 surgical robotic platforms
Industrial robots performing tasks requiring fixed tool points
Why it matters
The bigger picture
In robotic surgery, maintaining the precise position of a surgical instrument is critical for patient safety and surgical accuracy. This patent allows surgical robots to adjust their posture, for instance, to avoid collisions with other instruments or to improve the robot's overall reach, without interrupting the delicate work being performed by the tool tip. This capability enhances the robot's dexterity and safety, making complex procedures more manageable and efficient for surgeons.
Filed
November 22, 2016
Granted
April 24, 2018
Market context
Who's building on this
Companies in this space
Intuitive Surgical Operations, the assigneeassigneeThe entity that owns the patent — usually the inventor's employer or a company.Read more →, is a leading developer of robotic surgical systems, notably the da Vinci platform. Companies like Medtronic, Stryker, and Johnson & Johnson are also active in surgical robotics, continuously developing more sophisticated control systems for their own platforms, which may incorporate similar principles for enhanced robot dexterity and safety.
Market impact
This patent contributes to the ongoing evolution of surgical robotics by enabling more intelligent and flexible robot arm control. It allows for safer and more efficient surgical procedures by preventing collisions and optimizing robot posture without compromising the precision of the surgical instrument. This capability helps solidify the market position of advanced robotic systems by addressing critical operational challenges in the confined and complex environment of an operating room.
Claim 1 — Plain English
What this patent covers
The patent details a method for a robot arm, like those used in surgery, to reconfigure its shape without disturbing the position or orientation of its working end, called the distal portion or end effector. When the robot receives a 'reconfiguration command' (Claim 1), it calculates specific joint velocities for its multiple joints. These calculated movements ensure that while parts of the arm shift, the distal portion remains in its 'desired state' (Claim 1), meaning its position, orientation, or velocity stays unchanged (Claim 4). This is achieved by ensuring the combined joint velocities lie within the 'null-space' of the manipulator arm's Jacobian (Claim 2), which means these joint movements have no effect on the end effector's position. For example, a surgeon could command the robot arm to move its elbow out of the way to prevent it from bumping into another instrument, all while the scalpel at the arm's tip remains precisely where it needs to be.
The clever bit
The core innovation is using the 'null-space' of the robot arm's kinematics. This mathematical concept identifies specific ways the robot's joints can move that change the arm's shape but have absolutely no effect on the position or orientation of the tool at its very end. This allows for internal arm adjustments without disturbing the surgical task.
What it does not cover
- Does not cover robot arm movements where the distal portion (the tool tip) is intended to move or change its state.
- Does not cover robot arms that lack sufficient 'degrees of freedom' (extra joints) to allow for internal reconfiguration without moving the end effector.
- Does not cover systems that reconfigure the arm by physically detaching and reattaching segments, rather than by coordinated joint movements.
- Does not cover simple robot arm movements that only involve moving the end effector to a new position without any concurrent internal arm reconfiguration.
- Does not cover reconfigurations that do not involve calculating joint velocities based on a kinematic Jacobian or similar mathematical model.
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
10/40
Early citations
Claim breadth
15/20
Broad claimsclaimsThe numbered statements at the end of a patent that legally define what the inventor owns.Read more →
Recency
10/20
Granted 5–10 years ago
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
$107K – $343K
Midpoint $215K · 10.4 yr remaining · industry ×2.2
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
23 claims as filed with the patent office.
Concepts involved
Citations
Patent lineage
Cite this patent
Schena, B. M., Luke, S., Devengenzo, R. L., Hourtash, A. M., Mohr, P. W., Hingwe, P., & Millman, P. (2018). How Surgical Robots Reconfigure Their Arms Without Moving the Tool Tip (U.S. Patent No. 9,949,801). U.S. Patent and Trademark Office. https://patentbrief.org/patent/us/9949801/systems-and-methods-for-commanded-reconfiguration-of-a-surgical-manipulator-usin
Auto-generated from the patent record. Double-check author order and the issue date against the official USPTO document before submitting.
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Common Questions
Frequently Asked Questions
What does How Surgical Robots Reconfigure Their Arms Without Moving the Tool Tip cover?
This patent describes how a surgical robot arm can move and reshape itself to avoid obstacles or improve its position, all while keeping its surgical tool perfectly still at the patient's entry point or target.
Who owns patent US 9949801?
Intuitive Surgical Operations owns this patent, granted in 2018.
When does this patent expire?
This patent is expected to expire on November 22, 2036, when the invention enters the public domain.
What is patent US 9949801 cited by?
This patent has been cited by 2 later patents that build on its ideas.
What problem does this patent solve?
In robotic surgery, maintaining the precise position of a surgical instrument is critical for patient safety and surgical accuracy. This patent allows surgical robots to adjust their posture, for instance, to avoid collisions with other instruments or to improve the robot's overall reach, without interrupting the delicate work being performed by the tool tip. This capability enhances the robot's dexterity and safety, making complex procedures more manageable and efficient for surgeons.
What does this patent NOT cover?
Does not cover robot arm movements where the distal portion (the tool tip) is intended to move or change its state.
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