Registry

Patents

Patents on the DEPLOY registry. The verified-vs-claimed framework applies at the estate level: granted versus pending state is the substrate, assignee identity is verified per row, and ITC and federal litigation cross-references run through the reciprocal patent- litigation seam.

• US 10,945,648granted

  Light-based pulse-oximetry / physiological-measurement patent; claims 24 and 30 were found infringed by the Apple Watch in ITC Investigation No. 337-TA-1276.

  Masimo Corporation · uspto

• US 12,566,274granted

  Distance-guided photon accumulation. Receives a distance value for pixels, accumulates photon counts over cycles into time bins within a predicted range, and uses the histogram to generate a LiDAR image.

  Ouster · uspto · granted 2026-03-03

• US 12,560,514granted

  Sensing assembly with multiple sensing sites and through-hole configurations for analyte/property detection. Applicable to precision robotic sensing environments.

  Analog Devices · uspto · granted 2026-02-24

• US 12,560,688granted

  LiDAR integrated into a movable device with coaxial optical design.

  RoboSense Technology Co., Ltd. · uspto · granted 2026-02-24

• US 12,560,722granted

  LiDAR system and autonomous driving device with multi-LiDAR data fusion.

  uspto · granted 2026-02-24

• US 12,553,850granted

  Sensor assembly with actuation unit including a force-generating element that moves mixing species relative to a sensing surface using electric/magnetic fields or ultrasound. Relevant to robotic actuation and haptic/sensing systems.

  Analog Devices · uspto · granted 2026-02-17

• US 12,553,993granted

  Flash LiDAR with nonuniform light modulation for enhanced depth accuracy.

  Innoviz Technologies · uspto · granted 2026-02-17

• US 12,542,466granted

  Actuator housing with a hub supporting a controller; potting compound fills the cavity around the controller for thermal management, vibration damping, and environmental sealing. Protects integrated electronics for continuous-duty robotic applications.

  Schaeffler Group · uspto · granted 2026-02-03

• US 12,535,563granted

  Coaxial emitter/sensor architecture using a diffractive waveguide with a diffraction grating between micro-optic collimating/diverging elements to redirect returned light from the scene toward the sensor channel.

  Ouster · uspto · granted 2026-01-27

• US 12,529,771granted

  A system using multiple comparators sampling reflected pulses at different intensity thresholds to create slices, then using a cost matrix to reconstruct the original pulse signal.

  Luminar Technologies · uspto · granted 2026-01-20

• US 12,529,770granted

  Accumulates photon-count histograms in time bins; identifies an initial peak from light reflected off the device housing to calibrate the time-window per bin, then measures subsequent peaks with the calibrated window.

  Ouster · uspto · granted 2026-01-20

• US 12,481,037granted

  LiDAR detection sensitivity control varying between detections to optimize range and resolution.

  Innoviz Technologies · uspto · granted 2025-11-25

• US 12,481,031granted

  A lidar system that emits local-oscillator light and pulses of light with spectral signatures, uses coherent mixing at the receiver, and verifies received pulses by matching spectral signatures to distinguish from interference.

  Luminar Technologies · uspto · granted 2025-11-25

• US 12,481,034granted

  A lidar system using a photonic integrated circuit (PIC) with a grating coupler and tapered optical waveguide to couple scattered light into an input waveguide for distance measurement.

  Luminar Technologies · uspto · granted 2025-11-25

• US 12,472,623granted

  Drive unit for a robot joint comprising a housing with drive shaft and drive motor, a strain wave gear mechanism (harmonic drive) with wave generator, flexible ring, and toothed ring connected to output shaft, and multiple sensors detecting angular position of drive shaft, output shaft, and expansion of the flexible ring.

  Schaeffler Group · uspto · granted 2025-11-18

• US 12,469,160granted

  Artificial intelligence modeling techniques for vision-based occupancy determination. Granted Tesla FSD / Autopilot vision-based occupancy-network patent. (Tesla Optimus humanoid patents remain WO-only international filings, not granted US patents.)

  Tesla · uspto · granted 2025-11-11

• US 12,466,501granted

  Detecting an externally-induced lateral velocity on a four-legged robot, computing a compensating force, and adjusting foot placement.

  Boston Dynamics · uspto · granted 2025-11-11

• US 12,461,531granted

  Updating topological navigation maps by determining new traversable route edges between waypoints using live sensor data, applicable to autonomous legged-robot patrol/navigation.

  Boston Dynamics · uspto · granted 2025-11-04

• US 12,440,970granted

  Coordinating an articulated arm with the robot’s base: the arm controller anticipates task forces and sends balance parameters to the base controller so the base can actively counter-balance.

  Boston Dynamics · uspto · granted 2025-10-14

• US 12,429,564granted

  Interlaced scan patterns in LiDAR systems for improved field coverage.

  Innoviz Technologies · uspto · granted 2025-09-30

• US 12,411,243granted

  Multi-pulse ranging with near-field/far-field measurement; claims priority to 2017 CN filing.

  Hesai Technology · uspto · granted 2025-09-09

• US 12,403,611granted

  Head and neck assembly for a humanoid robot. Figure AI patent covering the head and neck mechanism of its general-purpose humanoid (the Figure 02/03 lineage). Assignee Figure AI Inc.; granted and active.

  Figure AI · uspto · granted 2025-09-02

• US 12,396,618granted

  Dynamic light source status indication for endoscopic systems to provide real-time feedback to the surgical team.

  Karl Storz · uspto · granted 2025-08-26

• US 12,399,257granted

  Mechanical/optical LiDAR design with separable emitting/receiving supports and light-isolating plate.

  Hesai Technology · uspto · granted 2025-08-26

• US 12,390,091granted

  Endoscopic instrument shaft and insert design for minimally invasive surgery.

  Karl Storz · uspto · granted 2025-08-19

• US 12,384,038granted

  Measuring the distance between the robot’s center of mass and its legs during swing/touchdown to determine touchdown locations.

  Boston Dynamics · uspto · granted 2025-08-12

• US 12,379,583granted

  Endoscope system with adaptive lighting control for surgical visualization.

  Karl Storz · uspto · granted 2025-08-05

• US 12,365,407granted

  Planning mechanically-timed footstep patterns for a legged robot, detecting gait disturbances/obstacles, and updating footsteps to return toward a target trajectory.

  Boston Dynamics · uspto · granted 2025-07-22

• US 12,331,823granted

  Compact rotary actuator with hollow housing, output shaft and idler shaft on coaxial axis, drive system and gearbox in the cavity, and rotational controller with dual sensors (motor rotor position + idler shaft position) axially spaced. High-torque design suitable for robotic joints.

  Schaeffler Group · uspto · granted 2025-06-17

• US 12,253,633granted

  Laser ranging method with dynamic receiver gain control for LiDAR systems.

  RoboSense Technology Co., Ltd. · uspto · granted 2025-03-18

• US 12,195,013granted

  Evaluating multi-modal trajectory predictions for autonomous driving. Waymo patent on evaluating multi-modal trajectory predictions for autonomous driving: behavior-prediction IP central to the Waymo Driver's planner. Assignee Waymo LLC; granted and active.

  Waymo · uspto · granted 2025-01-14

• US 12,172,719granted

  Whole body manipulation on a legged robot using dynamic balance. Foundational legged-robot dynamic-balance / whole-body-manipulation patent (Atlas control lineage; inventors incl. Blankespoor, Stephens). Boston Dynamics has been owned by Hyundai since 2021 (hyundai-acquires-boston-dynamics-2021); assignee as printed is Boston Dynamics Inc.

  Boston Dynamics · uspto · granted 2024-12-24

• US 12,169,254granted

  Multi-pulse sequences with temporal profiles that change based on real-time environmental or system conditions (noise, weather, power, crosstalk).

  Hesai Technology · uspto · granted 2024-12-17

• US 12,167,836granted

  Optical filter system for video endoscopy enhancing fluorescence and contrast during surgical imaging.

  Karl Storz · uspto · granted 2024-12-17

• US 12,140,710granted

  Algorithms using reflectivity, continuity parameters, and confidence levels to filter out noise/crosstalk in point clouds.

  Hesai Technology · uspto · granted 2024-11-12

• US 12,135,386granted

  Point-cloud processing, reflectivity fingerprints, and object classification in LiDAR.

  Innoviz Technologies · uspto · granted 2024-11-05

• US 11,940,565granted

  A lidar system emitting local-oscillator light coherent with emitted pulses, mixing them coherently at the receiver to determine target distance based on time-of-arrival.

  Luminar Technologies · uspto · granted 2024-03-26

• US 11,933,895granted

  A scanner using a rotatable polygon mirror with multiple reflective surfaces and a pivotable scan mirror to distribute scan lines across the field of regard.

  Luminar Technologies · uspto · granted 2024-03-19

• US 11,928,638granted

  Systems and methods for mixed-use delivery of people and packages using autonomous vehicles and machines. Agility Robotics patent covering deployable bipedal robots (the Digit logistics lineage) that dismount from an autonomous vehicle to carry packages to the door. Assignee Agility Robotics Inc.; granted and active.

  Agility Robotics · uspto · granted 2024-03-12

• US 11,899,137granted

  Pixel/sub-pixel level control of VCSEL/SPAD arrays. Continuation of US 10,983,197.

  Hesai Technology · uspto · granted 2024-02-13

• US 11,835,951granted

  Object motion prediction and autonomous vehicle control. Object-motion-prediction and AV-control patent originally assigned to UATC, LLC (Uber Advanced Technologies Group) and reassigned to Aurora Operations, Inc.: the prediction-stack estate that followed Aurora's 2021 acquisition of Uber ATG. Aurora's second major acquired-IP estate alongside Blackmore's FMCW lidar. Granted and active.

  Aurora Innovation · uspto · granted 2023-12-05

• US 11,833,680granted

  Robot movement and online trajectory optimization. Boston Dynamics patent on robot movement and online trajectory optimization (reusable template behaviors + centroidal model-predictive control + kinematic solver) spanning humanoid, biped, quadruped and mobile robots: core Atlas/Spot motion-control IP. Assignee Boston Dynamics, Inc.; granted and active.

  Boston Dynamics · uspto · granted 2023-12-05

• US 11,755,041granted

  Objective-based control of an autonomous unmanned aerial vehicle. Foundational Skydio autonomy patent (objective-based UAV control / skills, motion planning for tracking and obstacle avoidance).

  Skydio · uspto · granted 2023-09-12

• US 11,726,205granted

  Solid-state electronic scanning. Sequentially fires subsets of emitters while synchronously reading out corresponding photosensors; uses aperture layers and micro-optics to minimize crosstalk.

  Ouster · uspto · granted 2023-08-15

• US11717974B1granted

  Methods for operating a robot using haptic photogrammetry, integrating tactile and visual sensor data to construct a 3D model of the robot's environment and enable precise dexterous manipulation. Core to the Phoenix humanoid platform's manipulation capabilities.

  Sanctuary AI · uspto · granted 2023-08-08

• US 11,649,157granted

  Integrated magnetic actuation, magnetic sensing, and micromechanical structures (beams, diaphragms, rotatable scanners). Magnetically actuated motion and MEMS sensors foundational for robotic grippers, tactile feedback, and precision actuators.

  Analog Devices · uspto · granted 2023-05-16

• US 11,540,819granted

  Endoscopic device with improved maneuverability and visualization for diagnostic and therapeutic procedures.

  Karl Storz · uspto · granted 2023-01-03

• US 11,175,405granted

  Spinning lidar unit with micro-optics aligned behind stationary window. Ouster's foundational digital-lidar patent: a spinning lidar unit in which the micro-optic array (lens elements aligned with individual APD/SPAD detectors) sits behind a stationary protective window. Co-assigned to Ouster Inc and Sense Photonics Inc (acquired by Ouster 2021). Inventors: Angus Pacala, Mark Frichtl, Marvin Shu. Granted November 2021; active (expires January 2040). One of five patents asserted by Ouster in ITC 337-TA-1363 against Hesai Group.

  Ouster · uspto · granted 2021-11-16

• EP 3113707 B1granted

  Surgical arm. Foundational CMR Surgical Versius surgical-arm patent (CMR Surgical Ltd; priority 2014). EPO family member of US 9,937,012.

  CMR Surgical · epo · granted 2021-11-10

• CN 213502637 Ugranted

  Robot companion device and quadruped robot using the same. Unitree quadruped-robot utility-model patent. Original applicant Hangzhou Yushu Technology Co., Ltd. (now Unitree Robotics Co., Ltd.).

  Hangzhou Yushu Technology Co., Ltd. · cnipa · granted 2021-06-22

• US 11,035,743granted

  Compact, high performance series elastic actuator. Apptronik's foundational series-elastic-actuator (SEA) patent: the compact, high-power-density linear-actuation IP that underpins the joints of its Apollo humanoid. Assignee Apptronik, Inc.; granted and active.

  Apptronik · uspto · granted 2021-06-15

• US10983197B1granted

  Lidar system with individually addressable light emitters and photosensors whose activation subsets are dynamically configured per-shot, improving signal-to-noise ratio, reducing cross-talk, and extending measurement range while minimizing power consumption.

  Hesai Technology · uspto · granted 2021-04-20

• US 10,940,582granted

  Leg power system structure of electrically driven four-legged robot. Body with four independent bilaterally symmetric leg modules; each leg has thigh motor, calf motor, and hip joint motor assemblies. Anti-parallelogram linkage housed inside thigh rod for compactness and impact protection. Modular integrated motor/reducer units with built-in cooling and brake assemblies.

  Unitree Robotics · uspto · granted 2021-03-02

• US 10,914,841granted

  LIDAR system for autonomous vehicle. Aurora's frequency-modulated continuous-wave (FMCW) lidar patent. Originally assigned to Blackmore Sensors and Analytics, LLC and reassigned to Aurora Operations, Inc. after Aurora's 2019 acquisition of Blackmore: the long-range-lidar estate that followed the deal, core to the Aurora Driver. Granted and active.

  Aurora Innovation · uspto · granted 2021-02-09

• CN 109196266 Bgranted

  Gimbal control method, gimbal controller and gimbal. DJI gimbal-stabilization control patent; assignee SZ DJI Osmo Technology Co., Ltd. (a DJI subsidiary).

  SZ DJI Osmo Technology Co., Ltd. · cnipa · granted 2020-09-01

• US 10,719,805granted

  Autonomous robot vehicle with securable compartments. Nuro's signature autonomous-delivery-pod secure-compartment patent.

  Nuro · uspto · granted 2020-07-21

• US 10,683,006granted

  Apparatus and methods for obstacle detection. DJI UAV obstacle-detection patent; assignee SZ DJI Technology Co., Ltd. (the parent, distinct from the Osmo gimbal patent already in the registry).

  DJI · uspto · granted 2020-06-16

• US10557939B2granted

  Lidar system operating in wavelength bands with strong atmospheric absorption to suppress solar background noise, improving signal-to-noise ratio at long range using InGaAs-compatible detector technology.

  Luminar Technologies · uspto · granted 2020-02-11

• US 10,527,725granted

  Multi-emitter/single-sensor scanning. Emitter arrays divided into independently drivable banks; subsets fire in sequence while corresponding sensor columns are read out, reducing power vs. flash LiDAR.

  Ouster · uspto · granted 2020-01-07

• US10506436B1granted

  Secure mesh networking system implementing cryptographic mechanisms including group key encryption for publish-subscribe communications and point-to-point authorization for routing, enabling real-time data prioritization while maintaining network security. Core architecture underlying the Lattice command-and-control platform.

  Anduril Industries · uspto · granted 2019-12-10

• US10281582B2granted

  Solid-state MEMS lidar system with adaptive per-shot illumination that varies light flux across the field of view based on intermediate detection results, improving range performance and maintaining eye-safety compliance.

  Innoviz Technologies · uspto · granted 2019-05-07

• US10035261B2granted

  Robotic joint using axial angular contact roller bearings enabling compact, high-load-capacity modular joints with configurable articulation for industrial robot arms.

  Schaeffler Group · uspto · granted 2018-07-31

• US 9,754,490granted

  Software application to request and control an autonomous vehicle service. Early Zoox patent covering the software to request and control an autonomous-vehicle service together with its signature bidirectional, quad-symmetric robotaxi (designed to travel in either direction with no dedicated front or back). Zoox became an Amazon subsidiary in 2020; the assignee remains Zoox, Inc. Granted and active.

  Zoox · uspto · granted 2017-09-05

• US9741010B1granted

  Mobile robot system enabling secure delivery of packages to multiple recipients sharing a single cargo compartment, using sensor-based verification to ensure only the intended recipient can access their package. Foundational to Starship's commercial multi-drop delivery model.

  Starship Technologies · uspto · granted 2017-08-22

• US 9,665,100granted

  Sparse map for autonomous vehicle navigation. Mobileye's REM (Road Experience Management) sparse-map patent: the crowd-sourced, low-bandwidth HD-map representation built from camera-equipped vehicles that underpins Mobileye's autonomous-navigation and ADAS map layer. Assignee Mobileye Vision Technologies Ltd; granted and active.

  Mobileye · uspto · granted 2017-05-30

• US 9,582,034granted

  Wearable computing device. Foundational Oura smart-ring physiological-sensing patent (heart rate, temperature, motion); assignee as printed Ouraring Inc.

  Oura · uspto · granted 2017-02-28

• US 9,563,199granted

  Assisted perception for autonomous vehicles. Early Waymo perception patent (supplemental object identification for low-confidence detections in the self-driving stack). Originally assigned to Google LLC and reassigned to Waymo LLC at the 2017 spinout: part of the foundational self-driving estate that moved from Google to Waymo. Granted and active.

  Waymo · uspto · granted 2017-02-07

• US9488979B1granted

  System and method for autonomous vehicle operations including mechanisms for human operator intervention. Covers safety oversight architecture enabling operators to monitor and override autonomous drone delivery decisions in real time. Foundational to Zipline's FAA-compliant delivery operations.

  Zipline · uspto · granted 2016-11-08

• US 9,381,985granted

  Autonomous unmanned sailing vessel. Saildrone's foundational wind-powered rigid-wing autonomous-surface-vessel patent.

  Saildrone · uspto · granted 2016-07-05

• US 8,961,536granted

  Navigated freehand surgical tool and kit. Foundational Navio/CORI handheld surgical-robotics patent (Blue Belt Technologies). The estate transferred to Smith+Nephew via the 2015 Blue Belt acquisition (smith-nephew-acquires-blue-belt-2015).

  Blue Belt Technologies, Inc. · uspto · granted 2015-02-24

• US 8,836,922granted

  Devices and methods for a rotating LIDAR platform with a shared transmit/receive path. Foundational 360-degree rotating-LiDAR patent; originally assigned to Google, reassigned to Waymo LLC in 2017. Central to the Waymo v Uber/Otto LiDAR trade-secret dispute (waymo-v-uber-otto-trade-secret).

  Waymo · uspto · granted 2014-09-16

• US 8,509,503granted

  Multi-application robotized platform for neurosurgery and resetting method. Foundational ROSA neurosurgery-platform patent (Nahum & Blondel, Medtech SA). The ROSA IP estate transferred to Zimmer Biomet via the 2016 Medtech acquisition (zimmer-biomet-acquires-medtech-2016).

  Medtech S.A. · uspto · granted 2013-08-13

• US 8,010,180granted

  Haptic guidance system and method. Foundational MAKO RIO haptic-guidance patent (inventors incl. Abovitz, Quaid, Kang). The Mako orthopedic-robotics IP estate transferred to Stryker via the 2013 acquisition (stryker-acquires-mako-2013).

  MAKO Surgical Corp. · uspto · granted 2011-08-30

• EP 2157931 B1granted

  Multi-application robotised platform for neurosurgery and resetting method. Foundational ROSA neurosurgery-platform patent (Medtech SA; French priority FR2917598, 2007). EPO family member of US 8,509,503; the ROSA IP estate transferred to Zimmer Biomet via the 2016 Medtech acquisition (zimmer-biomet-acquires-medtech-2016).

  Medtech S.A. · epo · granted 2011-02-23

• US 7,113,867expired

  Detecting obstacles to vehicle motion and determining time-to-contact using image sequences. Foundational monocular obstacle-detection / time-to-contact ADAS patent (originally Mobileye Technologies Ltd, reassigned to Mobileye Vision Technologies Ltd 2014). Expired (fee-related), but a granted US patent.

  Mobileye · uspto · granted 2006-09-26

• US 6,883,201granted

  Autonomous floor-cleaning robot. Foundational Roomba autonomous floor-cleaning / coverage-robot patent (filed 2002).

  iRobot Corporation · uspto · granted 2005-04-26

• US 6,850,817granted

  Surgical system. Foundational SRI International telepresence-surgery patent (inventor Philip S. Green); part of the surgical-robotics IP lineage the da Vinci platform built on (Intuitive's SRI roots).

  SRI International, Inc. · uspto · granted 2005-02-01

• US6832985B2expired

  Endoscopic surgical guidance system displaying position and orientation of instruments relative to the endoscope image plane using directional position sensors, enabling instrument navigation without direct line of sight during minimally invasive procedures.

  Karl Storz · uspto · granted 2004-12-21

• US 6,371,952granted

  Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity. Foundational EndoWrist wristed-instrument patent (Madhani & Salisbury) underpinning the da Vinci system's articulated minimally-invasive instruments.

  Intuitive Surgical · uspto · granted 2002-04-16