'range-of-motion-preserving' is a compound formed from 'range', 'motion', and the present participle 'preserving'. 'range' originates from Old French, specifically the word 'rang', where 'rang' meant 'row' or 'order'; 'motion' originates from Latin, specifically the word 'motio', where the root 'mov-/mot-' meant 'to move'; 'preserving' derives from Latin 'praeservare' (via Old French/Latin), where 'prae-' meant 'before' and 'servare' meant 'to keep or save'.

'preserve' entered Middle English from Old French 'preserver', itself from Latin 'praeservare'. 'motion' came into English via Old French from Latin 'motio'. 'range' entered English from Old French 'rang' (ultimately from a Germanic source). The compound phrase developed in modern English usage, particularly in medical and technical contexts, by combining these existing words.

Originally the component words meant 'order/row' (range), 'movement' (motion), and 'to keep safe' (preserve). Over time, when combined as 'range-of-motion-preserving' the phrase took on a specialized meaning: techniques or devices that specifically maintain a joint's movement range.