Notice of Pre-AIA or AIA Status
The present application, filed on or after March 16, 2013, is being examined under the first inventor to file provisions of the AIA .
DETAILED ACTION
Claims 1-26 are pending. Claims 1-26 are rejected.
Amendments to the claims have been recorded.
Response to Arguments
Applicant’s arguments have been fully considered but they are not persuasive.
Applicant’s arguments are related to “driving input that is modulated based on the location of the point of contact”; The arguments are fully addressed with the rejections provided such as in paragraphs 10 and 69.
Applicant’s Arguments
Applicant argues are fully addressed with the new rejections made to the newly provided amendments.
Nonstatutory Double Patenting
The nonstatutory double patenting rejection is based on a judicially created doctrine grounded in public policy (a policy reflected in the statute) so as to prevent the unjustified or improper timewise extension of the “right to exclude” granted by a patent and to prevent possible harassment by multiple assignees. A nonstatutory obviousness-type double patenting rejection is appropriate where the conflicting claims are not identical, but at least one examined application claim is not patentably distinct from the reference claim(s) because the examined application claim is either anticipated by, or would have been obvious over, the reference claim(s). See, e.g., In re Berg, 140 F.3d 1428, 46 USPQ2d 1226 (Fed. Cir. 1998); In re Goodman, 11 F.3d 1046, 29 USPQ2d 2010 (Fed. Cir. 1993); In re Longi, 759 F.2d 887, 225 USPQ 645 (Fed. Cir. 1985); In re Van Ornum, 686 F.2d 937, 214 USPQ 761 (CCPA 1982); In re Vogel, 422 F.2d 438, 164 USPQ 619 (CCPA 1970); and In re Thorington, 418 F.2d 528, 163 USPQ 644 (CCPA 1969).
A timely filed terminal disclaimer in compliance with 37 CFR 1.321(c) or 1.321(d) may be used to overcome an actual or provisional rejection based on a nonstatutory double patenting ground provided the conflicting application or patent either is shown to be commonly owned with this application, or claims an invention made as a result of activities undertaken within the scope of a joint research agreement.
Effective January 1, 1994, a registered attorney or agent of record may sign a terminal disclaimer. A terminal disclaimer signed by the assignee must fully comply with 37 CFR 3.73(b).
The claim of this instant application are rejected on the ground of nonstatutory obviousness-type double patenting as being unpatentable over claim of co-pending Application. Although the conflicting claims are not identical, they are not patentably distinct from each other.
This is a provisional obviousness-type double patenting rejection because the conflicting claims have not in fact been patented.
Double Patenting Rejections will not be revisited and be held in abeyance until allowable subject matter is to be found.
Instant Application
US 12082902
1. A computer-assisted system comprising: a display unit configured to provide images to an operator of the display unit, the display unit comprising a head input device; a head input sensor configured to sense a mechanical input provided by a head of the operator to the head input device; a controller comprising a computer processor, the controller configured to: process sensor data acquired using the head input sensor to determine a point of contact between the head and the head input device and to obtain a driving input based on the point of contact; and cause movement of the display unit based on the driving input.
2. The computer-assisted system of claim 1, further comprising: a linkage supporting the display unit, the linkage comprising a plurality of links coupled by a plurality of joints; wherein to cause movement of the display unit, the controller is configured to: command movement of the plurality of joints such that the display unit moves relative to a base of the linkage.
3. The computer-assisted system of claim 1, wherein the head input sensor is disposed on the display unit, and wherein to determine the point of contact, the controller is further configured to: determine a first offset of the point of contact from the head input sensor in a first plane, and determine a second offset of the point of contact from the head input sensor in a second plane perpendicular to the first plane.
4. The computer-assisted system of claim 1, wherein the sensor data comprise information about: a first force along a first axis, a second force along a second axis perpendicular to the first axis, a torque about a third axis perpendicular to the first axis and the second axis; and wherein to determine the point of contact, the controller is configured to: determine an offset of the point of contact from the head input sensor along the first axis using an equilibrium of the first force, the second force, and the torque.
5. The computer-assisted system of claim 1, wherein the sensor data comprise information about: a first force along a first axis, a second force along a second axis perpendicular to the first axis, and a torque about a third axis perpendicular to the first axis and the second axis; and wherein to determine the point of contact, the controller is configured to: determine a combination using an equilibrium of the first force, the second force, the torque, and a geometry of the head input device, the combination being of a first offset of the point of contact from the head input sensor along the first axis and a second offset of the point of contact from the head input sensor along the second axis.
6. The computer-assisted system of claim 1, wherein the sensor data comprise information about: a first force along a first axis, and a second force along a second axis perpendicular to the first axis; and wherein to obtain the driving input, the controller is configured to: determine a normal force at the point of contact and a shear force at the point of contact based on a geometry of the head input device, the first force, and the second force.
7. The computer-assisted system of claim 6, wherein to obtain the driving input, the controller is further configured to: derate the shear force based on the normal force.
8. The computer-assisted system of claim 1 wherein to cause the movement of the display unit based on the driving input, the controller is configured to: impose a simulated friction on the movement; or impose a velocity-dependent damping on the movement; or impose a workspace constraint on the movement.
9. The computer-assisted system of claim 1, wherein the display unit comprises a viewport through which the images are viewable; and wherein to obtain the driving input, the controller is configured to: determine the driving input such that the movement of the display unit maintains an alignment of the viewport with the head.
10. The computer-assisted system of claim 1, wherein to obtain the driving input, the controller is further configured to: determine the driving input to include a bias force.
11. The computer-assisted system of claim 10, wherein the bias force is perpendicular to a surface of the head input device, wherein the bias force is located at a center of the head input device, and wherein the bias force is oriented toward a location of the head.
12. The computer-assisted system of claim 1, wherein the controller is further configured to: provide a haptic event based on at least one parameter selected from the group consisting of: a motion of the display unit, a position of the display unit, and the driving input.
13. The computer-assisted system of claim 12, wherein to provide the haptic event, the controller is configured to: impose a simulated haptic event on the movement.
14. The computer-assisted system of claim 1, wherein to cause the movement of the display unit, the controller is configured to: drive, based on the driving input, a virtual mass to obtain a simulated virtual mass movement; and command movement of the display unit to track the virtual mass movement.
15. The computer-assisted system of claim 1, further comprising: a manipulator arm configured to support an imaging device, the imaging device configured to capture the images; wherein the controller is further configured to: control a movement of the imaging device based on the sensor data, on the driving input, or on the movement of the display unit.
16. A method for operating a computer-assisted system comprising a display unit configured to provide images to an operator and receive a mechanical input provided by a head of the operator, the method comprising: processing sensor data acquired using a head input sensor to determine a point of contact between the head and a head input device and to obtain a driving input based on the point of contact, wherein the sensor data comprise information about the mechanical input; and causing movement of a display unit based on the driving input.
17. The method of claim 16, wherein the head input sensor is disposed on the display unit, and wherein determining the point of contact comprises: determining a first offset of the point of contact from the head input sensor in a first plane; and determining a second offset of the point of contact from the head input sensor in a second plane perpendicular to the first plane.
18. The method of claim 16, wherein: the sensor data comprise information about a first force along a first axis, a second force along a second axis perpendicular to the first axis, and a torque about a third axis perpendicular to the first axis and the second axis: determining the point of contact comprises: using an equilibrium of the first force, the second force, and the torque.
19. The method of claim 16, wherein: the sensor data comprise information about a first force along a first axis, and a second force along a second axis perpendicular to the first axis; and obtaining the driving input comprises: determining a normal force at the point of contact and a shear force at the point of contact based on a geometry of the head input device, the first force, and the second force.
20. The method of claim 16, wherein obtaining the driving input comprises: determining the driving input to include a bias force, wherein the bias force is perpendicular to a surface of the head input device, wherein the bias force is located at a center of the head input device, and wherein the bias force is oriented toward a location of the head.
21. The method of claim 16, further comprising: providing a haptic event based on at least one parameter selected from the group consisting of: a motion of the display unit, a position of the display unit, and the driving input.
22. The method of claim 16, wherein the computer-assisted system further comprises a manipulator arm configured to support an imaging device configured to capture the images; the method further comprising: controlling a movement of the imaging device based on the sensor data, on the driving input, or on the movement of the display unit.
23. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions executed by one or more processors associated with a computer-assisted medical system, the plurality of machine-readable instructions causing the one or more processors to perform a method comprising: receiving sensor data obtained using a head input sensor, the sensor data comprising information about a mechanical input provided by a mechanical input provided by a head of an operator to a head input device of a display unit, and processing the sensor data to determine a point of contact between the head and the head input device and to obtain a driving input based on the point of contact; and causing movement of a display unit based on the driving input.
24. The non-transitory machine-readable medium of claim 23, wherein the sensor data is acquired using a head input sensor disposed on the display unit, and wherein determining the point of contact comprises: determining a first offset of the point of contact from the head input sensor in a first plane; and determining a second offset of the point of contact from the head input sensor in a second plane perpendicular to the first plane.
25. The non-transitory machine-readable medium of claim 23, wherein the sensor data comprise information about a first force along a first axis, a second force along a second axis perpendicular to the first axis, and a torque about a third axis perpendicular to the first axis and the second axis, and wherein determining the point of contact comprises: using an equilibrium of the first force, the second force, and the torque.
26. The non-transitory machine-readable medium of claim 23, wherein the sensor data comprise information about a first force along a first axis, and a second force along a second axis perpendicular to the first axis; and obtaining the driving input comprises: determining a normal force at the point of contact and a shear force at the point of contact based on a geometry of the head input device, the first force, and the second force.
1. (Original) A computer-assisted robotic system comprising: a display unit configured to provide images to an operator of the display unit; a headrest configured to receive a mechanical input provided by a head of the operator in mechanical contact with the headrest; a headrest sensor interfacing with the headrest and configured to provide sensor signals based on the mechanical input; a controller comprising a computer processor, the controller configured to: process the sensor signals to obtain a driving input; drive, by the driving input, a virtual mass to obtain a simulated virtual mass movement; and cause movement of the headrest, the movement of the headrest tracking the virtual mass movement.
2. (Original) The computer-assisted robotic system of claim 1, wherein the headrest is disposed on the display unit, and wherein a linkage supporting the display unit enables the movement of the headrest in conjunction with movement of the display unit, and wherein the linkage comprises a plurality of joints.
3. (Cancelled)
4. (Original) The computer-assisted robotic system of claim 2, wherein the display unit comprises a viewport configured to display the images, and wherein the controller is configured to, using the driving input, maintain an alignment of the viewport with the head during a head movement that causes the mechanical input to the headrest.
5. (Cancelled)
6. (Original) The computer-assisted robotic system of claim 1, wherein processing the sensor signals to obtain the driving input comprises determining a point of contact between the head and the headrest.
7. (Currently Amended) The computer-assisted robotic system of claim 6, wherein determining the point of contact comprises:is determined using an equilibrium of forces and torques and a geometry of the headrest, wherein the forces and torques are represented by the sensor signals.
8. (Original) The computer-assisted robotic system of claim 1, wherein processing the sensor signals to obtain the driving input comprises determining a shear force at a point of contact between the head and the headrest.
9. (Original) The computer-assisted robotic system of claim 8, wherein processing the sensor signals further comprises derating the shear force based on a normal force at the point of contact.
10. (Original) The computer-assisted robotic system of claim 1, wherein the driving input obtained from processing the sensor signals comprises a horizontal force, a vertical force, a yaw torque, and a pitch torque.
11. (Cancelled)
12. (Currently Amended) The computer-assisted robotic system of any of claims1 to 11claim1, wherein the controller is further configured to: adjust the driving input to include a bias force.
13. (Currently Amended) The computer-assisted robotic system of claim 12, wherein: the bias force acts perpendicularly to a surface of the headrest, at a center of the headrest, and oriented toward the head; or the bias force biases a horizontal force and a vertical force of the driving input.
14. (Cancelled)
15. (Currently Amended) The computer-assisted robotic system of any of claims1 to 11claim1, wherein driving the virtual mass comprises: simulating a friction or simulating a damping.
16. (Currently Amended) The computer-assisted robotic system of any of claims1 to 11claim1, wherein the controller is further configured to render a haptic event by altering the driving input or a dynamics of the virtual mass according to the haptic event.
17. (Currently Amended) The computer-assisted robotic system of any of claims1 to 11claim1, further comprising an imaging device, wherein the imaging device is configured to provide the images, and wherein the controller is further configured to control a movement of the imaging device based on the mechanical input.
18. (Original) A method for operating a robotic system, comprising: obtaining sensor signals from a headrest sensor, wherein the headrest sensor interfaces with a headrest configured to receive a mechanical input provided by a head of an operator, the head being in mechanical contact with the headrest, and wherein the sensor signals are based on the mechanical input; processing the sensor signals to obtain a driving input; driving, by the driving input, a virtual mass to obtain a simulated virtual mass movement; and causing movement of the headrest, the movement of the headrest tracking the virtual mass movement.
19. (Cancelled)
20. (Currently Amended) The method of claim 184, wherein the headrest is disposed on a display unit, and wherein a linkage supporting the display unit enables the movement of the headrest in conjunction with movement of the display unit, the method further comprising: using the driving input to maintain an alignment of viewports of the display unit with the head during a head movement that causes the mechanical input to the headrest.
21. (Original) The method of claim 18, wherein processing the sensor signals to obtain the driving input comprises determining a point of contact between the head and the headrest.
22. (Original) The method of claim 21, wherein the point of contact is determined using an equilibrium of forces and torques and a geometry of the headrest, the forces and torques represented by the sensor signals.
23. (Original) The method of claim 18, wherein processing the sensor signals to obtain the driving input comprises determining a shear force at a point of contact between the head and the headrest.
24. (Original) The method of claim 23, wherein processing the sensor signals further comprises derating the shear force based on a normal force at the point of contact.
25. (Cancelled)
26. (Currently Amended) The method of claim18any of claims19 to 25, further comprising: adjusting the driving input to include a bias force, wherein:the bias force acts perpendicularly to a surface of the headrest, at a center of the headrest, and oriented toward the head, or the bias force biases a horizontal force and a vertical force of the driving input.
27. (Cancelled)
28. (Cancelled)
29. (Cancelled)
30. (Currently Amended) The method of any of claims 18to 25, further comprising: rendering a haptic event by altering the driving input or a dynamics of the virtual mass according to the haptic event.
31. (Cancelled)
32. (Original) A non-transitory machine-readable medium comprising a plurality of machine- readable instructions executed by one or more processors associated with a medical system, the plurality of machine-readable instructions causing the one or more processors to perform a method comprising: obtaining sensor signals from a headrest sensor, wherein the headrest sensor interfaces with a headrest configured to receive a mechanical input provided by a head of an operator, the head being in mechanical contact with the headrest, and wherein the sensor signals are based on the mechanical input; processing the sensor signals to obtain a driving input; driving, by the driving input, a virtual mass to obtain a simulated virtual mass movement; and causing movement of the headrest, the movement of the headrest tracking the virtual mass movement.
33. (New) The non-transitory machine-readable medium of claim 32, wherein processing the sensor signals to obtain the driving input comprises determining a point of contact between the head and the headrest.
34. (New) The non-transitory machine-readable medium of claim 32, wherein processing the sensor signals to obtain the driving input comprises determining a shear force at a point of contact between the head and the headrest.
Also:
Claims 1-29 of US 20220296323. Claim 26 to claim 1 and claim 11 to claim 1.
US 12/415,284 Claim 9 to claim 1 and Claim 19 to claim 1.
A patentee or applicant may disclaim or dedicated to the public the entire term, or any terminal part of the term of a patent. 35 U.S.C. 253. The statue does not provide for a terminal disclaimer of only a specified claim or claims. The terminal disclaimer must operate with respect to all claims in the patent. MPEP 804.02.
Claim Rejections - 35 USC § 102
In the event the determination of the status of the application as subject to AIA 35 U.S.C. 102 and 103 (or as subject to pre-AIA 35 U.S.C. 102 and 103) is incorrect, any correction of the statutory basis for the rejection will not be considered a new ground of rejection if the prior art relied upon, and the rationale supporting the rejection, would be the same under either status.
(a)(1) the claimed invention was patented, described in a printed publication, or in public use, on sale or otherwise available to the public before the effective filing date of the claimed invention.
Claims 1-26 are rejected under 35 U.S.C. 102(a)(1) as being anticipated by Anderson US 20180092706.
Claim 16 is broader in scope then claim 1. Claim 1: the display unit comprising a head input device. Claim 16 head input sensor causing movement of a display unit. Claim 16 clarifies that comprising is a broader term generalizing the entire system; as such a broader interpretation may be used.
1. A computer-assisted system comprising:
a display unit configured to provide images to an operator of the display unit, the display unit comprising a head input device; Fig.2A #200
a head input sensor configured to sense a mechanical input provided by a head of the operator to the head input device; Fig.2A #224
a controller comprising a computer processor, the controller configured to: 44; The sensor may enable operation of the robotic surgical system upon detection of a certain parameter
process sensor data acquired using the head input sensor to determine a location of a point of contact between the head and the head input device and to obtain a driving input that is modulated based on the location of the point of contact; and 10; a detected head gesture of the user, the support arm may move the housing to track the head gesture (e.g., for ergonomic positioning). At least one sensor (e.g., pressure sensor [detect location contact], distance sensor, contact sensor [detect location contact], etc.) may be configured to monitor head gestures of the user for controlling operation of the robotic surgical system.
43; head gestures and other head/eye movements for control of the immersive display and operation of other instruments such as those in the robotic surgical system.
44; The sensor may enable operation of the robotic surgical system upon detection of a certain parameter (e.g., presence or absence of a user engaged with the immersive display 200, sufficient alignment of the user relative to the eyepiece assemblies 220, identification of the user as an authorized user of the robotic surgical system, etc.), the support arm 210 may be actuatable moving the housing 220 for ergonomic purposes.
Also 69; sensors may include pressure sensors, capacitive sensors, optical sensors, etc. where a change in signal may indicate motion of the user's head. For example, when the user moves his or her head to the right, this motion generally results in increased pressure on the right side of the face frame 222 and decreased pressure on the left side of the face frame 222. Sensors detecting these changes in pressure may be used to determine the head gesture toward the right. contact sensors may detect shear forces on the surface of one or more cushions or other surfaces that may be used to indicate a head turn gesture. Any number of suitable sensors may be used and placed at any suitable locations on, along, or in, the immersive display. Also para 100-102.
cause movement of the display unit based on the driving input.44; the support arm 210 may be actuatable, such as for positioning, orienting, or otherwise moving the housing 220 for ergonomic purposes. [driving input based on the point of contact form the limitation above]
2. The computer-assisted system of claim 1, further comprising:
a linkage supporting the display unit, the linkage comprising a plurality of links coupled by a plurality of joints; Fig. 2A #210
wherein to cause movement of the display unit, the controller is configured to: Fig. 19# 1900
command movement of the plurality of joints such that the display unit moves relative to a base of the linkage.92; The controller 1900 may further be in communication with subcontrol modules such as a support arm [connected to a base of the linkage] controller 1910 configured to control components of the support arm including but not limited to various motors 1912 for actuating the support arm,
3. The computer-assisted system of claim 1,
wherein the head input sensor is disposed on the display unit, and wherein to determine the location of the point of contact, the controller is further configured to: 69; Any number of suitable sensors may be used and placed at any suitable locations on, along, or in, the immersive display.
determine a first offset of the point of contact from the head input sensor in a first plane, and 93; The transitions [offsets] between these modes and/or any other modes may be directed by the user via interactions with sensors of the immersive display (e.g., in the support arm and/or housing),
determine a second offset of the point of contact from the head input sensor in a second plane perpendicular to the first plane. 93; The transitions [offsets i.e. 1st, 2nd …nth] Also, Fig3B J3 and J4 are perpendicular; 50; a seventh rotational joint J7, where the seventh rotational joint J7 is rotatable around a horizontal axis so as to allow a seventh degree of freedom for pivotable adjustment in a vertical plane (e.g., angling up or down). L7 L4 side to side vs up and down.
4. The computer-assisted system of claim 1, wherein the sensor data comprise information about:
a first force along a first axis, a second force along a second axis perpendicular to the first axis, a torque about a third axis perpendicular to the first axis and the second axis; and 51; Some or all of the joints, such as the fourth and fifth joints J4 and J5 [first and second axis], may include friction brakes, active brakes, clutch, and/or other actuatable locking mechanisms to help lock the immersive display support arm into a particular configuration. Locking the immersive display support arm in place may, for example, help counter gravitational [torque on the joint] effects that might cause the housing 320 and/or the support arm 310 to collapse downward (e.g., onto the user, if the seat assembly is in a reclined configuration). Additionally or alternatively, some or all of the joints may be counterbalanced in order to prevent downward collapse when unsupported externally by a user, etc.
wherein to determine the location of the point of contact, the controller is configured to: determine an offset of the point of contact from the head input sensor along the first axis using an equilibrium of the first force, the second force, and the torque.51; all of the joints may be counterbalanced. Also, para 68; at least one sensor on or near the face frame 222 may be used to detect any misalignment or non-optimum positioning of the user's engagement with the immersive display, and trigger a signaling to the user for self-correction of the misalignment, or trigger an automatic adjustment (e.g., by actuating the support arm until the misalignment is corrected).
5. The computer-assisted system of claim 1, wherein the sensor data comprise information about:
a first force along a first axis, a second force along a second axis perpendicular to the first axis, Fig. 3A J3 J4 and a torque J6 (gravitational torque) about a third axis perpendicular to the first axis and the second axis; and 49; The fourth, fifth, and sixth rotational joints J4, J5, and J7 generally permit vertical height adjustment of the immersive display such that in combination with the first, second, and third rotational joints J1, J2, and J3, all six rotational joints enable adjustments in various combinations of angular position changes in three-dimensional space (e.g., translation in X-Y-Z, rotation in yaw, roll, and pitch directions).
wherein to determine the location of the point of contact, the controller is configured to: 69; Any number of suitable sensors may be used and placed at any suitable locations on, along, or in, the immersive display.
determine a combination using an equilibrium of the first force, the second force, the torque, and a geometry of the head input device, the combination being of a first offset of the point of contact from the head input sensor along the first axis and a second offset of the point of contact from the head input sensor along the second axis. 108; the support arm described herein may be used to help off-load and support weight of the head-mounted display through gravity balancing or similar weight compensation, while maintaining a “floating” configuration and permitting the head-mounted display to be moved freely.
6. The computer-assisted system of claim 1, wherein the sensor data comprise information about:
a first force along a first axis, and a second force along a second axis perpendicular to the first axis; and 69; Any number of suitable sensors may be used and placed at any suitable locations on, along, or in, the immersive display.
wherein to obtain the driving input, the controller is configured to:
determine a normal force at the point of contact and a shear force at the point of contact based on a geometry of the head input device, the first force, and the second force.69; Sensors detecting these changes in pressure may be used to determine the head gesture toward the right. As another example, contact sensors may detect shear forces on the surface of one or more cushions or other surfaces that may be used to indicate a head turn gesture.
7. The computer-assisted system of claim 6, wherein to obtain the driving input, the controller is further configured to: derate the shear force based on the normal force.69; sensors may include pressure sensors, capacitive sensors, optical sensors, etc. where a change in signal may indicate motion of the user's head. For example, when the user moves his or her head to the right, this motion generally results in increased pressure on the right side of the face frame 222 and decreased [derate] pressure on the left side of the face frame 222.
8. The computer-assisted system of claim 1 wherein to cause the movement of the display unit based on the driving input, the controller is configured to:
impose a simulated friction on the movement; 69; adjust housing or support arm configurations, etc. results in increased pressure on the right side of the face frame 222 and decreased pressure on the left side of the face frame
or
impose a velocity-dependent damping on the movement;
or
impose a workspace constraint on the movement.
9. The computer-assisted system of claim 1,
wherein the display unit comprises a viewport through which the images are viewable; and Fig.2B #230
wherein to obtain the driving input, the controller is configured to:
determine the driving input such that the movement of the display unit maintains an alignment of the viewport with the head. Fig.2B #224
10. The computer-assisted system of claim 1,
wherein to obtain the driving input, the controller is further configured to:
determine the driving input to include a bias force.76; the one or more shields may be biased toward either the first position or the second position
11. The computer-assisted system of claim 10,
wherein the bias force is perpendicular to a surface of the head input device, Fig.7 #732 or 734 bias to 700. XYZ.
wherein the bias force is located at a center of the head input device, and Fig.7 #734
wherein the bias force is oriented toward a location of the head. Fig.7 #734; lower face i.e towards a location of the head.
12. The computer-assisted system of claim 1, wherein the controller is further configured to:
provide a haptic event based on at least one parameter selected from the group consisting of:
a motion of the display unit, 78, in an immersive display 800, a housing 820 may include one or more haptic actuators.
a position of the display unit, and
the driving input.
13. The computer-assisted system of claim 12,
wherein to provide the haptic event, the controller is configured to:
impose a simulated haptic event on the movement.78; the haptic actuators 840 may provide tactile feedback relating to configuration of the immersive display (e.g., vibrating to give the feeling of a mechanical detent and/or variable resistance for orienting or positioning the support arm and/or housing)
14. The computer-assisted system of claim 1, wherein to cause the movement of the display unit, the controller is configured to:
drive, based on the driving input, a virtual mass to obtain a simulated virtual mass movement; 51; all of the joints may be counterbalanced [may or may not be virtual mass]; may include friction brakes, active brakes, clutch, and/or other actuatable locking mechanisms [no actual mass i.e. virtual mass] to help lock the immersive display support arm into a particular configuration.
and configured to monitor head gestures of the user for controlling operation of the robotic surgical system. 10; the support arm may move the housing to track the head gesture (e.g., for ergonomic positioning).
command movement of the display unit to track the virtual mass movement. 10; configured to monitor head gestures of the user for controlling operation of the robotic surgical system. Also 51. For virtual mass as described above.
15. The computer-assisted system of claim 1, further comprising:
a manipulator arm configured to support an imaging device, the imaging device configured to capture the images; wherein the controller is further configured to:
control a movement of the imaging device based on the sensor data, on the driving input, 11; display may be configured to display at least one image from an endoscopic camera used in the robotic surgical system. In response to at least one sensor detecting a head gesture.
or
on the movement of the display unit. 11; display may be configured to display at least one image from an endoscopic camera used in the robotic surgical system. In response to at least one sensor detecting a head gesture. [it is noted that only one limitation is needed to be rejected, however the art can be applied to both]
Claim 16 is broader in scope then claim 1. Claim 1: the display unit comprising a head input device. Claim 16 head input sensor causing movement of a display unit. Claim 16 clarifies that comprising is a broader term generalizing the entire system; as such a broader interpretation may be used.
16. is rejected using the same rejections as made to claim 1.
17. is rejected using the same rejections as made to claim 3.
18. is rejected using the same rejections as made to claim 4.
19. is rejected using the same rejections as made to claim 6.
20. is rejected using the same rejections as made to claim 11.
21. is rejected using the same rejections as made to claim 12.
22.i s rejected using the same rejections as made to claim 15.
23. is rejected using the same rejections as made to claim 1.
24.i s rejected using the same rejections as made to claim 3.
25.i s rejected using the same rejections as made to claim 4.
26. is rejected using the same rejections as made to claim 3.
Conclusion
THIS ACTION IS MADE FINAL. Applicant is reminded of the extension of time policy as set forth in 37 CFR 1.136(a).
A shortened statutory period for reply to this final action is set to expire THREE MONTHS from the mailing date of this action. In the event a first reply is filed within TWO MONTHS of the mailing date of this final action and the advisory action is not mailed until after the end of the THREE-MONTH shortened statutory period, then the shortened statutory period will expire on the date the advisory action is mailed, and any nonprovisional extension fee (37 CFR 1.17(a)) pursuant to 37 CFR 1.136(a) will be calculated from the mailing date of the advisory action. In no event, however, will the statutory period for reply expire later than SIX MONTHS from the mailing date of this final action.
Any inquiry concerning this communication or earlier communications from the examiner should be directed to SIHAR A KARWAN whose telephone number is (571)272-2747. The examiner can normally be reached on M-F; 11-7pm.
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/SIHAR A KARWAN/Examiner, Art Unit 3664
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