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 .
Claims 1-20 are currently pending, of which claims 1, 13, and 20 are independent claims.
Information Disclosure Statement
The information disclosure statement (IDS) submitted on October 16, 2024 has been considered by the examiner.
Priority
This application is a CON of US Patent Application No.17/289,999 filed on April 29, 2021, now Patent No. 12,144,574 and claims benefit of US Provisional Application No. 62/753,762 filed on October 31, 2018.
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 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); 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 nonstatutory double patenting provided the reference application or patent either is shown to be commonly owned with the examined application, or claims an invention made as a result of activities undertaken within the scope of a joint research agreement. See MPEP § 717.02 for applications subject to examination under the first inventor to file provisions of the AIA as explained in MPEP § 2159. See MPEP § 2146 et seq. for applications not subject to examination under the first inventor to file provisions of the AIA . A terminal disclaimer must be signed in compliance with 37 CFR 1.321(b).
The filing of a terminal disclaimer by itself is not a complete reply to a nonstatutory double patenting (NSDP) rejection. A complete reply requires that the terminal disclaimer be accompanied by a reply requesting reconsideration of the prior Office action. Even where the NSDP rejection is provisional the reply must be complete. See MPEP § 804, subsection I.B.1. For a reply to a non-final Office action, see 37 CFR 1.111(a). For a reply to final Office action, see 37 CFR 1.113(c). A request for reconsideration while not provided for in 37 CFR 1.113(c) may be filed after final for consideration. See MPEP §§ 706.07(e) and 714.13.
The USPTO Internet website contains terminal disclaimer forms which may be used. Please visit www.uspto.gov/patent/patents-forms. The actual filing date of the application in which the form is filed determines what form (e.g., PTO/SB/25, PTO/SB/26, PTO/AIA /25, or PTO/AIA /26) should be used. A web-based eTerminal Disclaimer may be filled out completely online using web-screens. An eTerminal Disclaimer that meets all requirements is auto-processed and approved immediately upon submission. For more information about eTerminal Disclaimers, refer to www.uspto.gov/patents/apply/applying-online/eterminal-disclaimer.
Claims 1-12 are provisionally rejected on the ground of nonstatutory double patenting as being unpatentable over 1-7, 9, 12, and 14-16 of U.S. Patent No. 12, 144,574 B2 to Anderson et al. (US Patent Application No. 17/289,999) in view of Lee et al. (US Patent Publication No. 2016/0207202 A1) (“Lee”) [Submitted in IDS filed on October 16, 2024]. Although the claims at issue are not identical, they are not patentably distinct from each other because the claims of U.S. Patent No. 12,144,574 B2 in view of Lee recite and describe very similar structure and functionality.
Present US Patent Application No. 18/911,123
U.S. Patent No. 12,144,574 B2
Claim 1
A computer-assisted device comprising:
a manipulator comprising one or more actuators and configured to have at least one tool of multiple tools mounted thereon; and one or more processors coupled to the manipulator and configured to:
detect initiation of a tool exchange; and
in response to detecting the initiation of the tool exchange:
determine a location of a source of a replacement tool to be mounted to the manipulator;
…
determine a motion plan that moves the manipulator from a first configuration into a second configuration, the first configuration being a current configuration of the manipulator, the second configuration being determined based on the determined location of the replacement tool;
command movement of the manipulator into the second configuration according to the motion plan;
detect mounting of the replacement tool to the manipulator;
command movement of the manipulator into the first configuration; and command insertion of the replacement tool along the insertion degree of freedom.
…command retraction of a first tool along an insertion degree of freedom of the first tool, the first tool being mounted to the manipulator; …
Claim 1
A computer-assisted device comprising:
a manipulator comprising one or more actuators and configured to have at least one tool of multiple tools mounted thereon; and one or more processors coupled to the manipulator and configured to:
detect initiation of a tool exchange; and
in response to detecting the initiation of the tool exchange, perform a set of steps to:
determine a location of a source of a replacement tool to be mounted to the manipulator;
determine, based on the location of the source, a computed configuration of the manipulator for when the tool exchange is performed, wherein the computed configuration is different from a current configuration of the manipulator when the tool exchange is initiated and facilitates mounting of the replacement tool to the manipulator, wherein the computed configuration of the manipulator includes at least one of a position of the manipulator or an orientation of the manipulator; determine a motion plan that moves the manipulator from the current configuration into the computed configuration; and
command movement of the manipulator into the computed configuration according to the motion plan via signals applied to the one or more actuators of the manipulator.
Claim 15
The computer-assisted device of claim 14, wherein the one or more processors are further configured to automatically command insertion of the replacement tool along an insertion degree of freedom after the replacement tool has moved into the working configuration.
Claim 5
The computer-assisted device of claim 1,… the one or more processors are further configured to command retraction of the first tool along an insertion degree of freedom of the first tool …
Claim 2
The computer-assisted device of claim 1,
wherein the second configuration facilitates mounting of the replacement tool to the manipulator.
Claim 1
A computer-assisted device comprising:
a manipulator comprising one or more actuators and configured to have at least one tool of multiple tools mounted thereon; and one or more processors coupled to the manipulator and configured to:
detect initiation of a tool exchange; and
in response to detecting the initiation of the tool exchange, perform a set of steps to:
determine a location of a source of a replacement tool to be mounted to the manipulator;
determine, based on the location of the source, a computed configuration of the manipulator for when the tool exchange is performed, wherein the computed configuration is different from a current configuration of the manipulator when the tool exchange is initiated and facilitates mounting of the replacement tool to the manipulator, wherein the computed configuration of the manipulator includes at least one of a position of the manipulator or an orientation of the manipulator; determine a motion plan that moves the manipulator from the current configuration into the computed configuration; and
command movement of the manipulator into the computed configuration according to the motion plan via signals applied to the one or more actuators of the manipulator.
Claim 3
The computer-assisted device of claim 1,
wherein the second configuration includes at least one of a position of the manipulator or an orientation of the manipulator.
Claim 1
A computer-assisted device comprising:
a manipulator comprising one or more actuators and configured to have at least one tool of multiple tools mounted thereon; and one or more processors coupled to the manipulator and configured to:
detect initiation of a tool exchange; and
in response to detecting the initiation of the tool exchange, perform a set of steps to:
determine a location of a source of a replacement tool to be mounted to the manipulator;
determine, based on the location of the source, a computed configuration of the manipulator for when the tool exchange is performed, wherein the computed configuration is different from a current configuration of the manipulator when the tool exchange is initiated and facilitates mounting of the replacement tool to the manipulator, wherein the computed configuration of the manipulator includes at least one of a position of the manipulator or an orientation of the manipulator; determine a motion plan that moves the manipulator from the current configuration into the computed configuration; and
command movement of the manipulator into the computed configuration according to the motion plan via signals applied to the one or more actuators of the manipulator.
Claim 4
The computer-assisted device of claim 1, wherein: the computer-assisted device is a medical device; and the replacement tool is a medical tool.
Claim 2
The computer-assisted device of claim 1, wherein: the computer-assisted device is a medical device; and the replacement tool is a medical tool.
Claim 5
The computer-assisted device of claim 1, wherein the one or more processors are configured to determine the second configuration further based on a type of the source of the replacement tool.
Claim 3
The computer-assisted device of claim 1, wherein the one or more processors are configured to determine the computed configuration further based on a type of the source of the replacement tool.
Claim 6
The computer-assisted device of claim 1, wherein to determine the location of the source of the replacement tool, the one or more processors are configured to: locate at least a portion of an assistant; or detect a gesture made by the assistant.
Claim 4
The computer-assisted device of claim 1, wherein to determine the location of the source of the replacement tool, the one or more processors are configured to locate at least a part of an assistant or of a tool holding device.
Claim 7
The computer-assisted device of claim 1, wherein to determine the location of the source of the replacement tool, the one or more processors are configured to determine: a direction of the source of the replacement tool relative to the manipulator; or a position of the source of the replacement tool; or an orientation of the source of the replacement tool.
Claim 6
The computer-assisted device of claim 1, wherein to determine the location of the source of the replacement tool, the one or more processors are configured to determine: a direction of the source of the replacement tool relative to the manipulator; or a position of the source of the replacement tool; or an orientation of the source of the replacement tool.
Claim 8
The computer-assisted device of claim 1, wherein to determine the source of the replacement tool, the one or more processors are configured to select the source of the replacement tool from a plurality of possible sources of the replacement tool.
Claim 9
The computer-assisted device of claim 8, wherein to select the source of the replacement tool from the plurality of possible sources of the replacement tool, the one or more processors are configured to identify the replacement tool.
Claim 9
The computer-assisted device of claim 1, wherein to determine the location of the source of the replacement tool, the one or more processors are configured to locate a source of a previous tool for the computer-assisted device.
Claim 7
The computer-assisted device of claim 1, wherein to determine the location of the source of the replacement tool, the one or more processors are configured to determine the source of the replacement tool from the initiation of the tool exchange.
Claim 10
The computer-assisted device of claim 1, wherein the one or more processors are further configured to: rotate the manipulator about a vertical axis through a remote center of motion of the manipulator; or rotate the manipulator about a horizontal axis through the remote center of motion.
Claim 12
The computer-assisted device of claim 1, wherein the motion plan comprises: a motion to rotate the manipulator about a vertical axis through a remote center of motion of the manipulator; and a motion to rotate the manipulator about a horizontal axis through the remote center of motion.
Claim 11
The computer-assisted device of claim 1, wherein the one or more processors are further configured to: command movement of the replacement tool into a working configuration after commanding the insertion of the replacement tool along the insertion degree of freedom.
Claim 14
The computer-assisted device of claim 1, wherein the one or more processors are further configured to command movement of the replacement tool into a working configuration after the tool exchange.
Claim 15
The computer-assisted device of claim 14, wherein the one or more processors are further configured to automatically command insertion of the replacement tool along an insertion degree of freedom after the replacement tool has moved into the working configuration.
Claim 12
The computer-assisted device of claim 1, wherein the one or more processors are further configured to: dismount the first tool to a first tool holder; and mount the replacement tool to the manipulator from a second tool holder.
Claim 16
The computer-assisted device of claim 1, wherein the one or more processors are further configured to: dismount an old tool mounted to the manipulator to a first tool holder; and mount the replacement tool to the manipulator from a second tool holder
Compared to the claims of US Patent No. 12,144,574 B2, independent claim 1 of the instant application has the additional limitations of “determine a motion plan that moves the manipulator from a first configuration into a second configuration, the first configuration being a current configuration of the manipulator, the second configuration being determined based on the determined location of the replacement tool;” and “detect mounting of the replacement tool to the manipulator;”. However, Lee describes a tool changer. Lee teaches:
…determine a motion plan that moves the manipulator from a first configuration into a second configuration, the first configuration being a current configuration of the manipulator, the second configuration being determined based on the determined location of the replacement tool;… Lee: Paragraph [0010] (“Another illustrative embodiment of the present disclosure may provide a method of changing a set of old tools for a set of new tools. The method may comprise moving a tool changer to a location relative to a crawler robot. The method may also initiate a frame adjustment routine. The method may further move the tool changer to an adjusted frame from the frame adjustment routine. The method may also determine an operating location. The method may further move the tool changer to the operating location. The method may also transfer at least one of a set of new tools or a set of old tools between the tool changer and the crawler robot at the operating location.”) Lee: Paragraph [0090] (“Further, robotic arm 210 may also be used to transport crawler robot 202 to surface 226 on which it will work and traverse.”) Lee: Paragraph [0092] (“Tool changer 204 may be end effector 228 for robotic arm 210. Tool changer 204 may have number of movement assemblies 229, base 230, and number of grippers 231.”) Lee: Paragraph [0078] (“Further, tool changer 108 is connected to robotic arm 110. Tool changer 108 may remove a set of old tools from crawler robot 104. Further, tool changer 108 may insert a set of new tools into crawler robot 104. Tool changer 108 may take the set of new tools from tool rack 112. Tool changer 108 may place the set of old tools in tool rack 112.”) Lee: Paragraph [0094] (“To position tool changer 204 relative to crawler robot 202, robotic arm 210 may move tool changer 204 in at least one of first dimension 240, second dimension 244, or third dimension 246.”) Lee: Paragraph [0096] (“First set of grippers 236 may be associated with rotating section 234. First set of grippers 236 may remove set of old tools 212 from crawler robot 202.”) Lee: Paragraph [0099] (“Second set of grippers 238 may be associated with rotating section 234. Second set of grippers 238 may insert set of new tools 219 into crawler robot 202.”) Lee: Paragraph [0102] (“Tool rack 208 may store sets of tools. Set of new tools 219 may be stored in tool rack 208 prior to being inserted into crawler robot 202. Prior to moving sliding section 232 of tool changer 204 towards crawler robot 202, second set of grippers 238 may take set of new tools 219 from tool rack 208. First set of grippers 236 may place set of old tools 212 in tool rack 208 after second set of grippers 238 inserts set of new tools 219 into crawler robot 202. Tool rack 208 may store additional sets of tools other than just set of new tools 219 and set of old tools 212.”) Lee: Paragraph [0103] (“Tool changer 204 may have movement system 272. Movement system 272 may be associated with at least one of sliding section 232 or rotating section 234.”) [The robotic arm including the crawler robot and tool changer, which includes a number of grippers including first and second grippers, reads on “the manipulator”. The determined operating location in which the robotic arm moving the tool changer to remove the old tool from the crawler robot using the grippers, moving the tool changer towards the tool rack, and the first set of grippers placing the old tool in tool rack after second set of grippers inserts set of new tools into crawler robot reads on “determine a motion plan that moves the manipulator from a first configuration into a second configuration, the first configuration being a current configuration of the manipulator, the second configuration being determined based on the determined location of the replacement tool”.]
…detect mounting of the replacement tool to the manipulator;… Lee: Paragraph [0240] (“If it is determined that a tool changer is attached to the robotic arm, process 4500 may determine if tools are present in the tool changer (operation 4508). If it is determined that there are tools present in the tool changer, process 4500 may determine if the tools are the set of new tools (operation 4510). It may be determined if the tools are the set of new tools by verifying the tools. The tools may be verified by using at least one of optical verification, RFID verification, or other desirable type of verification.”) Lee: Paragraph [0241] (“If it is determined that the tools are the set of new tools, process 4500 may continue on to operation 4528. If it is not determined that the tools are the set of new tools, process 4500 may verify the tools (operation 4512). By verifying the tools, process 4500 may determine a storage location for the tools. By verifying the tools, process 4500 may identify storage location information for the tools.” )
Accordingly, it would have been obvious to one of ordinary skill in the art before the effective filing date of the claimed invention, having the teachings of US Patent No. 12,144,574 B2 and Lee before them, to determine a motion plan that moves the manipulator from a first configuration into a second configuration, the first configuration being a current configuration of the manipulator, the second configuration being determined based on the determined location of the replacement tool; and detect mounting of the replacement tool to the manipulator because the references are in the same field of endeavor as the claimed invention and they are focused on changing tools on a robotic arm.
One of ordinary skill in the art before the effective filing date of the claimed invention would have been motivated to do this modification because it would avoid having a person to perform manual replacement of a tool while other people is a work area are present creating complexity, increase operating time, and causing errors. Lee Paragraphs [0006]-[0008]
In view of the foregoing, claims 1-12 of the instant application are rejected on the grounds of nonstatutory double patenting.
Relevant Art Cited by Examiner and Allowable Subject Matter over Prior Art
Provided that the nonstatutory double patenting is overcome, claims 1-12 are allowable over prior art. Claims 13-20 are allowed claims. The following prior art made of record and not relied upon is cited to establish the level of skill in the applicant’s art and those arts considered reasonably pertinent to Applicant’s disclosure. See MPEP 707.05(c).
Regarding independent claim 1, Ruiz Morales (EP1815950 A1) (“Ruiz Morales”) [Cited in the IDS filed on October 16, 2024] teaches:
A computer-assisted device comprising: Ruiz Morales: Paragraph [0008] (“…a robotic surgical system for performing minimally invasive medical procedures comprising a robot manipulator which is designed to be used with standard laparoscopic instruments.”)
a manipulator comprising one or more actuators and configured to have at least one tool of multiple tools mounted thereon; and Ruiz Morales: Paragraph [0026] (“The robot manipulators 14 are designed for positioning and orienting an effector unit which supports and possibly actuates various kinds of laparoscopic instruments 18.”) Ruiz Morales: Paragraph [0045] (“Fig.9 also shows the design of the horizontal part 29 of the arm 26 including (P) joint J3 for setting the radial extension, i.e. reach of the horizontal part 29. Joint J3 comprises a linear cylinder axis 70, e.g. a ball screw linear axis, as associated linear actuator.”) Ruiz Morales: Paragraph [0050] (“For alleviation, the laparoscopic instrument actuator 120 and the sensor assembly 122 including force, torque and acceleration measurement sensors shall be referred to by the acronym LIA and FTAS respectively.”) [The effector unit and/or the laparoscopic instruments read on “at least one tool of multiple tools”.]
one or more processors coupled to the manipulator and configured to: Ruiz Morales: Paragraph [0026] (“During operation, the robot manipulators 14 are tele-operated by one or more surgeons S via one or more surgical master consoles 15 which are connected to a control unit (not shown).”)
detect initiation of a tool exchange; and in response to detecting the initiation of the tool exchange: Ruiz Morales: Paragraph [0091] (“When the surgeon S requests an instrument change through his master console 15, four operations are normally carried out automatically by the robot control system. Firstly, the robot control system controls the instrument 18 to release any tissue. Secondly, it moves the instrument near the trocar port following the instrument axis direction. Thirdly, the tool tip, e.g. the instrument jaws, are brought into a configuration which avoids hooking of the tip at the trocar. Fourthly, it releases the motor of joint J6 such that the surgeon assistant A can freely rotate the LIA 120 to facilitate removal of the instrument from the LIA 120. After these operations, removal of an adapted laparoscopic instrument 18 can be carried out safely in two simple moves and at any time.”) [The request for instrument change through the console reads on “detect initiation of a tool exchange”.]
determine a location of a source of a replacement tool to be mounted to the manipulator;… Ruiz Morales: Paragraph [0091] [As described above.] Ruiz Morales: Paragraph [0088] (“It should be noted that insertion or removal of an adapted instrument 18 comprising the ISA (e.g. 300) and the stem (e.g. 302) can be done safely in both cases, when the instrument is outside the body of patient P or when the instrument is inserted in the body of patient P. It is also possible to carry out removal while the slider pin 314 is driven.”) Morales: Paragraph [0089] (“Before mounting the adapted instrument to the LIA 120, a number of preliminary conditions should be met. Firstly, if the instrument is partially inserted in the trocar (without exceeding the trocar length), the LIA 120 should previously be positioned and oriented by the manipulator 14 into a taught position that aligns the rotation axis of the effector unit 30 (joint J6) with the trocar. Secondly, the slider carriage 430 should be placed into the "insertion reference position" by the robot control system, e.g. a position closest to the interface flange 156. When an ISA (e.g. 300) is removed, the slider carriage 430 should be automatically moved into this "insertion reference position" by the robot control system.”) [The positioning of the instrument for safe removal at a taught position reads on “determine a location of a source”.]
… the first tool being mounted to the manipulator;… Ruiz Morales: Paragraph [0091] (“When the surgeon S requests an instrument change through his master console 15, four operations are normally carried out automatically by the robot control system. Firstly, the robot control system controls the instrument 18 to release any tissue. Secondly, it moves the instrument near the trocar port following the instrument axis direction. Thirdly, the tool tip, e.g. the instrument jaws, are brought into a configuration which avoids hooking of the tip at the trocar. Fourthly, it releases the motor of joint J6 such that the surgeon assistant A can freely rotate the LIA 120 to facilitate removal of the instrument from the LIA 120.”) .] Ruiz Morales: Paragraph [0096] (“In addition to the aspects described herein above, the robotic surgical system 10 further presents the following features: - the robot manipulators 14, by virtue of their design, can be easily and quickly retracted to permit the surgeon S to access the operation table 12 or to permit installation of a radiological instrument;… the robot manipulators 14, by virtue of their design and using information from an external sensor, can easily manage trocar position variations due to changes of the intra-abdominal pressure; - the robotic surgical system 10 enables short instrument change times in order to minimize total intervention time, the design of the LIA 120 and the robot manipulator 14 enable instrument change times essentially as short as in manual laparoscopy procedures (ranging from 6 to 9 seconds), when used with an endoscope, the design of the robot manipulator 14 also enables quick endoscope extraction and reinsertion, e.g. for cleaning the optics;…”)
…command movement of the manipulator into the second configuration according to the motion plan;… Ruiz Morales: Paragraphs [0026], [0045], [0050], and [0091] [As described above.] [The functions in response to the instrument change reads on “command movement”.]
Ruiz Morales does not expressly teach “…command retraction of a first tool along an insertion degree of freedom of the first tool…determine a motion plan that moves the manipulator from a first configuration into a second configuration, the first configuration being a current configuration of the manipulator, the second configuration being determined based on the determined location of the replacement tool;… detect mounting of the replacement tool to the manipulator; command movement of the manipulator into the first configuration; and command insertion of the replacement tool along the insertion degree of freedom.” However, Lee et al. (US Patent Publication No. 2016/0207202 A1) (“Lee”) [Cited in the IDS filed on October 16, 2024] teaches:
…determine a motion plan that moves the manipulator from a first configuration into a second configuration, the first configuration being a current configuration of the manipulator, the second configuration being determined based on the determined location of the replacement tool;… Lee: Paragraph [0010] (“Another illustrative embodiment of the present disclosure may provide a method of changing a set of old tools for a set of new tools. The method may comprise moving a tool changer to a location relative to a crawler robot. The method may also initiate a frame adjustment routine. The method may further move the tool changer to an adjusted frame from the frame adjustment routine. The method may also determine an operating location. The method may further move the tool changer to the operating location. The method may also transfer at least one of a set of new tools or a set of old tools between the tool changer and the crawler robot at the operating location.”) Lee: Paragraph [0090] (“Further, robotic arm 210 may also be used to transport crawler robot 202 to surface 226 on which it will work and traverse.”) Lee: Paragraph [0092] (“Tool changer 204 may be end effector 228 for robotic arm 210. Tool changer 204 may have number of movement assemblies 229, base 230, and number of grippers 231.”) Lee: Paragraph [0078] (“Further, tool changer 108 is connected to robotic arm 110. Tool changer 108 may remove a set of old tools from crawler robot 104. Further, tool changer 108 may insert a set of new tools into crawler robot 104. Tool changer 108 may take the set of new tools from tool rack 112. Tool changer 108 may place the set of old tools in tool rack 112.”) Lee: Paragraph [0094] (“To position tool changer 204 relative to crawler robot 202, robotic arm 210 may move tool changer 204 in at least one of first dimension 240, second dimension 244, or third dimension 246.”) Lee: Paragraph [0096] (“First set of grippers 236 may be associated with rotating section 234. First set of grippers 236 may remove set of old tools 212 from crawler robot 202.”) Lee: Paragraph [0099] (“Second set of grippers 238 may be associated with rotating section 234. Second set of grippers 238 may insert set of new tools 219 into crawler robot 202.”) Lee: Paragraph [0102] (“Tool rack 208 may store sets of tools. Set of new tools 219 may be stored in tool rack 208 prior to being inserted into crawler robot 202. Prior to moving sliding section 232 of tool changer 204 towards crawler robot 202, second set of grippers 238 may take set of new tools 219 from tool rack 208. First set of grippers 236 may place set of old tools 212 in tool rack 208 after second set of grippers 238 inserts set of new tools 219 into crawler robot 202. Tool rack 208 may store additional sets of tools other than just set of new tools 219 and set of old tools 212.”) Lee: Paragraph [0103] (“Tool changer 204 may have movement system 272. Movement system 272 may be associated with at least one of sliding section 232 or rotating section 234.”) [The robotic arm including the crawler robot and tool changer, which includes a number of grippers including first and second grippers, reads on “the manipulator”. The determined operating location in which the robotic arm moving the tool changer to remove the old tool from the crawler robot using the grippers, moving the tool changer towards the tool rack, and the first set of grippers placing the old tool in tool rack after second set of grippers inserts set of new tools into crawler robot reads on “determine a motion plan that moves the manipulator from a first configuration into a second configuration, the first configuration being a current configuration of the manipulator, the second configuration being determined based on the determined location of the replacement tool”.]
…detect mounting of the replacement tool to the manipulator;… Lee: Paragraph [0240] (“If it is determined that a tool changer is attached to the robotic arm, process 4500 may determine if tools are present in the tool changer (operation 4508). If it is determined that there are tools present in the tool changer, process 4500 may determine if the tools are the set of new tools (operation 4510). It may be determined if the tools are the set of new tools by verifying the tools. The tools may be verified by using at least one of optical verification, RFID verification, or other desirable type of verification.”) Lee: Paragraph [0241] (“If it is determined that the tools are the set of new tools, process 4500 may continue on to operation 4528. If it is not determined that the tools are the set of new tools, process 4500 may verify the tools (operation 4512). By verifying the tools, process 4500 may determine a storage location for the tools. By verifying the tools, process 4500 may identify storage location information for the tools.”)
However, the description of Ruiz Morales and Lee, individually or combined is not teaching the combined recitations providing “…command retraction of a first tool along an insertion degree of freedom of the first tool…command movement of the manipulator into the first configuration; and command insertion of the replacement tool along the insertion degree of freedom.”
Furthermore, Hofner, C. and Schmidt, G., 1995. Path planning and guidance techniques for an autonomous mobile cleaning robot. Robotics and autonomous systems, 14(2-3), pp.199-212. Describes automatic planning of a feasible cleaning path considering a 2D-map as well as kinematic and geometric robot models. Path construction makes use of two typical motion patterns. Each pattern is defined by a sequence of subgoals indicating robot position and orientation. Results of automatic path planning are illustrated by realistic examples of typical robots and cleaning environments. Vehicle guidance includes initialization of robot location, path execution, accurate path tracking and detection of unexpected environmental changes. Path tracking is achieved by subgoal modification during cleaning motion using data from the dead-reckoning and landmark localization systems. If obstacles permanently block the preplanned path, an automatic map update and path replanning is performed.
US Patent Publication No. 2020/0352586 A1 to Jinno et al. describes in Paragraph [0008] “a medical manipulator is disclosed, which can include a multiple-degree freedom arm, which can be mounted with a medical instrument. The medical manipulator can include retention means for retaining an insertion port position which indicates a spatial position of an insertion port for inserting the medical instrument mounted in the multiple-degree freedom arm into a human body, insertion control means for controlling the multiple-degree freedom arm so as to insert the medical instrument into the human body from the insertion port position, and drive control means for driving the multiple-degree freedom arm under operational restriction in which movement of the medical instrument is restricted by the insertion port position after the medical instrument is inserted from the insertion port position by using the insertion control means.” Jinno explains in Paragraph [0009] “The drive control means can drive the multiple-degree freedom arm so as to move a predetermined portion of the medical instrument to spatial coordinates instructed by a user while maintaining a state where the medical instrument passes through the insertion port position under the operational restriction.” Paragraph [0010] provides “a method is disclosed of controlling a medical manipulator including a multiple-degree freedom arm, which can be mounted with a medical instrument, the method comprising: retaining an insertion port position which indicates a spatial position of an insertion port for inserting the medical instrument mounted in the multiple-degree freedom arm into a human body, in a memory; controlling the multiple-degree freedom arm so as to insert the medical instrument into the human body from the insertion port position; driving the multiple-degree freedom arm under operational restriction in which movement of the medical instrument is restricted by the insertion port position after the medical instrument is inserted from the insertion port position; and driving the multiple-degree freedom arm so as to move a predetermined portion of the medical instrument to spatial coordinates instructed by a user while maintaining a state where the medical instrument passes through the insertion port position under the operational restriction.”
However, the description of the cited prior art of record, individually or combined, would not be combinable with the cited art of record, as it is not teaching the combined recitations providing “…command retraction of a first tool along an insertion degree of freedom of the first tool…command movement of the manipulator into the first configuration; and command insertion of the replacement tool along the insertion degree of freedom”, as recited in independent claim 1 and similarly recited in independent claims 13 and 20. Therefore, for similar reasons as those presented above with respect to the prior art, independent claims 13 and 20 are also allowed.
As dependent claims 2-12, and 14-19 depend from an allowable base claim; they are at least allowable for the same reasons as noted supra. Support for the above noted limitations can be found, at least, in FIGS. 1-5 and corresponding description.
Conclusion
The prior art made of record and not relied upon is considered pertinent to applicant's disclosure.
US Patent Publication No. 2002/0045888 A1 to Ramans et al. describes in paragraph [0055] “…three degrees of freedom of movement of instrument 100 are primarily orientational. This is somewhat a simplification, as movement about these axes will result in some change in position of the end effector. Preferably, manipulator arms 302 will provide at least three primarily translational degrees of freedom for changing a position of the end effector, thereby allowing six full degrees of freedom of the end effector in addition to end effector actuation. The exemplary manipulator arms provide these translational degrees of freedom by pivoting tool 100 about an insertion point into a patient body through a minimally invasive aperture along shaft 104, and by movement of the tool along the shaft through the aperture. Both the orientational movement of the end effector and the translational movement of the robotic manipulator arm can be controlled by actuators such as electrical motors of the manipulator arm, typically in response to input from the associated master control input device. This input will typically comprise a movement of the input device relative to display 102, effecting a corresponding or substantially corresponding movement of the end effector relative to the endoscope. In this specification, actuation or movement of the end effectors relative to each other in the direction of arrows 162, 163, without changing the overall orientation or center line of the end effector 102 is not regarded as a separate degree of freedom of movement.”
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/ALICIA M. CHOI/Primary Patent Examiner, Art Unit 2117
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