DETAILED ACTION
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 .
Claim Rejections - 35 USC § 103
The following is a quotation of 35 U.S.C. 103 which forms the basis for all obviousness rejections set forth in this Office action:
A patent for a claimed invention may not be obtained, notwithstanding that the claimed invention is not identically disclosed as set forth in section 102, if the differences between the claimed invention and the prior art are such that the claimed invention as a whole would have been obvious before the effective filing date of the claimed invention to a person having ordinary skill in the art to which the claimed invention pertains. Patentability shall not be negated by the manner in which the invention was made.
Claims 1-5, 7, 8, 11-19 are rejected under 35 U.S.C. 103 as being unpatentable over Sadaka [WO 2019173266]. In view of Chao [CN 117064554]
Regarding claim 1: Sadaka shows an articulable mechanism, comprising:
a first link (4510);
a second link (4612);
a joint structure (4610) coupling the first link (4510) and the second link (4612) to each other, wherein the
joint structure (4610) is configured to enable articulation of the first link (4510) and the second link (4612) relative to each other;
a first pair of guide channels (4423,4425) defined by and extending through the first link (4510);
a second pair of guide channels (4433, 4435) defined by and extending through the second link (4612); and
a pair of actuation elements (4422, 4432) extending respectively through the first pair of guide
channels (4423,4425), past the joint structure, and through the second pair of guide channels (4433, 4435),
wherein the pair of actuation elements (4422, 4432) extend through the first pair of guide channels (4423,4425)
and the second pair of guide channels (4433, 4435) and are configured to be placed in tension to
thereby exert a force to control articulation of the first link (4510) and the second link (4612) relative to
each other from a neutral, unarticulated state about the joint structure (4500), and
wherein the lining (4611, see fig 15) provides an interior guide surface along at least part of a path of the
pair of actuation elements (4422, 4432) extending through the first pair of guide channels (4423,4425), the second pair of guide channels (4433, 4435) and past the joint structure.
Sadaka does not explicitly show a lining comprising a layer of material overlaying one or more of at least a portion of the joint structure, the first pair of guide channels or the second pair of guide channels. However Chao teaches a lining (6000) comprising a layer of material overlaying one or more of at least a portion of the joint structure (see translation “…the guide mechanism 6000 comprises a skid-increasing coating, the skid-increasing coating is located on the inner wall of the silk thread guide channel 2200, the skid-increasing coating can be obtained by plating layer processing, such as nylon plating layer, ptfe plating layer, In addition, the swinging base body 2000 and the pitching base body 1000 can be made of materials with low friction coefficient…”), the first pair of guide channels or the second pair of guide channels.
It would have been obvious to someone having ordinary skill in the art at the time of the effective filling date to have provided the articulated robot arm with a lining with a layer of material that will reduce friction and facilitate movement of of the controlling cables.
Regarding claim 2: Sadaka shows wherein the lining comprises at least one insert (4714, 4718, 4710, 4722) fitted over at least the portion of the joint structure, the first pair of guide channels, or the second pair of guide channels (see fig 12).
Regarding claim 3: Sadaka shows wherein the lining overlays one or both of the first pair of guide channels (4423,4425) or the second pair of guide channels (4433, 4435), and at least the portion of the joint structure.
Regarding claim 4: Sadaka shows wherein the joint structure comprises a first joint feature (4512) fixed to the first link (4510) and a second joint feature (4682) fixed to the second link (4612), and the lining (4611) overlays one or both of the first joint feature and the second joint feature (see fig 12).
Regarding claim 5: Sadaka shows wherein at least one of the first joint feature (4512) and the second joint feature comprises a hub structure (4540) with an outer surface along which the pair of actuation elements extend, and the lining (4611) overlays the hub structure (see fig 13).
Regarding claim 7: Sadaka shows wherein the lining (4611) is mechanically interlocked with at least the portion of the joint structure, the first pair of guide channels, or the second pair of guide channels.
Regarding claim 8: Sadaka shows wherein the guide channels of the first pair of guide channels (4423, 4425) are on opposite sides of a
first articulation axis of the first link about the joint structure (see fig 12), and
wherein the guide channels of the second pair of guide channels (4433, 4435), are on opposite sides
of a second articulation axis of the second link about the joint structure.
Regarding claim 11: Sadaka shows wherein the joint structure comprises complementary rolling contact surfaces (the round surface around the rollers 4710 and 4714, see fig 13).
Regarding claim 12: Sadaka shows wherein the joint structure (4610) comprises complementary and intermeshing joint features.
Regarding claim 13: Sadaka shows wherein the joint structure is configured as a pinned joint (connected by pin A1, see fi 13).
Regarding claim 14: Sadaka shows a medical instrument comprising:
a shaft (4412); the articulable mechanism of claim 1 coupled to the shaft; and
an end effector (4460) coupled to the articulable mechanism.
Regarding claim 15: Sadaka shows a method of manufacturing an articulable mechanism, the method comprising:
coupling a first link (4510) of the articulable mechanism and a second link (4612) of the articulable mechanism to each other via a joint structure (4610), the joint structure being configured to enable articulation of the first link (4510) and the second link (4612) relative to each other;
extending a pair of actuation elements (4422, 4432) respectively through the first pair of guide channels (4423, 4425), past the joint structure, and through the second pair of guide channels (4433, 4435),
wherein the lining (4611) provides an interior guide surface along at least part of a path of the pair of actuation elements extending through the first pair of guide channels, the second pair of guide channels, and past the joint structure (see fig12).
Sadaka does not explicitly show a lining comprising a layer of material overlaying one or more of at least a portion of the joint structure, the first pair of guide channels or the second pair of guide channels. However Chao teaches a lining (6000) comprising a layer of material overlaying one or more of at least a portion of the joint structure (see translation “…the guide mechanism 6000 comprises a skid-increasing coating, the skid-increasing coating is located on the inner wall of the silk thread guide channel 2200, the skid-increasing coating can be obtained by plating layer processing, such as nylon plating layer, ptfe plating layer, In addition, the swinging base body 2000 and the pitching base body 1000 can be made of materials with low friction coefficient…”), the first pair of guide channels or the second pair of guide channels.
It would have been obvious to someone having ordinary skill in the art at the time of the effective filling date to have provided the articulated robot arm with a lining with a layer of material that will reduce friction and facilitate movement of of the controlling cables.
Regarding claim 16: Sadaka shows wherein overlaying the lining comprises fitting at least one insert (4714, 4718, 4710, 4722) over one or both of the first pair of guide channels or the second pair of guide channels, and over at least the portion of the joint structure (see fig 12).
Regarding claim 17: Sadaka shows wherein overlaying the lining (4611) comprises overlaying the lining over at least the portion of the joint structure.
Regarding claim 18: Sadaka shows wherein coupling the first link (4510) and the second link (4612) to each other via the joint structure comprises coupling a first joint feature (4512) fixed to the first link with a second joint feature (4682) fixed to the second link (4612), and wherein overlaying the lining over at least the portion of the joint structure comprises fitting at least one insert over one or both of the first joint feature and the second joint feature (see fig 12).
Regarding claim 19: Sadaka shows wherein at least one of the first joint feature (4512) and the second joint feature (4682) comprises a hub structure (4540) with an outer surface along which the pair of actuation elements extend, and wherein overlaying the lining over one or both of the first joint feature and the second joint feature comprises overlaying the lining over the hub structure (4540).
Claim Rejections - 35 USC § 103
The following is a quotation of 35 U.S.C. 103 which forms the basis for all obviousness rejections set forth in this Office action:
A patent for a claimed invention may not be obtained, notwithstanding that the claimed invention is not identically disclosed as set forth in section 102, if the differences between the claimed invention and the prior art are such that the claimed invention as a whole would have been obvious before the effective filing date of the claimed invention to a person having ordinary skill in the art to which the claimed invention pertains. Patentability shall not be negated by the manner in which the invention was made.
Claims 6, 9, 10 and 20 are rejected under 35 U.S.C. 103 as being unpatentable over Sadaka [WO 2019173266]. In view of Ikeda [US Pub # 2005/0182298].
Regarding claim 6, 9, 10 and 20: Sadaka does not explicitly disclose wherein the lining is molded over at least the portion of the joint structure, the first pair of guide channels, or the second pair of guide channels. wherein the lining is made of a different material than the joint structure, and the first and second links. wherein the lining is made of a polymeric material.
wherein overlaying the lining comprises: molding a polymeric material over one or more of the at least a portion of the joint structure, the first pair of guide channels, or the second pair of guide channels, or mechanically interlocking a polymeric part with one or more of the at least a portion of the joint structure, the first pair of guide channels, or the second pair of guide channels, However Ikeda shows wherein the lining is molded over at least the portion of the joint structure, the first pair of guide channels, or the second pair of guide channels (see [0066], lines 4-6).wherein the lining is made of a different material than the joint structure, and the first and second links (see [0061], lines 11-13). wherein the lining is made of a polymeric material (see [0061], lines 11-13).
wherein overlaying the lining comprises: molding a polymeric material over one or more of the at least a portion of the joint structure (see [0066], lines 4-6), the first pair of guide channels, or the second pair of guide channels, or mechanically interlocking a polymeric part with one or more of the at least a portion of the joint structure, the first pair of guide channels, or the second pair of guide channels (see [0066], lines 4-6).
It would have been obvious to someone having ordinary skill in the art at the time of the effective filling date to have made the lining from molded polymer over the joint structure due to its durability and lightweight and resilience for various applications.
Response to Arguments
Applicant’s arguments with respect to claims 1-20 have been considered but are moot because the new ground of rejection does not rely on any reference applied in the prior rejection of record for any teaching or matter specifically challenged in the argument.
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Conclusion
The prior art made of record and not relied upon is considered pertinent to applicant's disclosure. For example US 12,035,984 shows a first link (1802b) and a second link (1914);
a joint structure (1908) coupling the first link and the second link to each other, the
joint structure is configured to enable articulation of the first link and the second link (4612) relative to each other;
a first pair of guide channels (1902a, 1902b) defined by and extending through the first link;
a second pair of guide channels (1806a, 1806b).
Applicant's amendment necessitated the new ground(s) of rejection presented in this Office action. Accordingly, THIS ACTION IS MADE FINAL. See MPEP § 706.07(a). 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 ZAKARIA ELAHMADI whose telephone number is (571)270-5324. The examiner can normally be reached on M-F 10-6 EST.
If attempts to reach the examiner by telephone are unsuccessful, the examiner’s supervisor, Minnah Seoh can be reached on 571-270-7778. The fax phone number for the organization where this application or proceeding is assigned is 571-273-8300.
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/ZAKARIA ELAHMADI/
Examiner, Art Unit 3618
Prosecution Insights