Office Action 2: Notice of Allowance (2025-02-26)

CLAIMS:
IN THE CLAIMS

This listing of the claims will replace all prior versions, and listings, of claims in the application.

1\. (currently amended) A surgical robotic system, comprising:a tool drive to be coupled to a distal end of a surgical robotic arm, the tool drive comprising a docking interface to receive a trocar and configured to secure an attachment portion of the trocar to the docking interface;
one or more sensors operable to visually sense a surface feature of the trocar as image data; and
one or more processors configured to determine a position of the trocar, generate a planned trajectory that includes a pre-determined path generated independently of the image data, wherein the planned trajectory starts from a known pose of the docking interface to the determined position of the trocar and is generated based on i) a log of prior movements of the surgical robotic arm and ii) signals received from a plurality of force or torque sensors in the surgical robotic arm, and
signal a plurality of actuators in the arm to guide the robotic arm so that the tool drive, coupled to the distal end of the arm, is guided toward the determined position of the trocar along thea pre-determined path .

2\. (cancelled)

3\. (currently amended) The surgical robotic system of laim 1,wherein the one or more processors are configured to guide the robotic arm by controlling the plurality of actuators to automatically drive the arm along the planned trajectory.
4\. (currently amended) The surgical robotic system of laim 1,wherein the one or more processors are configured to guide the robotic arm by controlling the plurality of actuators to assist an operator who is manually forcing the arm.

5\. (currently amended) The surgical robotic system of laim 1,wherein the one or more processors are configured to control the plurality of actuators to resist an operator's manual forcing of the robotic arm when the operator's manual forcing is directing the robotic arm away from the planned trajectory.

6\. (Original) The surgical robotic system of claim 5, wherein the actuators controlled by the one or more processors resist an operator's manual guidance of the robotic arm away from the planned trajectory with a force that is proportional to a distance between the robotic arm and the planned trajectory.

7\. (currently amended) The surgical robotic system of laim 1 wherein the planned trajectory avoids collision of the robotic arm with one or more of a patient, a table on which the patient rests, bedside staff, a cable, a pipe, and other surgical robotic arms.

8\. (Original) The surgical robotic system of claim 1, wherein the arm comprises a switch that when manually actuated by an operator changes a mode of operation between a first mode in which the one or more processors guide the robotic arm under admittance control of the actuators, and a second mode in which the one or more processors control the actuators to enable fully manual guidance of the robotic arm.

9\. (Previously Presented) The surgical robotic system of claim 1, wherein the trocar has been inserted into a body of a patient on a table,and the one or more processors determine the position of the trocar by computing a location of a head of the trocar using a physical model having knowledge of a type of surgery, a size of the patient, a location and an orientation of the patient on the table, and a location of the trocar as inserted into the patient.

10\. (currently amended) A surgical robotic system comprising:a tool drive to be coupled to a distal end of a surgical robotic arm, the tool drive comprising a docking interface to receive a trocar and configured to secure an attachment portion of the trocar to the docking interface;

one or more sensors operable to visually sense a surface feature of the trocar as image data; and
one or more processors configured to determine a position of the trocar, a) generate a planned trajectory that includes apre-determined path generated independently of the image data, wherein the planned trajectory starts from a first, known position of the docking interface to a second position of the docking interface, wherein the second position is closer to the determined position of the trocar than the first, known position, the planned trajectory computed by the one or more processors based on i) a log of prior movements of the arm and ii) signals received from a plurality of force or torque sensors in the arm, andb) guide the robotic arm along the planned trajectory.

11\. (Previously Presented) The surgical robotic system of claim 10 wherein the one or more processors are configured to respond to the second position of the docking interface having been reached by providing an alert or feedback to an operator of the system, the system further comprising a switch that, when actuated, signals the processor to i) activate the one or more sensors, ii) determine the position of the trocar based on the visually sensed surface feature, or iii) guide the robotic arm toward the position of the trocar that is determined based on the visually sensed surface feature.

12\. (Original) The surgical robotic system of claim 1, wherein the one or more sensors are disposed in the docking interface.

13\. (Original) The surgical robotic system of claim 12, wherein the docking interface comprises a sterile adapter coupled to a frontal portion thereof, the one or more sensors being mounted on the sterile adapter.

14\. (currently amended) A method for docking a robotic arm of a surgical robotic system to a trocar, the method comprising:

determining, by one or more processors, a position of the trocar by computing a location of a head of the trocar using a physical model having knowledge of a type of surgery, a size of a patient on a table, a location and an orientation of the patient on the table, and a location of the trocar as inserted into the patient;
calculating, by the one or more processors, a planned trajectory from a known pose of adocking interface on the robotic arm to the determined position of the trocar, wherein the planned trajectory is calculated based on i) a log of prior movements of the arm and ii) signals received from a plurality of force or torque sensors in the arm; and
driving, by the one or more processors, a plurality of actuators in the robotic arm to guide the docking interface along the planned trajectory.
15\. (Original) The method of claim 14, further comprising determining, by the one or more processors, a distance between the docking interface and the planned trajectory, and controlling the plurality of actuators in the robotic arm to guide the robotic arm toward the planned trajectory based on the distance.
16\. (currently amended) The method of claim 14, further comprising determining, by the one or more processors, a component of a manual force applied by an operator on the robotic arm in the direction of the planned trajectory, and controlling the plurality of actuators in the robotic arm to guide the robotic arm along the planned trajectory based on the component of the manual force applied by the operator along the planned trajectory.
17\. (currently amended) The method of claim 16, wherein the one or more processors control the plurality of actuators in the robotic arm to guide the robotic arm along the planned trajectory with a force determined by a product of i) the component of the manual force applied by the operator along the planned trajectory and ii) a predetermined scalar value.

18\. (currently amended) The method of claim 14, further comprising determining, by the one or more processors, a component of a manual force applied by an operator on the robotic arm in a direction away from a direction of the planned trajectory, and controlling the

plurality of actuators in the robotic arm to drive the robotic arm toward the planned trajectory based on the component of the manual force applied by the operator in the direction away from the planned trajectory.
19\. (currently amended) The method of claim 18, wherein the one or more processors control the plurality of actuators in the robotic arm to drive the robotic arm toward the planned trajectory with a force determined by a product of i) the component of the manual force applied by the operator in the direction away from the planned trajectory and ii) a predetermined scalar value.
20\. (Previously Presented) The method of claim 14, further comprising:
producing, by one or more sensors operable to visually sense a surface feature of the trocar, an image of the surface feature of the trocar, wherein the one or more sensors are part of a camera on the arm, and the one or more processors control the plurality of actuators in the robotic arm to maintain the surface feature at a center of a field of view of the camera while the arm moves along the planned trajectory.

OFFICE ACTION:
DETAILED ACTION
REASONS FOR ALLOWANCE
The following is an examiner’s statement of reasons for allowance: The prior art fails to teach,
“one or more processors configured to determine a position of the trocar,
generate a planned trajectory that includes a pre-determined path generated independently of the image data, wherein the planned trajectory starts from a known pose of the docking interface to the determined position of the trocar and is generated based on i) a log of prior movements of the surgical robotic arm and ii) signals received from a plurality of force or torque sensors in the surgical robotic arm, and
signal a plurality of actuators in the arm to guide the robotic arm so that the tool drive, coupled to the distal end of the arm, is guided toward the determined position of the trocar along the pre-determined path”, which provides an improved method/system for facilitating a more efficient mechanical attachment between a robotic arm/tool and a trocar of a surgical robotic system.
Any comments considered necessary by applicant must be submitted no later than the payment of the issue fee and, to avoid processing delays, should preferably accompany the issue fee.  Such submissions should be clearly labeled “Comments on Statement of Reasons for Allowance.”
Conclusion

APPLICANT REBUTTAL: REMARKS
Claims 1, 9, 12 and 13 stand rejected on the ground of non-statutory obviousness-type
double patenting as allegedly being unpatentable over claims 1-2, 9-10 and 12-13 of U.S. Patent
No. 11,911,910. Claims 1, 8, 12 and 13 stand rejected on the ground of non-statutory obviousness-type double patenting as allegedly being unpatentable over claims 1-2, 8, 12 and 13 of U.S. Patent No. 11,529,734.
Claims 1, 8, 12 and 13 stand rejected under 35 U.S.C. § 103 as being unpatentable over Anderson et al (US Patent Publication No. 2019/0321115 Al, hereinafter "Anderson").
Claim 1 is now amended to incorporate subject matter of allowable dependent claim 2.
Dependent claim 10 is now re-written in independent form but without the limitations of its intermediate claim 9. Nevertheless, it is submitted that claim 10 as amended here does overcome both the double patenting and the obviousness rejections.
Accordingly, all claims now pending upon entry of this amendment, namely claims 1 and 3-20 are submitted to be in condition for allowance.
It should be noted that not all the assertions made in the Office Action, particularly those with respect to un-argued limitations in the independent claims and in other dependent claims, might have been addressed here, in the interest of conciseness. In other words, Applicant has not acquiesced to the positions taken in those rejections and reserves the right to challenge any of the assertions made in the Office Action by the Examiner, with respect to for example any relied upon art references and how they would relate to Applicants' claim language and particularly certain limitations in the independent claims that have not been argued above. Applicant reserves the right to re-visit the positions taken in those rejections, should they arise in the future, for example when an appeal is filed or when Applicant files a continuing application. Applicant also reserves the right to swear behind or otherwise remove an improper art reference.
The Commissioner is hereby authorized to charge any deficiency in fees which may be required when considering any submission regarding this application under 37 C.F.R. §§ 1.16- 1.17, or credit any overpayment, to Deposit Account No. 606306.
In the event a telephone conversation expedites the prosecution of this application, the Examiner may reach the undersigned at (818) 826-3757.
Respectfully submitted,


CITED REFERENCE SUMMARIES: Ref US20190321115A1: Claims:
An apparatus comprising: a base configured to couple to a patient at a preliminary port location for a robotic arm; a member coupled to the base and comprising a first end and a second end opposite the first end; and at least one tracking element coupled to the member, wherein the at least one tracking element is configured to allow tracking of the member relative to the preliminary port location.
a base configured to couple to a patient at a preliminary port location for a robotic arm;
a member coupled to the base and comprising a first end and a second end opposite the first end; and
at least one tracking element coupled to the member, wherein the at least one tracking element is configured to allow tracking of the member relative to the preliminary port location.
The apparatus of claim 1 , wherein the base is configured to be coupled to the patient via at least one of suction or an adhesive material.
The apparatus of claim 1 , wherein the member is coupled to the base via a flexible joint, the flexible joint being configured such that the member is pivotable relative to the base.
The apparatus of claim 1 , wherein the member is rotationally fixed relative to the base.
The apparatus of claim 1 , wherein the at least one tracking element is disposed on the second end of the member.
The apparatus of claim 1 , wherein the at least one tracking element comprises infrared reflective material.
The apparatus of claim 1 , wherein the at least one tracking element comprises an electromagnetic transmitter.
The apparatus of claim 1 , wherein the at least one tracking element comprises a plurality of tracking elements arranged in a pattern.
The apparatus of claim 1 , wherein the base and the member collectively define a lumen such that, when the base is disposed on the patient, a marking element can be inserted through the lumen to contact the patient.
The apparatus of claim 1 , wherein the member is transitionable between an extended configuration and a compressed configuration and the apparatus further comprises a marking element engaged with the member, such that when the base is coupled to the patient, the marking element is spaced apart from the patient when the member is in the extended configuration and the marking element is in contact with the patient when the member is in the compressed configuration.
A method comprising: receiving the location of at least one tracking element associated with a port placement guide positioned at a preliminary port location on a patient; analyzing a workspace around the preliminary port location based at least in part on the received location of the at least one tracking element; associating a port location with the preliminary port location based at least in part on the analysis of the workspace around the preliminary port location; registering a distal end of a robotic arm to the port location; and manipulating the distal end of the robotic arm toward the port location.
receiving the location of at least one tracking element associated with a port placement guide positioned at a preliminary port location on a patient;
analyzing a workspace around the preliminary port location based at least in part on the received location of the at least one tracking element;
associating a port location with the preliminary port location based at least in part on the analysis of the workspace around the preliminary port location;
registering a distal end of a robotic arm to the port location; and
manipulating the distal end of the robotic arm toward the port location.
The method of claim 11 , wherein analyzing comprises assessing the preliminary port location relative to at least one of an anatomical feature of the patient and an access location associated with an intended procedure.
The method of claim 11 , wherein the preliminary port location is a first preliminary port location and the port location is a first port location, wherein analyzing comprises assessing at least one of a location of a second robotic arm, the location of a second preliminary port location, and the location of a second port location.
The method of claim 11 , wherein the preliminary port location is a first preliminary port location and the port location is a first port location, further comprising receiving a second location associated with the port placement guide positioned at a second preliminary port location on the patient.
The method of claim 11 , wherein manipulating the distal end of the robotic arm comprises automatically controlling the robotic arm via a trajectory following algorithm.
The method of claim 11 , wherein manipulating the distal end of the robotic arm comprises assistively controlling the robotic arm via one or more virtual fixtures.
A method comprising: positioning a port placement guide at a preliminary port location on a patient, the port placement guide comprising a base configured to be coupled to the patient and a member coupled to the base; identifying a port location for a robotic arm based at least in part on an analysis of a workspace around the preliminary port location; removing the port placement guide from the preliminary port location; and moving the robotic arm toward the port location.
positioning a port placement guide at a preliminary port location on a patient, the port placement guide comprising a base configured to be coupled to the patient and a member coupled to the base;
identifying a port location for a robotic arm based at least in part on an analysis of a workspace around the preliminary port location;
removing the port placement guide from the preliminary port location; and
moving the robotic arm toward the port location.
The method of claim 17 , further comprising repositioning the port placement guide at a second preliminary port location.
The method of claim 17 , further comprising: creating an incision at the port location; partially inserting a medical instrument through the port location; and coupling the distal end of the robotic arm to the medical instrument.
creating an incision at the port location;
partially inserting a medical instrument through the port location; and
coupling the distal end of the robotic arm to the medical instrument.
The method of claim 17 , further comprising: marking the patient surface at the port location via translating a marking element through a lumen defined by the port placement guide.
marking the patient surface at the port location via translating a marking element through a lumen defined by the port placement guide.
Ref US20190053824A1: Claims:
An apparatus for attaching a cannula to a robotic surgical system, the apparatus comprising: a first clamp component configured to pivot between an open position and a closed position; a second clamp component spaced from the first clamp component, the first and second clamp components defining a region configured to receive a portion of the cannula, the first and second clamp components configured to retain the portion of the cannula in the region when the first clamp component is in the closed position; a locking component coupled to the first clamp component and configured to pivot the first clamp component between the open position and the closed position; and a locating structure disposed on at least one of the first clamp component and the second clamp component configured to mate with a corresponding structure disposed on the portion of the cannula.
a first clamp component configured to pivot between an open position and a closed position;
a second clamp component spaced from the first clamp component, the first and second clamp components defining a region configured to receive a portion of the cannula, the first and second clamp components configured to retain the portion of the cannula in the region when the first clamp component is in the closed position;
a locking component coupled to the first clamp component and configured to pivot the first clamp component between the open position and the closed position; and
a locating structure disposed on at least one of the first clamp component and the second clamp component configured to mate with a corresponding structure disposed on the portion of the cannula.
The apparatus of claim 1 , further comprising a sterile barrier configured to separate the first and second clamp components from the cannula when the portion of the cannula is received in the region.
The apparatus of claim 1 , wherein the locking component is configured to pivot between an unlocked position in which the locking component positions the first clamp component in the open position and a locked over-center position in which the locking component positions the first clamp component in the closed position
The apparatus of claim 3 , wherein the locking component is configured to lock the first clamp component in the closed position when the locking component is in the locked over-center position.
The apparatus of claim 3 , wherein the first clamp component has a slot formed therein, the slot extending along a partial length of the first clamp component.
The apparatus of claim 5 , wherein the locking component includes a first end and a second end, the first end movable along a length of the slot formed in the first clamp component, the second end configured to be moved to pivot the locking component between the unlocked position and the locked over-center position.
The apparatus of claim 6 , wherein the first end of the locking component moves in a first direction along the slot when the locking component pivots from the unlocked position to the locked over-center position, wherein the first end of the locking component moves in a second direction along the slot opposite to the first direction when the locking component pivots from the locked over-center position to the unlocked position.
wherein the first end of the locking component moves in a second direction along the slot opposite to the first direction when the locking component pivots from the locked over-center position to the unlocked position.
The apparatus of claim 1 , wherein the locating structure includes at least one tapered surface configured to guide the portion of the cannula into the region between the first and second clamp components in a predefined orientation relative to the first and second clamp components.
The apparatus of claim 8 , wherein the locating structure is configured to latch into the structure disposed on the portion of the cannula and retain the portion of the cannula within the region defined by the first and second clamp components when the first clamp component is in the closed position.
The apparatus of claim 8 , wherein the locating structure includes two tapered surfaces forming a triangular protrusion.
The apparatus of claim 1 , wherein the locating structure is frusto-pyramidal.
The apparatus of claim 1 , further comprising a spring configured to bias the first clamp component in the closed position.
The apparatus of claim 1 , further comprising a support, wherein the support is coupled to the first clamp component via a pivot, wherein the support is further coupled to the second clamp component.
wherein the support is coupled to the first clamp component via a pivot,
wherein the support is further coupled to the second clamp component.
A method, comprising: positioning a locking component of an attachment apparatus for a cannula in an unlocked position, wherein the locking component is operatively coupled to a first clamp component and configured to pivot the first clamp component between an open position and a closed position, wherein the first clamp component is positioned in the open position when the locking component is positioned in the unlocked position; inserting a portion of the cannula into a region between the first clamp component and a second clamp component; and moving the locking component from the unlocked position to a locked over-center position to pivot the first clamp component to the closed position, the first and second clamp components configured to retain the portion of the cannula in the region when the first clamp component is in the closed position.
positioning a locking component of an attachment apparatus for a cannula in an unlocked position, wherein the locking component is operatively coupled to a first clamp component and configured to pivot the first clamp component between an open position and a closed position, wherein the first clamp component is positioned in the open position when the locking component is positioned in the unlocked position;
inserting a portion of the cannula into a region between the first clamp component and a second clamp component; and
moving the locking component from the unlocked position to a locked over-center position to pivot the first clamp component to the closed position, the first and second clamp components configured to retain the portion of the cannula in the region when the first clamp component is in the closed position.
The method of claim 14 , wherein the locking component is configured to pivot between the unlocked position and the locked over-center position.
The method of claim 15 , wherein the locking component is biased toward the locked over-center position when the locking component is in the locked over-center position.
The method of claim 15 , wherein the locking component includes a first end and a second end, the first end movable along a length of a slot formed in the first clamp component, the second end configured to be moved to pivot the locking component between the unlocked position and the locked over-center position.
The method of claim 17 , wherein the first end of the locking component moves in a first direction along the slot when the locking component pivots from the unlocked position to the locked over-center position, and wherein the first end of the locking component moves in a second direction along the slot opposite to the first direction when the locking component pivots from the locked over-center position to the unlocked position.
The method of claim 14 , wherein the cannula is inserted into the region in a predefined orientation in which a locating structure disposed on at least one of the first clamp component and the second clamp component mates with a corresponding structure disposed on the portion of the cannula.
The method of claim 19 , wherein the locating structure includes a first tapered surface and a second tapered surface, the first and the second tapered surfaces forming a triangular protrusion, and wherein the triangular protrusion is configured to latch into the portion of the cannula and retain the portion of the cannula within the region defined by the first and second clamp components when the first clamp component is in the closed position.
wherein the triangular protrusion is configured to latch into the portion of the cannula and retain the portion of the cannula within the region defined by the first and second clamp components when the first clamp component is in the closed position.
Ref US20180168746A1: Claims:
A surgical system, comprising: a trocar having a housing and a cannula extending distally from the housing, the housing and the cannula defining a tool pathway extending therethrough for receiving a tool; and a trocar support configured to be mounted on a distal end of a surgical robotic arm, the trocar being configured to have a first position in which the trocar is coupled to the support being configured to engage the trocar in a first configuration that allows free movement of the trocar relative to the trocar support, and in a second configuration in which the trocar is locked in a fixed position relative to the trocar support.
a trocar having a housing and a cannula extending distally from the housing, the housing and the cannula defining a tool pathway extending therethrough for receiving a tool; and
a trocar support configured to be mounted on a distal end of a surgical robotic arm, the trocar being configured to have a first position in which the trocar is coupled to the support being configured to engage the trocar in a first configuration that allows free movement of the trocar relative to the trocar support, and in a second configuration in which the trocar is locked in a fixed position relative to the trocar support.
The system of claim 1 , wherein the trocar support includes a latch configured to move the trocar support between the first and the second configurations.
The system of claim 2 , wherein the latch is slidable to move the trocar support between the first configuration and the second configuration.
The system of claim 2 , wherein the latch pivots to move the trocar support between the first configuration and the second configuration.
The system of claim 2 , wherein the latch is biased to one of the first and second configurations.
The system of claim 1 , wherein the trocar support is configured to automatically engage the trocar in the first configuration when the trocar is mounted onto the trocar support.
The system of claim 1 , wherein the trocar support includes a receiver having a shape that corresponds to a protrusion formed on the trocar for mating the trocar to the trocar support.
The system of claim 1 , wherein the trocar is freely rotatable relative to the support in the first configuration.
The system of claim 1 , wherein the trocar support includes a linkage assembly for mating the trocar to the trocar support in at least one of the first and second configurations.
The system of claim 1 , wherein the trocar support in the first configuration is configured to prevent axial movement of the trocar along a longitudinal axis of the trocar.
The system of claim 1 , further comprising a robotic arm having the trocar support mated thereto.
A surgical system, comprising: a trocar having a housing and a cannula extending distally from the housing, the housing and the cannula defining a tool pathway extending therethrough for receiving a tool, the trocar having a mating element formed thereon; and a trocar support configured to be mounted on a distal end of a surgical robotic arm and having at least one receiving feature thereon, the trocar being configured to freely rotatably mate to the trocar support when the mating element is seated within the receiving feature of the trocar support, and the trocar support having a lock configured to engage and prevent movement of the trocar relative to the trocar support.
a trocar having a housing and a cannula extending distally from the housing, the housing and the cannula defining a tool pathway extending therethrough for receiving a tool, the trocar having a mating element formed thereon; and
a trocar support configured to be mounted on a distal end of a surgical robotic arm and having at least one receiving feature thereon, the trocar being configured to freely rotatably mate to the trocar support when the mating element is seated within the receiving feature of the trocar support, and the trocar support having a lock configured to engage and prevent movement of the trocar relative to the trocar support.
The system of claim 12 , wherein the mating element and the receiving feature comprise corresponding double dove tail pieces.
The system of claim 12 , wherein the trocar is configured to be locked relative to the trocar support by pivoting the trocar relative to the trocar support.
The system of claim 12 , further comprising alignment features on the trocar and the trocar support for aligning the trocar relative to the trocar support.
The system of claim 12 , wherein the receiving feature is selected from the group consisting of a set of jaws, a sliding block, a hook, and a clamp.
A surgical system, comprising: a trocar having a housing and a cannula extending distally from the housing, the housing and the cannula defining a tool pathway extending therethrough for receiving a tool, the trocar having a mating element formed thereon; an
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