Appeal No. 1998-1083
Application 08/402,606
it determines a bending amount at each point along a
programmed path from start to finish. However, Furukawa
does not disclose or suggest using these bending amounts to
calculate the bending amount at the interpolation points as
recited in step (d): "calculating said bending amount at
said distal end of said robotic tool at each said first
plurality of interpolation points, based on said bending
amount of said distal end of said robotic tool at said
starting point and at said ending point of said linear
section" (emphasis added). Furukawa is strictly a point-by-
point compensation method. For this reason, we conclude
that the Examiner has failed to establish a prima facie case
of obviousness. The rejection of claims 1-4 over Ishiguro
and Furukawa is reversed. It is not necessary to address
the arguments in the Reply Brief.
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