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International application No. Applicant's or agent's file reference
PCT/US2018/049440 C00014975WO0
International filing date (day/month/year) (Earliest) Priority Date (day/month/year)
05 September 2018 06 September 2017
FOR FURTHER ACTION: See Form PCT/ISA/220 as well as, where applicable, item 5 below.
This international search report has been prepared by this International Searching Authority and is transmitted to the applicant according to Article 18. A copy is being transmitted to the International Bureau.
It is also accompanied by a copy of each prior art document cited in this report.
1. Basis of the report
a. With regard to the language, the international search was carried out on the basis of:
the international application in the language in which it was filed.
a translation of the international application into                                          which is the language of a translation furnished for the purposes of international search (Rules 12.3(a) and 23.1(b)).
This international search report has been established taking into account the rectification of an obvious mistake authorized by or notified to this Authority under Rule 91 (Rule 43.6bis(a)).
With regard to any nucleotide and/or amino acid sequence disclosed in the international application, the international search was carried out on the basis of a sequence listing:
2. Certain claims were found unsearchable
This international search report has not been established in respect of certain claims under Article 17(2)(a) for the following reasons:
Claims Nos.:
because they relate to subject matter not required to be searched by this Authority, namely:
Claims Nos.: 5,7-10,12
because they relate to parts of the international application that do not comply with the prescribed requirements to such an extent that no meaningful international search can be carried out, specifically:
As claims 5, 7-10 and 12 are referring to a nonexistent claim, no meaningful international search can be carried out for claims 5, 7-10 and 12.
Claims Nos.:
because they are dependent claims and are not drafted in accordance with the second and third sentences of Rule 6.4(a).
3. Unity of invention is lacking
4. Title of the invention
The text is approved as submitted by the applicant.
The text has been established by this Authority to read as follows:
5. Abstract
The text is approved as submitted by the applicant.
The text has been established, according to Rule 38.2, by this Authority as it appears in Box No. IV. The applicant may, within one month from the date of mailing of this international search report, submit comments to this Authority.
6. Drawings
The figure of the drawings to be published with the abstract is Figure No.     5    
as suggested by the applicant.
as selected by this Authority, because the applicant failed to suggest a figure.
as selected by this Authority, because this figure better characterizes the invention.
none of the figures is to be published with the abstract.


     A61B 34/00 (2016.01)i; A61B 34/35 (2016.01)i; A61B 34/20 (2016.01)i
According to International Patent Classification (IPC) or to both national classification and IPC


Minimum documentation searched (classification system followed by classification symbols):
Documentation searched other than minimum documentation to the extent that such documents are included in the fields searched:
Korean utility models and applications for utility modelsJapanese utility models and applications for utility models
Electronic data base consulted during the international search (name of data base and, where practicable, search terms used):
eKOMPASS(KIPO internal) & Keywords: scale, scaling factor, boundary, predetermined distance, surgical robot


Category* Citation of document, with indication, where appropriate, of the relevant passages Relevant to claim No.
US 2017-0224428 A1 (COVIDIEN LP) 10 August 2017 See claim 1.
KR 10-2013-0015437 A (EATON, CO. INC.) 14 February 2013 See claims 1, 13-15, 21, 22; paragraphs [0038]-[0077]; fig. 1, 2.
KR 10-2015-0007020 A (SAMSUNG ELECTRONICS CO., LTD.) 20 January 2015 See the whole document.
KR 10-2012-0068597 A (EATON, CO. INC.) 27 June 2012 See the whole document.
US 9582079 B2 (ABB GOMTEC GMBH) 28 February 2017 See the whole document.
Special categories of cited documents:
document defining the general state of the art which is not considered to be of particular relevance
earlier application or patent but published on or after the international filing date
document which may throw doubts on priority claim(s) or which is cited to establish the publication date of another citation or other special reason (as specified)
document referring to an oral disclosure, use, exhibition or other means
document published prior to the international filing date but later than the priority date claimed
later document published after the international filing date or priority date and not in conflict with the application but cited to understand the principle or theory underlying the invention
document of particular relevance; the claimed invention cannot be considered novel or cannot be considered to involve an inventive step when the document is taken alone
document of particular relevance; the claimed invention cannot be considered to involve an inventive step when the document is combined with one or more other such documents, such combination being obvious to a person skilled in the art
document member of the same patent family


Patent document cited in search report Publication date
Patent family member(s) Publication date
US 2017-0224428 A1
10 August 2017
CN 106714722 A
EP 3200716 A1
JP 2017-529907 A
WO 2016-053657 A1
24 May 2017
09 August 2017
12 October 2017
07 April 2016
KR 10-2013-0015437 A
14 February 2013
KR 10-1802464 B1
WO 2013-018983 A1
28 November 2017
07 February 2013
KR 10-2015-0007020 A
20 January 2015
US 2015-0018841 A1
US 9060796 B2
15 January 2015
23 June 2015
KR 10-2012-0068597 A
27 June 2012
CN 102614019 A
CN 102614019 B
CN 104473693 A
CN 104473693 B
CN 106214262 A
CN 106214262 B
KR 10-1740286 B1
01 August 2012
10 December 2014
01 April 2015
04 July 2017
14 December 2016
01 February 2019
29 May 2017
US 9582079 B2
28 February 2017
DE 102012110190 A1
DE 102012110190 B4
US 2015-0293596 A1
WO 2014-064025 A1
30 April 2014
26 March 2015
15 October 2015
01 May 2014
Name and mailing address of the ISA/:
Korean Intellectual Property Office
189 Cheongsa-ro, Seo-gu, Daejeon Metropolitan City, 302-701
Republic of Korea
Facsimile No. +82-42-481-8578
Date of the actual completion of the international search:
02 April 2019
Date of mailing of the international search report:
02 April 2019
Authorized officer:
HAN, Inho
Telephone No. +82-42-481-3362
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