WO2024128897A1 - Automated assistive device for support during surgery - Google Patents

Automated assistive device for support during surgery Download PDF

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Publication number
WO2024128897A1
WO2024128897A1 PCT/MX2022/050129 MX2022050129W WO2024128897A1 WO 2024128897 A1 WO2024128897 A1 WO 2024128897A1 MX 2022050129 W MX2022050129 W MX 2022050129W WO 2024128897 A1 WO2024128897 A1 WO 2024128897A1
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WO
WIPO (PCT)
Prior art keywords
base
rotor
control base
control
actuator
Prior art date
Application number
PCT/MX2022/050129
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Spanish (es)
French (fr)
Inventor
Jesús Raúl BELTRÁN RAMÍREZ
Jonathan De Jesús MARTÍNEZ MENDOZA
Original Assignee
Beltran Ramirez Jesus Raul
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Publication date
Application filed by Beltran Ramirez Jesus Raul filed Critical Beltran Ramirez Jesus Raul
Publication of WO2024128897A1 publication Critical patent/WO2024128897A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis

Definitions

  • the present invention is related to the technical field of mechanics, electronics, medical devices and more specifically with surgical intervention, since it provides an automated assistance device to support surgeries.
  • the United States patent document number US8002767 (B2) was also found, with publication date of August 23, 2011, which has the title "MULTI FUNGI ONAL HANDLE FOR A MEDICAL ROBOTIC SYSTEM", which refers to a handle used to control the movement of a medical instrument.
  • the medical instrument can be attached to a robotic arm that is connected to a controller.
  • the medical instrument may have a plurality of functions such as wrist lock and movement scale. One of the functions can be selected through a graphical user interface operated by the end user.
  • the handle may have a plurality of buttons. One of the buttons may allow the end user to control the selected function. For example, when wrist lock/unlock is selected, pressing the button can toggle the wrist of the medical instrument between a locked state and an unlocked state.
  • Another object of the present invention is to provide an automated assistance device for support in surgery, which is portable.
  • Figure 3 shows a rear view of the automated assistance device for support in surgeries.
  • Figure 4 shows a rear perspective view of the automated assistance device for support in surgeries.
  • Figure 5 shows a side perspective view of the automated assistance device for support in surgeries, without the rotor.
  • Figure 6 shows a detailed view of the band and the hole of the automated assistance device for support in surgeries.
  • Figure 7 shows a detailed view of the motor of the automated assistance device for support in surgeries.
  • Figure 8 shows a front perspective view of the rotor of the automated assistance device for support in surgeries.
  • Figure 9 shows a detailed front view of the ducts of the automated assistance device for support in surgeries.
  • Figure 10 shows a rear perspective view of the rotor of the automated assistance device for support in surgeries.
  • Figure 11 shows a detailed rear view of the ducts of the automated assistance device for support in surgeries.
  • Figure 12 shows a top perspective view of the plate and channels of the automated assistance device for support in surgeries.
  • Figure 13 shows a lower perspective view of the plate and rail of the automated assistance device for support in surgeries.
  • Figure 14 shows a detailed lower perspective view of the rail and wheels of the automated assistance device for support in surgeries.
  • the automated assistance device for support in surgeries is made up of a control base (1) which has a rotation base (2) installed on its front part; the outer diameter of the rotation base (2) is smaller than the outer diameter of the control base (1); a hole (3) is located longitudinally from the back of the control base (1) to the front of the rotation base (2); The hole (3) is preferably conical in shape, where the largest diameter is at the back of the base. control (1), this configuration allows the automated assistance device for support in surgery to be placed on a person's forearm.
  • a control module (not shown) and a battery (not shown) are installed inside the control base (1); a charging port (4) that is preferably USB (Universal Serial Bus) is installed on the back of the control base (1); The charging port (4) is connected to the battery (not shown), this configuration allows said battery (not shown) to be charged by means of a cable (not shown) that is connected from one end to the charging port (4) and The opposite end connects to an electrical outlet.
  • a cable not shown
  • a switch (5) is installed on the back of the control base (1); the battery (not shown) is connected to the switch (5) which in turn is connected to the control module (not shown);
  • the switch (5) is configured to pass power from the battery (not shown), to the control module (not shown) and energize or de-energize the automated assistance device for support in surgeries; the battery (not illustrated) is preferably rechargeable.
  • a perforation (6) is located on the front face of the control base (1), preferably in the upper part; an actuator (not illustrated) is installed inside the control base (1) aligned with the perforation (6); a stem (7) which is preferably magnetic, is housed in the hole (6) and is installed in the actuator (not illustrated); The perforation (6) is preferably semi-circular in shape; The actuator (not shown) is connected to the control module (not shown).
  • a motor (8) is installed on the control base
  • a pinion (9) is installed in the motor (8);
  • a band (10) is installed on the back of the rotating base
  • the motor (8) is configured to transmit rotary motion to the pinion
  • the motor (8) is connected to the control module (not illustrated).
  • a microphone (11) is installed on the back of the control base (1);
  • the microphone (11) is connected to the control module (not shown), this configuration allows voice commands to be encoded by the control module (not shown) and converted into electrical signals to control the actuator (not shown) and the motor ( 8) for its operation.
  • An outer race (12) is located at the front of the outer periphery of the rotation base (2);
  • a plurality of rolling elements (13) that are preferably spherical in shape are installed inside the outer track (12).
  • a rotor (14) is installed on the rotation base (2);
  • the rotor (14) has a rack (15) on the inner periphery of the rear part, which is configured to mesh with the pinion (9) and in this way transmit the rotary movement of the motor (8) to the rotor (14).
  • an inner race (16) is located on the inner periphery of the front part of the rotor (14);
  • the inner race (16) is aligned with the outer race (12) and is configured to assemble with the rolling elements (13), This configuration makes it possible to stabilize the rotor (14) and provide uniform movement of said rotor (14) on the rotation base (2).
  • a plurality of ducts (17) are located longitudinally on the outer periphery of the rotor (14), from the front part to the rear part of said rotor (14);
  • the ducts (17) are preferably semicircular in shape; two guides (18) are housed in parallel inside each of the ducts (17), preferably on the sides of the lower part;
  • the guides (18) preferably have a "C" shape, and the open faces are facing each other;
  • a stop (19) is located on the back of each of the guides (18); the stop (18) is configured so that the guides (18) do not come out of the back of the rotor (14);
  • a plate (20) is installed longitudinally in the openings of the guides (18) of each of the ducts (17);
  • the plates (20) are magnetic on the back, this configuration allows said plate (20) to be moved forward or backward by means of the stem (7);
  • a channel (21) is located at the top of each of the plates (20);
  • the channels (21) have curved upper edges,
  • the actuator (not shown) is preferably linear.
  • the motor (8) can be a servomotor or a stepper motor.
  • the outer race (12) and the inner race (16) are hemispherical in shape.
  • Example 1 Placement and use of the automated assistance device for support in surgeries.
  • the automated assistance device for support in surgeries is placed by introducing the user's hand into the hole (3) on the back of the control base (1) until the hand comes out through the front of the rotation base (2), in this way the device is placed on the forearm. Once this is done, the switch (5) is pressed to energize the automated assistance device for support in surgeries.
  • a voice instruction is given requesting the required instruments
  • the message is captured by the microphone (11) and at that moment the control (not illustrated) encodes the message converting it into electronic signals to activate the motor (8) and transmit rotary movement to the rotor (14) until the requested instrument is positioned in the direction of the drilling (6), subsequently the control module (not illustrated ) activates the actuator (not illustrated) so that the stem (7) drives the plate (20) in a linear movement forward, which has the instruments required for the intervention housed in the channel (21), and once said instrument by the person performing the intervention, the stem (7) is retracted so that the plate (20) returns to the initial position.
  • the verbal instruction is given and the control module (not illustrated) encodes the instruction so that the plate (20) that delivered the instrument is again propelled forward by the actuator stem (7). (not illustrated) to place the instrument that was being used in the channel (21), subsequently the plate (20) is retracted by the actuator (not illustrated) and once in its original position the motor (8) is activated to rotate the rotor (14) until the new requested instrument is positioned in the perforation (6) and repeat the process of delivering the requested instrument.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)
  • Manipulator (AREA)

Abstract

The present invention describes an automated assistive device for support during surgery, which comprises a rotary base including a motor with a pinion to transmit rotary movement to a rotor and thus select from a plurality of surgical instruments accommodated in a channel located on a plate, which plate can be moved linearly by means of an actuator installed inside a control base. Another feature of the invention is that it comprises an actuator that moves a plate in a linear manner so as to position a surgical instrument within the reach of the hand to perform a surgical intervention, and subsequently remove the surgical instrument in order to position a different instrument. The automated assistive device for support during surgery is operated by voice command, which allows surgical interventions to be performed without needing a instrumentation support assistant. In addition, the device is portable.

Description

DISPOSITIVO DE ASISTENCIA AUTOMATIZADA PARA APOYO EN CIRUGÍAS AUTOMATED ASSISTANCE DEVICE FOR SUPPORT IN SURGERIES
CAMPO TÉCNICO DE LA INVENCIÓN TECHNICAL FIELD OF THE INVENTION
La presente invención se relaciona con el campo técnico de la mecánica, la electrónica, dispositivos médicos y más especí ficamente con la intervención quirúrgica, ya que aporta un dispositivo de asistencia automati zada para apoyo en cirugías . The present invention is related to the technical field of mechanics, electronics, medical devices and more specifically with surgical intervention, since it provides an automated assistance device to support surgeries.
ANTECEDENTES DE LA INVENCIÓN BACKGROUND OF THE INVENTION
Se denomina cirugía a la práctica que implica la manipulación mecánica de las estructuras anatómicas con un fin médico , bien sea diagnóstico , terapéutico o pronóstico . De acuerdo con la Organi zación Mundial de la Salud ( 2012 ) , una cirugía mayor es todo procedimiento reali zado en el quirófano , que comporte la incisión, la manipulación o la sutura de un tej ido , y que generalmente requiere anestesia regional , anestesia general , anestesia raquídea, o sedación profunda, para asi controlar el dolor . Surgery is the practice that involves the mechanical manipulation of anatomical structures for a medical purpose, whether diagnostic, therapeutic or prognostic. According to the World Health Organization (2012), a major surgery is any procedure performed in the operating room, which involves the incision, manipulation or suturing of tissue, and which generally requires regional anesthesia, general anesthesia , spinal anesthesia, or deep sedation, to control pain.
La cirugía es el procedimiento para extirpar o reparar una parte del cuerpo , o para determinar si hay una enfermedad . La cirugía además es la rama de la medicina que se especiali za en el diagnóstico y tratamiento de enfermedades o afecciones mediante operaciones . Surgery is the procedure to remove or repair a part of the body, or to determine if there is a disease. Surgery is also the branch of medicine that specializes in the diagnosis and treatment of diseases or conditions through operations.
En la cirugía, el instrumental técnico se convierte en una prolongación de las manos del ciruj ano . Es la parte de la medicina que emplea medios instrumentales , y no químicos , para curar las patologías . La cirugía comienza principalmente en Grecia y Roma Antigua con Hipócrates, Celso y Galeno que eran médicos y cirujanos que poseen técnicas quirúrgicas descritas en sus textos, además de remedios médicos. Tras la Antigüedad Clásica con la calda del Imperio romano, el cirujano y el médico se van separando. En el Renacimiento esto cambia, con los anatomistas Vesalio, Da Vinci, etc. aumenta el conocimiento humano y comienza un renacimiento de la cirugía y medicina, aunque aún están separadas. In surgery, the technical instruments become an extension of the surgeon's hands. It is the part of medicine that uses instrumental, and not chemical, means to cure pathologies. Surgery begins mainly in Greece and Ancient Rome with Hippocrates, Celsus and Galen who were doctors and surgeons who have surgical techniques described in their texts, as well as medical remedies. After Classical Antiquity with the fall of the Roman Empire, the surgeon and the doctor began to separate. In the Renaissance this changed, with the anatomists Vesalius, Da Vinci, etc. increases human knowledge and begins a renaissance of surgery and medicine, although they are still separate.
En el siglo XVIII hay enfrentamiento entre médicos y cirujanos, pero la cirugía empieza a integrarse con la medicina. En el siglo XIX la medicina tiende a hacerse científica y son las bases de la cirugía en el momento actual. La antisepsia, la anestesia, etc. Tras la segunda guerra mundial comienza la cirugía actual, en el que los avances tecnológicos (anestesia, antibióticos, instrumental, mayor conocimiento de la fisiología, etc.) permiten un mayor avance corrigiendo problemas fisiológicos y no solo anatómicos. In the 18th century there was a confrontation between doctors and surgeons, but surgery began to integrate with medicine. In the 19th century, medicine tended to become scientific and are the bases of surgery at the present time. Antisepsis, anesthesia, etc. After the Second World War, current surgery begins, in which technological advances (anesthesia, antibiotics, instruments, greater knowledge of physiology, etc.) allow greater progress by correcting physiological problems and not just anatomical ones.
Durante el procedimiento quirúrgico, es necesaria la asistencia de un instrumentista, que es la persona designada para asistir al médico que practica la intervención. El instrumentista es el encargado de proporcionar el instrumental necesario cuando se lleva a cabo la cirugía. During the surgical procedure, the assistance of an instrumentalist is necessary, who is the person designated to assist the doctor who performs the intervention. The surgeon is in charge of providing the necessary instruments when the surgery is carried out.
En ocasiones las cirugías deben practicarse de menara emergente, por lo que, en esos casos, no hay tiempo de tener el instrumental quirúrgico preparado, o se carece del asistente para dar dicho apoyo. Por tal motivo se ha desarrollado un dispositivo automatizado para proporcionar el instrumental requerido durante el procedimiento quirúrgico, motivo de la presente invención. Se reali zó una búsqueda del estado de la técnica de dispositivos de asistencia automati zada para apoyo en cirugías , donde se encontró que se han desarrollado di ferentes dispositivos con este fin, como se menciona en el documento de solicitud de patente de Estados Unidos de América número US20100152749 (Al ) , con fecha de publicación del 17 de j unio del 2010 , que tiene como titulo "ESTABILI ZADORES DE INSTRUMENTOS QUIRÚRGICOS MONTADOS EN MESA CON MANIOBRABILIDAD CON UNA SOLA MANO O ACTIVADA POR VOZ" , que describe un sistema estabili zador de instrumentos quirúrgicos para suj etar de forma segura prácticamente cualquier instrumento durante cualquier procedimiento , proporcionando vacio cuando corresponda y, sin embargo , permitiendo que el usuario lo reposicione fácilmente con una sola mano o activado por voz . El sistema utili za rieles laterales hori zontales opuestos montados en lados opuestos de una mesa quirúrgica, y brazos opuestos , cada uno de ellos montado de manera desli zable en un riel lateral para un posicionamiento longitudinal global a lo largo de los rieles laterales . Los brazos llevan una viga transversal al pie de la mesa de operaciones , y un brazo flexible está montado de forma móvil sobre la viga para posicionamiento longitudinal global a lo largo de la viga . Alternativamente , el brazo flexible puede fij arse directamente a uno de los rieles laterales hori zontales existentes . El brazo flexible conduce a una pieza de mano de soporte de instrumentos montada de forma pivotante para la orientación angular de un instrumento soportado por ella . El brazo flexible puede articularse libremente en cualquier posición y bloquearse en su lugar . Por lo tanto , un instrumento soportado puede reposicionarse rápida y fácilmente mediante la manipulación con una sola mano o activada por voz por parte de un ciruj ano o asistente quirúrgico , y bloquearse en cualquier posición hacia arriba y hacia abaj o a lo largo de un ej e vertical , hacia adelante y hacia atrás , es decir, cerca o lej os del paciente , y rotacionalmente . Sometimes surgeries must be performed emergently, so, in those cases, there is no time to have the surgical instruments prepared, or there is no assistant to provide such support. For this reason, an automated device has been developed to provide the instruments required during the surgical procedure, which is the reason for the present invention. A search of the state of the art of automated assistance devices for support in surgeries was carried out, where it was found that different devices have been developed for this purpose, as mentioned in the patent application document of the United States of America. number US20100152749 (Al), with publication date of June 17, 2010, which has the title "STABILIZERS OF TABLE-MOUNTED SURGICAL INSTRUMENTS WITH ONE-HANDED OR VOICE-ACTIVATED MANEUVERABILITY", which describes a stabilizer system of surgical instruments to securely hold virtually any instrument during any procedure, providing vacuum when appropriate and yet allowing the user to easily reposition it with one hand or voice activated. The system utilizes opposing horizontal side rails mounted on opposite sides of a surgical table, and opposing arms, each slidably mounted on a side rail for global longitudinal positioning along the side rails. The arms carry a transverse beam at the foot of the operating table, and a flexible arm is movably mounted on the beam for global longitudinal positioning along the beam. Alternatively, the flexible arm can be fixed directly to one of the existing horizontal side rails. The flexible arm leads to a pivotally mounted instrument support handpiece for angular orientation of an instrument supported thereon. The flexible arm can be freely articulated in any position and locked in place. Therefore, a supported instrument can be quickly and easily repositioned by one-handed or voice-activated manipulation by a surgeon or surgical assistant, and locked in any position up and down or along an axis. vertical, forward and backwards, that is, near or far from the patient, and rotationally.
También se encontró el documento de patente de Estados Unidos de América número US8002767 (B2 ) , con fecha de publicación del 23 de agosto del 2011 , que tiene como titulo "MANI JA MULTI FUNGI ONAL PARA UN S ISTEMA ROBÓTICO MÉDICO" , que hace referencia a una manij a utili zada para controlar el movimiento de un instrumento médico . El instrumento médico puede acoplarse a un brazo robótico que está conectado a un controlador . El instrumento médico puede tener una pluralidad de funciones tales como bloqueo de muñeca y escala de movimiento . Una de las funciones puede seleccionarse a través de una interfaz gráfica de usuario operada por el usuario final . La manij a puede tener una pluralidad de botones . Uno de los botones puede permitir que el usuario final controle la función seleccionada . Por ej emplo , cuando se selecciona el bloqueo/desbloqueo de la muñeca, al presionar el botón se puede alternar la muñeca del instrumento médico entre un estado bloqueado y un estado desbloqueado . The United States patent document number US8002767 (B2) was also found, with publication date of August 23, 2011, which has the title "MULTI FUNGI ONAL HANDLE FOR A MEDICAL ROBOTIC SYSTEM", which refers to a handle used to control the movement of a medical instrument. The medical instrument can be attached to a robotic arm that is connected to a controller. The medical instrument may have a plurality of functions such as wrist lock and movement scale. One of the functions can be selected through a graphical user interface operated by the end user. The handle may have a plurality of buttons. One of the buttons may allow the end user to control the selected function. For example, when wrist lock/unlock is selected, pressing the button can toggle the wrist of the medical instrument between a locked state and an unlocked state.
Por último , se encontró el documento de solicitud de patente de Europa número EP3440669 (Al ) , con fecha de publicación del 13 de febrero del 2019 , que tiene como titulo "S ISTEMA DE CONTROL QUIRÚRGICO ACTIVADO POR VOZ" , que hace referencia a un sistema de control activado por voz para controlar al menos un aparato en un entorno quirúrgico . El sistema de control comprende un sensor de voz para detectar comandos vocales generados por al menos un ciruj ano en un entorno quirúrgico ; un transmisor de señales conectado operativamente al sensor de voz para convertir órdenes vocales en señales vocales transmisibles y para transmitir las señales vocales transmisibles ; y un procesador conectado operativamente al transmisor de señales para recibir las señales vocales transmisibles . El procesador convierte las señales vocales transmisibles en miembros de un conj unto predeterminado de instrucciones operativas , donde cada instrucción operativa está asociada con un aparato en el entorno quirúrgico . Cada aparato comprende medios de control , los medios de control conectados operativamente al procesador y al aparato . Los medios de control reciben las instrucciones operativas y en consecuencia hacen que el aparato funcione . Finally, the European patent application document number EP3440669 (Al) was found, with publication date of February 13, 2019, which has the title "VOICE ACTIVATED SURGICAL CONTROL SYSTEM", which refers to a voice activated control system for controlling at least one apparatus in a surgical environment. The control system comprises a voice sensor to detect vocal commands generated by at least one surgeon in a surgical environment; a signal transmitter operatively connected to the voice sensor for converting vocal commands into transmissible vocal signals and for transmitting the transmissible vocal signals; and a processor operatively connected to the signal transmitter to receive the speech signals transmissible. The processor converts the transmissible speech signals into members of a predetermined set of operating instructions, where each operating instruction is associated with an apparatus in the surgical environment. Each apparatus comprises control means, the control means operatively connected to the processor and the apparatus. The control means receive the operating instructions and consequently make the device work.
Los documentos anteriores hacen referencia a dispositivos para el control de instrumentos quirúrgicos controlados con una sola mano o por comandos de voz , pero no hacen referencia de ser un dispositivo portátil el cual se puede utili zar en el antebrazo , que adicional a eso es posible utili zar uno en cada antebrazo , tampoco muestran evidencia de contar con un mecanismo rotatorio que permite seleccionar y cambiar de instrumentos , tampoco describen contar con un mecanismo lineal el cual posiciona el instrumento al alcance de la mano ya sea para tomarlo o para cambiar de instrumento . The previous documents refer to devices for the control of surgical instruments controlled with one hand or by voice commands, but do not refer to it being a portable device which can be used on the forearm, which in addition to that is possible to use. They use one on each forearm, nor do they show evidence of having a rotating mechanism that allows selecting and changing instruments, nor do they describe having a linear mechanism which positions the instrument within reach either to pick it up or to change instruments.
OBJETO DE LA INVENCIÓN OBJECT OF THE INVENTION
La presente invención, tiene como obj eto proporcionar un dispositivo de asistencia automati zada para apoyo en cirugías , que cuenta con una base de rotación la cual tiene acoplado un rotor para seleccionar entre una pluralidad de instrumentos quirúrgicos . The purpose of the present invention is to provide an automated assistance device for support in surgeries, which has a rotation base which has a rotor attached to select between a plurality of surgical instruments.
Otro obj eto de la presente invención es proporcionar un dispositivo de asistencia automati zada para apoyo en cirugías , que cuenta con un actuador lineal lo que posiciona el instrumento quirúrgico al alcance de la mano para reali zar la intervención y retirar el instrumento quirúrgico para posteriormente posicionar un instrumento di ferente . Un obj eto adicional de la presente invención es proporcionar un dispositivo de asistencia automati zada para apoyo en cirugías , que es operado por comandos de voz . Another object of the present invention is to provide an automated assistance device to support surgeries, which has a linear actuator which positions the surgical instrument within reach to perform the intervention and remove the surgical instrument to subsequently position a different instrument. A further object of the present invention is to provide an automated assistance device for support in surgery, which is operated by voice commands.
Otro obj eto de la presente invención es proporcionar un dispositivo de asistencia automati zada para apoyo en cirugías , que es portátil . Another object of the present invention is to provide an automated assistance device for support in surgery, which is portable.
BREVE DESCRIPCIÓN DE LAS FIGURAS BRIEF DESCRIPTION OF THE FIGURES
Los detalles característicos de este novedoso dispositivo de asistencia automati zada para apoyo en cirugías se muestran claramente en la siguiente descripción y en las figuras que se acompañan, asi como una ilustración de aquella, y siguiendo los mismos signos de referencia para indicar las partes mostradas . Sin embargo , dichas figuras se muestran a manera de ej emplo y no deben de ser consideradas como limitativas para la presente invención . The characteristic details of this novel automated assistance device for support in surgeries are clearly shown in the following description and in the accompanying figures, as well as an illustration thereof, and following the same reference signs to indicate the parts shown. However, said figures are shown by way of example and should not be considered as limiting the present invention.
La figura 1 muestra una vista en perspectiva frontal del dispositivo de asistencia automati zada para apoyo en cirugías . Figure 1 shows a front perspective view of the automated assistance device for support in surgeries.
La figura 2 muestra una vista frontal del dispositivo de asistencia automati zada para apoyo en cirugías .Figure 2 shows a front view of the automated assistance device for support in surgeries.
La figura 3 muestra una vista posterior del dispositivo de asistencia automati zada para apoyo en cirugías .Figure 3 shows a rear view of the automated assistance device for support in surgeries.
La figura 4 muestra una vista en perspectiva posterior del dispositivo de asistencia automati zada para apoyo en cirugías . Figure 4 shows a rear perspective view of the automated assistance device for support in surgeries.
La figura 5 muestra una vista en perspectiva lateral del dispositivo de asistencia automati zada para apoyo en cirugías , sin el rotor . La figura 6 muestra una vista a detalle de la banda y el ori ficio del dispositivo de asistencia automati zada para apoyo en cirugías . Figure 5 shows a side perspective view of the automated assistance device for support in surgeries, without the rotor. Figure 6 shows a detailed view of the band and the hole of the automated assistance device for support in surgeries.
La figura 7 muestra una vista a detalle del motor del dispositivo de asistencia automati zada para apoyo en cirugías . Figure 7 shows a detailed view of the motor of the automated assistance device for support in surgeries.
La figura 8 muestra una vista en perspectiva frontal del rotor del dispositivo de asistencia automati zada para apoyo en cirugías . Figure 8 shows a front perspective view of the rotor of the automated assistance device for support in surgeries.
La figura 9 muestra una vista frontal a detalle de los conductos del dispositivo de asistencia automati zada para apoyo en cirugías . Figure 9 shows a detailed front view of the ducts of the automated assistance device for support in surgeries.
La figura 10 muestra una vista en perspectiva posterior del rotor del dispositivo de asistencia automati zada para apoyo en cirugías . Figure 10 shows a rear perspective view of the rotor of the automated assistance device for support in surgeries.
La figura 11 muestra una vista posterior da detalle de los conductos del dispositivo de asistencia automati zada para apoyo en cirugías . Figure 11 shows a detailed rear view of the ducts of the automated assistance device for support in surgeries.
La figura 12 muestra una vista en perspectiva superior de la placa y los canales del dispositivo de asistencia automati zada para apoyo en cirugías .Figure 12 shows a top perspective view of the plate and channels of the automated assistance device for support in surgeries.
La figura 13 muestra una vista en perspectiva inferior de la placa y el riel del dispositivo de asistencia automati zada para apoyo en cirugías . Figure 13 shows a lower perspective view of the plate and rail of the automated assistance device for support in surgeries.
La figura 14 muestra una vista en perspectiva inferior a detalle del riel y las ruedas del dispositivo de asistencia automati zada para apoyo en cirugías . Figure 14 shows a detailed lower perspective view of the rail and wheels of the automated assistance device for support in surgeries.
DESCRIPCIÓN DETALLADA DE LA INVENCIÓN DETAILED DESCRIPTION OF THE INVENTION
Para una mej or comprensión de la presente invención, a continuación, se enlistan las partes que componen el dispositivo de asistencia automati zada para apoyo en cirugías : I . Base de control For a better understanding of the present invention, the parts that make up the automated assistance device for support in surgeries are listed below: YO . control base
2. Base de rotación 2. Rotation base
3. Orificio 3. Hole
4. Puerto de carga 4. Charging port
5. Interruptor 5. Switch
6. Perforación 6. Drilling
7. Vástago 7. Scion
8. Motor 8. Engine
9. Piñón 9. Pinion
10. Banda 10. Band
I I . Micrófono I I . Microphone
12. Pista exterior 12. Outdoor court
13. Elementos rodantes 13. Rolling elements
14. Rotor 14. Rotor
15. Cremallera 15. Zipper
16. Pista interior 16. Indoor track
17. Conductos 17. Ducts
18. Guias 18. Guides
19. Tope 19. Stop
20. Placa 20. Plate
21. Canal 21. Channel
22. Riel 22. Rail
23. Ruedas 23. Wheels
Con referencia a las figuras, el dispositivo de asistencia automatizada para apoyo en cirugías está conformado por una base de control (1) la cual tiene instalada en su parte frontal una base de rotación (2) ; el diámetro exterior de la base de rotación (2) es menor al diámetro exterior de la base de control (1) ; un orificio (3) se encuentra de manera longitudinal desde la parte posterior de la base de control (1) hasta la parte frontal de la base de rotación (2) ; el orificio (3) preferentemente es de forma cónica, donde el diámetro mayor se encuentra en la parte posterior de la base de control (1) , esta configuración permite colocar el dispositivo de asistencia automatizada para apoyo en cirugías en el antebrazo de una persona. With reference to the figures, the automated assistance device for support in surgeries is made up of a control base (1) which has a rotation base (2) installed on its front part; the outer diameter of the rotation base (2) is smaller than the outer diameter of the control base (1); a hole (3) is located longitudinally from the back of the control base (1) to the front of the rotation base (2); The hole (3) is preferably conical in shape, where the largest diameter is at the back of the base. control (1), this configuration allows the automated assistance device for support in surgery to be placed on a person's forearm.
Un módulo de control (no ilustrado) y una batería (no ilustrada) se encuentran instalados en el interior de la base de control (1) ; un puerto de carga (4) que preferentemente es USB (Universal Serial Bus por sus siglas en inglés) se encuentra instalado en la parte posterior de la base de control (1) ; el puerto de carga (4) está conectado a la batería (no ilustrada) , esta configuración permite cargar dicha batería (no ilustrada) por medio de un cable (no ilustrado) que se conecta de un extremo al puerto de carga (4) y el extremo contrario se conecta a una tomo de energía eléctrica. Un interruptor (5) se encuentra instalado en la parte posterior de la base de control (1) ; la batería (no ilustrada) se encuentra conectada al interruptor (5) el cual a su vez está conectado al módulo de control (no ilustrado) ; el interruptor (5) está configurado para pasar la energía de la batería (no ilustrada) , al módulo de control (no ilustrado) y energizar o desenergizar el dispositivo de asistencia automatizada para apoyo en cirugías; la batería (no ilustrada) preferentemente es recargable. A control module (not shown) and a battery (not shown) are installed inside the control base (1); a charging port (4) that is preferably USB (Universal Serial Bus) is installed on the back of the control base (1); The charging port (4) is connected to the battery (not shown), this configuration allows said battery (not shown) to be charged by means of a cable (not shown) that is connected from one end to the charging port (4) and The opposite end connects to an electrical outlet. A switch (5) is installed on the back of the control base (1); the battery (not shown) is connected to the switch (5) which in turn is connected to the control module (not shown); The switch (5) is configured to pass power from the battery (not shown), to the control module (not shown) and energize or de-energize the automated assistance device for support in surgeries; the battery (not illustrated) is preferably rechargeable.
Una perforación (6) se encuentra en la cara frontal de la base de control (1) , preferentemente en la parte superior; un actuador (no ilustrado) se encuentra instalado en el interior de la base de control (1) alineado a la perforación (6) ; un vástago (7) que preferentemente es magnético, se encuentra alojado en la perforación (6) y está instalado en el actuador (no ilustrado) ; la perforación (6) preferentemente es de forma semi circular; el actuador (no ilustrado) se encuentra conectado al módulo de control (no ilustrado) . Un motor (8) se encuentra instalado en la base de controlA perforation (6) is located on the front face of the control base (1), preferably in the upper part; an actuator (not illustrated) is installed inside the control base (1) aligned with the perforation (6); a stem (7) which is preferably magnetic, is housed in the hole (6) and is installed in the actuator (not illustrated); The perforation (6) is preferably semi-circular in shape; The actuator (not shown) is connected to the control module (not shown). A motor (8) is installed on the control base
(1) , preferentemente en la parte inferior; un piñón (9) se encuentra instalado en el motor (8) ; una banda (10) se encuentra instalada en la parte posterior de la base rotativa(1), preferably at the bottom; a pinion (9) is installed in the motor (8); A band (10) is installed on the back of the rotating base
(2) , la cual está alineada con el piñón (9) ; el motor (8) está configurado para transmitir movimiento rotativo al piñón(2), which is aligned with the pinion (9); The motor (8) is configured to transmit rotary motion to the pinion
(9) y de esta manera transmitir dicho movimiento en la banda(9) and in this way transmit said movement in the band
(10) y hacerla girar; la banda (10) preferentemente es dentada; el motor (8) se encuentra conectado al módulo de control (no ilustrado) . (10) and make it rotate; the band (10) is preferably serrated; The motor (8) is connected to the control module (not illustrated).
Un micrófono (11) se encuentra instalado en la parte posterior de la base de control (1) ; el micrófono (11) se encuentra conectado al módulo de control (no ilustrado) , esta configuración permite codificar comandos de voz por el módulo de control (no ilustrado) y convertirlo en señales eléctricas para controlar el actuador (no ilustrado) y el motor (8) para su operación. A microphone (11) is installed on the back of the control base (1); The microphone (11) is connected to the control module (not shown), this configuration allows voice commands to be encoded by the control module (not shown) and converted into electrical signals to control the actuator (not shown) and the motor ( 8) for its operation.
Una pista exterior (12) se encuentra en la parte frontal de la periferia exterior de la base de rotación (2) ; una pluralidad de elementos rodantes (13) que preferentemente son de forma esférica se instalan en el interior de la pista exterior ( 12 ) . An outer race (12) is located at the front of the outer periphery of the rotation base (2); A plurality of rolling elements (13) that are preferably spherical in shape are installed inside the outer track (12).
Un rotor (14) se encuentra instalado sobre la base de rotación (2) ; el rotor (14) tiene en la periferia interior de la parte posterior una cremallera (15) , la cual está configurada para engranar con el piñón (9) y de esta manera transmitir el movimiento giratorio del motor (8) al rotor (14) ; una pista interior (16) se encuentra en la periferia interior de la parte frontal del rotor (14) ; la pista interior (16) se encuentra alineada con la pista exterior (12) y está configurada para ensamblar con los elementos rodantes (13) , esta configuración permite estabilizar el rotor (14) y proporcionar un movimiento uniforme de dicho rotor (14) sobre la base de rotación (2) . A rotor (14) is installed on the rotation base (2); The rotor (14) has a rack (15) on the inner periphery of the rear part, which is configured to mesh with the pinion (9) and in this way transmit the rotary movement of the motor (8) to the rotor (14). ; an inner race (16) is located on the inner periphery of the front part of the rotor (14); The inner race (16) is aligned with the outer race (12) and is configured to assemble with the rolling elements (13), This configuration makes it possible to stabilize the rotor (14) and provide uniform movement of said rotor (14) on the rotation base (2).
Una pluralidad de conductos (17) se encuentran de manera longitudinal en la periferia exterior del rotor (14) , desde la parte frontal, hasta la parte posterior de dicho rotor (14) ; los conductos (17) preferentemente son de forma semicircular; dos guias (18) se encuentran alojadas de forma paralela en el interior de cada uno de los conductos (17) , preferentemente en los costados de la parte inferior; las guias (18) preferentemente tienen forma de "C" , y las caras abiertas se están encontradas; un tope (19) se encuentra en la parte posterior de cada una de las guias (18) ; el tope (18) está configurado para que las guias (18) no salgan por la parte posterior del rotor (14) ; una placa (20) se instala de manera longitudinal en las aberturas de las guias (18) de cada uno de los conductos (17) ; las placas (20) son magnética en la parte posterior, esta configuración permite desplazar dicha placa (20) hacia adelante o hacia atrás por medio del vástago (7) ; un canal (21) se encuentra en la parte superior de cada una de las placas (20) ; los canales (21) tienen los bordes superiores en forma curva, esta configuración permite poner instrumental quirúrgico de diferentes tipos; un riel (22) se encuentra instalado de manera longitudinal en el centro de la parte inferior de cada una de las placas (20) ; una pluralidad de ruedas (23) se encuentran instaladas a los costados del riel (22) ; dichas ruedas (23) están configuradas para proporcionar movimiento lineal a la placa (20) cunando el vástago (7) es impulsado hacia adelante por medio del actuador (no ilustrado) , y regresar a su posición de origen cuando el vástago (7) es retraído por el actuador (no ilustrado) ; las ruedas (23) se encuentran preferentemente en los extremos y en la parte media del riel (22) . La base de control (1) , la base de rotación (2) y el rotor (14) preferentemente son de forma cilindrica. A plurality of ducts (17) are located longitudinally on the outer periphery of the rotor (14), from the front part to the rear part of said rotor (14); The ducts (17) are preferably semicircular in shape; two guides (18) are housed in parallel inside each of the ducts (17), preferably on the sides of the lower part; The guides (18) preferably have a "C" shape, and the open faces are facing each other; a stop (19) is located on the back of each of the guides (18); the stop (18) is configured so that the guides (18) do not come out of the back of the rotor (14); a plate (20) is installed longitudinally in the openings of the guides (18) of each of the ducts (17); The plates (20) are magnetic on the back, this configuration allows said plate (20) to be moved forward or backward by means of the stem (7); a channel (21) is located at the top of each of the plates (20); The channels (21) have curved upper edges, this configuration allows surgical instruments of different types to be placed; a rail (22) is installed longitudinally in the center of the bottom of each of the plates (20); a plurality of wheels (23) are installed on the sides of the rail (22); said wheels (23) are configured to provide linear movement to the plate (20) when the stem (7) is driven forward by means of the actuator (not illustrated), and return to its original position when the stem (7) is retracted by actuator (not shown); The wheels (23) are preferably located at the ends and in the middle part of the rail (22). The control base (1), the rotation base (2) and the rotor (14) are preferably cylindrical in shape.
El actuador (no ilustrado) preferentemente es lineal. The actuator (not shown) is preferably linear.
El motor (8) puede ser un servomotor o un motor a pasos. The motor (8) can be a servomotor or a stepper motor.
La pista exterior (12) y la pista interior (16) son de forma semiesf érica . The outer race (12) and the inner race (16) are hemispherical in shape.
REALIZACIÓN PREFERENTE DE LA INVENCIÓN PREFERRED EMBODIMENT OF THE INVENTION
Ejemplos Examples
Los siguientes ejemplos ilustran una manera preferente, de cómo llevar a cabo la realización de la presente invención, por lo que no deben ser considerados como limitativos de la misma . The following examples illustrate a preferred way of carrying out the present invention, so they should not be considered as limiting it.
Ejemplo 1. Colocación y utilización del dispositivo de asistencia automatizada para apoyo en cirugías. Example 1. Placement and use of the automated assistance device for support in surgeries.
Con referencia a las figuras antes mencionadas, se coloca el dispositivo de asistencia automatizada para apoyo en cirugías introduciendo la mano del usuario en el orificio (3) de la parte posterior de la base de control (1) hasta que la mano sale por la parte frontal de la base de rotación (2) , de esta manera queda el dispositivo colocado en el antebrazo. Realizado lo anterior se presiona el interruptor (5) para energizar el de dispositivo de asistencia automatizada para apoyo en cirugías. With reference to the aforementioned figures, the automated assistance device for support in surgeries is placed by introducing the user's hand into the hole (3) on the back of the control base (1) until the hand comes out through the front of the rotation base (2), in this way the device is placed on the forearm. Once this is done, the switch (5) is pressed to energize the automated assistance device for support in surgeries.
Para iniciar la intervención quirúrgica se da una instrucción de voz solicitando el instrumental requerido, el mensaje es captado por el micrófono (11) y en ese momento el módulo de control (no ilustrado) codifica el mensaje convirtiéndolo en señales electrónicas para activar el motor (8) y transmitir movimiento giratorio al rotor (14) hasta posicionar el instrumental solicitado en dirección de la perforación (6) , posteriormente el módulo de control (no ilustrado) activa el actuador (no ilustrado) para que el vástago (7) impulse en un movimiento lineal hacia adelante la placa (20) , la cual tiene alojado en el canal (21) el instrumental requerido para la intervención, y una vez tomado dicho instrumento por la persona que realiza la intervención, el vástago (7) se retrae para que la placa (20) vuelva a la posición inicial. To start the surgical intervention, a voice instruction is given requesting the required instruments, the message is captured by the microphone (11) and at that moment the control (not illustrated) encodes the message converting it into electronic signals to activate the motor (8) and transmit rotary movement to the rotor (14) until the requested instrument is positioned in the direction of the drilling (6), subsequently the control module (not illustrated ) activates the actuator (not illustrated) so that the stem (7) drives the plate (20) in a linear movement forward, which has the instruments required for the intervention housed in the channel (21), and once said instrument by the person performing the intervention, the stem (7) is retracted so that the plate (20) returns to the initial position.
Cuando se requiere hacer un cambio de instrumento, se da la instrucción verbal y el módulo de control (no ilustrado) codifica la instrucción para que la placa (20) que entregó el instrumento sea impulsada nuevamente hacia adelante por el vástago (7) del actuador (no ilustrado) para colocar el instrumento que se estaba utilizando en el canal (21) , posteriormente la placa (20) es retraída por el actuador (no ilustrado) y una vez en su posición original el motor (8) se activa para girar el rotor (14) hasta que el nuevo instrumento solicitado se posicione en la perforación (6) y repetir el proceso de entrega del instrumental solicitado. When an instrument change is required, the verbal instruction is given and the control module (not illustrated) encodes the instruction so that the plate (20) that delivered the instrument is again propelled forward by the actuator stem (7). (not illustrated) to place the instrument that was being used in the channel (21), subsequently the plate (20) is retracted by the actuator (not illustrated) and once in its original position the motor (8) is activated to rotate the rotor (14) until the new requested instrument is positioned in the perforation (6) and repeat the process of delivering the requested instrument.
En vista de lo expuesto en el presente capitulo descriptivo, se reitera que el alcance de la presente invención no deberá estar limitado por las modalidades particularmente descritas, por lo que se entenderá que podrán efectuarse variaciones en varios sentidos. Dichas variaciones no deben considerarse como una desviación del espíritu y alcance de la invención, y todas esas modificaciones pueden ser obvias para un experto en la materia y deben de ser incluidas en alcance de las siguientes reivindicaciones. In view of what is stated in this descriptive chapter, it is reiterated that the scope of the present invention should not be limited by the modalities particularly described, so it will be understood that variations may be made in various ways. Such variations should not be considered a deviation from the spirit and scope of the invention, and all such modifications may be obvious to a person skilled in the art and should be included in the scope of the following claims.

Claims

REIVINDICACIONES
1. Un dispositivo de asistencia automatizada para apoyo en cirugías, caracterizado porque comprende: una base de control (1) que tiene instalada en la parte frontal una base de rotación (2) ; un orificio (3) se encuentra de manera longitudinal desde la parte posterior de la base de control1. An automated assistance device for support in surgeries, characterized in that it comprises: a control base (1) that has a rotation base (2) installed on the front part; a hole (3) is located longitudinally from the rear of the control base
(1) hasta la parte frontal de la base de rotación (2) ; un módulo de control y una batería se encuentran instalados en el interior de la base de control (1) ; un puerto de carga (4) se encuentra instalado en la parte posterior de la base de control (1) y está conectado a la batería; un interruptor (5) se encuentra instalado en la parte posterior de la base de control (1) ; la batería se encuentra conectada al interruptor(1) to the front of the rotation base (2) ; a control module and a battery are installed inside the control base (1); a charging port (4) is installed on the back of the control base (1) and is connected to the battery; a switch (5) is installed on the back of the control base (1); the battery is connected to the switch
(5) el cual a su vez está conectado al módulo de control; una perforación (6) se encuentra en la cara frontal de la base de control (1) ; un actuador se encuentra instalado en el interior de la base de control (1) alineado a la perforación(5) which in turn is connected to the control module; a perforation (6) is located on the front face of the control base (1); An actuator is installed inside the control base (1) aligned to the perforation
(6) ; un vástago (7) se encuentra alojado en la perforación (6) y está instalado en el actuador, dicho actuador se encuentra conectado al módulo de control; un motor (8) se encuentra instalado en la base de control (1) y se encuentra conectado al módulo de control; un piñón (9) se encuentra instalado en el motor (8) ; una banda (10) se encuentra instalada en la parte posterior de la base rotativa (2) alineada con el piñón (9) ; un micrófono (11) se encuentra instalado en la parte posterior de la base de control (1) y está conectado al módulo de control; una pista exterior (12) se encuentra en la parte frontal de la periferia exterior de la base de rotación (2) ; una pluralidad de elementos rodantes (13) se instalan en el interior de la pista exterior (12) ; un rotor (14) se encuentra instalado sobre la base de rotación(6) ; a stem (7) is housed in the hole (6) and is installed in the actuator, said actuator is connected to the control module; a motor (8) is installed in the control base (1) and is connected to the control module; a pinion (9) is installed in the motor (8); a band (10) is installed on the back of the rotating base (2) aligned with the pinion (9); a microphone (11) is installed on the back of the control base (1) and is connected to the control module; an outer race (12) is located in the front part of the outer periphery of the rotation base (2); a plurality of rolling elements (13) are installed inside the outer race (12); a rotor (14) is installed on the rotation base
(2) ; una cremallera (15) se encuentra en la periferia interior del rotor (14) ; una pista interior (16) se encuentra en la periferia interior de la parte frontal del rotor (14) , alineada con la pista exterior (12) y ensamblar con los elementos rodantes (13) ; una pluralidad de conductos (17) se encuentran de manera longitudinal en la periferia exterior del rotor (14) ; dos guias (18) se encuentran alojadas de forma paralela en el interior de cada uno de los conductos(2) ; a rack (15) is located on the inner periphery of the rotor (14); An inner track (16) is located in the inner periphery of the front part of the rotor (14), aligned with the outer race (12) and assemble with the rolling elements (13); a plurality of ducts (17) are located longitudinally on the outer periphery of the rotor (14); two guides (18) are housed in parallel inside each of the ducts
(17) en los costados de la parte inferior; un tope (19) se encuentra en la parte posterior de cada una de las guias(17) on the sides of the bottom; A stop (19) is located on the back of each of the guides
(18) ; una placa (20) se instala de manera longitudinal en las aberturas de las guias (18) de cada uno de los conductos (17) ; un canal (21) se encuentra en la parte superior de cada una de las placas (20) ; un riel (22) se encuentra instalado de manera longitudinal en el centro de la parte inferior de cada una de las placas (20) ; y, una pluralidad de ruedas (23) se encuentran instaladas a los costados del riel (22) . (18) ; a plate (20) is installed longitudinally in the openings of the guides (18) of each of the ducts (17); a channel (21) is located at the top of each of the plates (20); a rail (22) is installed longitudinally in the center of the bottom of each of the plates (20); and, a plurality of wheels (23) are installed on the sides of the rail (22).
2. El dispositivo de la reivindicación 1 caracterizado porque, la base de control (1) , la base de rotación (2) y el rotor (14) son de forma cilindrica. 2. The device of claim 1 characterized in that the control base (1), the rotation base (2) and the rotor (14) are cylindrical in shape.
3. El dispositivo de las reivindicaciones anteriores caracterizado porque, la base de rotación (2) tiene el diámetro exterior menor al diámetro exterior de la base de control ( 1 ) . 3. The device of the preceding claims characterized in that the rotation base (2) has an external diameter smaller than the external diameter of the control base (1).
4. El dispositivo de la reivindicación 1 caracterizado porque, el orificio (3) es de forma cónica. 4. The device of claim 1 characterized in that the hole (3) is conical in shape.
5. El dispositivo de la reivindicación anterior caracterizado porque, el orificio (3) es de diámetro mayor en la parte posterior de la base de control (1) . 5. The device of the previous claim characterized in that the hole (3) has a larger diameter in the rear part of the control base (1).
6. El dispositivo de la reivindicación 1 caracterizado porque, el puerto de carga (4) es USB. 6. The device of claim 1 characterized in that the charging port (4) is USB.
7. El dispositivo de la reivindicación 1 caracterizado porque, la perforación (6) está en la parte superior. 7. The device of claim 1 characterized in that the perforation (6) is in the upper part.
8. El dispositivo de las reivindicaciones 1 y 7 caracterizado porque, la perforación (6) es de forma semi circular. 8. The device of claims 1 and 7 characterized in that the perforation (6) is semi-circular in shape.
9. El dispositivo de la reivindicación 1 caracterizado porque, el vástago (7) es magnético. 9. The device of claim 1 characterized in that the stem (7) is magnetic.
10. El dispositivo de la reivindicación 1 caracterizado porque, el motor (8) está en la parte inferior. 10. The device of claim 1 characterized in that the motor (8) is at the bottom.
11. El dispositivo de las reivindicaciones 1 y 10 caracterizado porque, el motor (8) es un servomotor o un motor a pasos. 11. The device of claims 1 and 10 characterized in that the motor (8) is a servomotor or a stepper motor.
12. El dispositivo de la reivindicación 1 caracterizado porque, la banda (10) es dentada. 12. The device of claim 1 characterized in that the band (10) is serrated.
13. El dispositivo de la reivindicación 1 caracterizado porque, la pista exterior (12) y la pista interior (16) son de forma semiesf érica . 13. The device of claim 1 characterized in that the outer track (12) and the inner track (16) are hemispherical in shape.
14. El dispositivo de la reivindicación 1 caracterizado porque, los elementos rodantes (13) son de forma esférica. 14. The device of claim 1 characterized in that the rolling elements (13) are spherical in shape.
15. El dispositivo de la reivindicación 1 caracterizado porque, los conductos (17) son de forma semicircular. 15. The device of claim 1 characterized in that the ducts (17) are semicircular in shape.
16. El dispositivo de las reivindicaciones 1 y 14 caracterizado porque, los conductos (17) están dispuestos desde la parte frontal, hasta la parte posterior de la periferia del rotor (14) . 16. The device of claims 1 and 14 characterized in that the ducts (17) are arranged from the front to the rear of the periphery of the rotor (14).
17. El dispositivo de la reivindicación 1 caracterizado porque, las guias (18) tienen forma de "C" . 17. The device of claim 1 characterized in that the guides (18) are "C" shaped.
18. El dispositivo de las reivindicaciones 1 y 17 caracterizado porque, las guias (18) tienen las caras abiertas encontradas. 18. The device of claims 1 and 17 characterized in that the guides (18) have open faces facing each other.
19. El dispositivo de la reivindicación 1 caracterizado porque, las placas (20) son magnéticas en la parte posterior. 19. The device of claim 1 characterized in that the plates (20) are magnetic on the back.
20. El dispositivo de la reivindicación 1 caracterizado porque, los canales (21) tienen los bordes superiores en forma curva. 20. The device of claim 1 characterized in that the channels (21) have curved upper edges.
21. El dispositivo de la reivindicación 1 caracterizado porque, las ruedas (23) se encuentran en los extremos y en la parte media del riel (22) . 21. The device of claim 1 characterized in that the wheels (23) are located at the ends and in the middle part of the rail (22).
22. El dispositivo de la reivindicación 1 caracterizado porque, la batería es recargable. 22. The device of claim 1 characterized in that the battery is rechargeable.
23. El dispositivo de la reivindicación 1 caracterizado porque, el actuador es lineal. 23. The device of claim 1 characterized in that the actuator is linear.
PCT/MX2022/050129 2022-12-14 2022-12-14 Automated assistive device for support during surgery WO2024128897A1 (en)

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