An intracorporeal interventional imaging device and a retraction drive structure

Abstract

The application discloses an in-vivo interventional imaging device, belonging to the field of medical instruments, wherein a retracting driving structure is slidingly installed on a base, a catheter is fixedly installed on the retracting driving structure, a motor is in transmission connection with a worm, the worm is in meshing connection with a turbine, a turbine shaft is fixedly connected with the turbine, a cam groove is arranged on the turbine shaft, the cam groove comprises a first groove position and a second groove position, an opening and closing shaft is rotatably installed on an output shaft, the output shaft is connected with an output component, the end of the opening and closing shaft is located in the cam groove, when the motor rotates in a forward direction, the opening and closing shaft is located in the first groove position, the opening and closing shaft is in cooperation with the output shaft to drive the output shaft to rotate, the output component is in cooperation with the base to drive the catheter to retract relative to the base, at this time, the retracting mechanism cannot be reversely driven due to the self-locking of the turbine worm; when the motor reversely rotates, the turbine shaft rotates to make the end of the opening and closing shaft located in the second groove position, the opening and closing shaft rotates relative to the output shaft and is separated from the output shaft, and the retracting mechanism is manually realized to advance and retreat. The application also relates to a retracting driving structure included in the in-vivo interventional imaging device.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and in particular to an in vivo interventional imaging device and a retraction drive structure included in the in vivo interventional imaging device. Background Technology

[0002] Intraoperative imaging is a technique that combines imaging technology with catheter technology, utilizing imaging sensors connected to the end of the catheter for medical diagnosis and treatment. Imaging catheters typically image cross-sections of internal cavities, allowing for precise analysis of morphological structures such as the inner wall and plaques. Examples include imaging methods such as gastrointestinal ultrasound, bronchial ultrasound, intravascular ultrasound, and vascular optical coherence tomography.

[0003] The retraction mechanism is a crucial component of in vivo interventional imaging systems. Taking intravascular ultrasound imaging as an example, the imaging transducer images a cross-section along the diameter of the blood vessel. By controlling the movement of the ultrasound catheter within the blood vessel through the retraction mechanism, imaging can be achieved along the axial section of the blood vessel, increasing the imaging dimension and enabling three-dimensional imaging. The performance and reliability of the retraction mechanism directly impact the accuracy and safety of the detection.

[0004] In the prior art, patent application number CN201521061975.1 discloses an ultrasound probe retraction device and an intravascular ultrasound device. However, the retraction mechanism of this device does not have a self-locking capability. In practical applications, it is easy to be reversed due to external interference factors, such as vibration and collision coupling, which makes the movement of the catheter uncertain, affects the detection effect, and may even cause medical accidents in severe cases. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, one of the objectives of the present invention is to provide an in vivo interventional imaging device in which the transmission structure can be self-locked when the motor rotates forward and can be manually moved forward and backward when the motor rotates in reverse.

[0006] In order to overcome the shortcomings of the prior art, the second objective of this invention is to provide a drive structure that can self-lock when the motor rotates forward and can manually achieve forward and backward movement when the motor rotates in reverse.

[0007] One of the objectives of this invention is achieved through the following technical solution:

[0008] An in vivo interventional imaging device includes a base, a retraction drive structure, and a catheter. The retraction drive structure is slidably mounted on the base, and the catheter is fixedly mounted on the retraction drive structure. The retraction drive structure includes a housing, a motor, a worm gear, a turbine, a clutch assembly, and an output component. The motor is drivenly connected to the worm gear, and the worm gear meshes with the turbine. The clutch assembly includes a turbine shaft, an opening / closing shaft, and an output shaft. The worm shaft is fixedly connected to the turbine and has a cam groove, which includes a first groove and a second groove. The opening / closing shaft is rotatably mounted on the output shaft and connected to the output component. The end of the opening / closing shaft is located in the cam groove. When the motor rotates forward, the opening / closing shaft is located in the first groove, and the opening / closing shaft cooperates with the output shaft to drive the output shaft to rotate. The output component cooperates with the base to drive the catheter to retract relative to the base. When the motor rotates in reverse, the turbine shaft rotates, causing the end of the opening / closing shaft to be located in the second groove, and the opening / closing shaft rotates relative to the output shaft and separates from the output shaft.

[0009] Furthermore, the opening and closing shaft is provided with a first gear, and the output shaft is provided with a second gear. When the motor rotates forward, the first gear meshes with the second gear; when the motor rotates in reverse, the first gear disengages from the second gear.

[0010] Furthermore, the clutch assembly also includes a wear-resistant sleeve, one end of the opening / closing shaft is located in the wear-resistant sleeve, and the wear-resistant sleeve is rotatably connected to the output shaft.

[0011] Furthermore, the other end of the opening and closing shaft is also located in the wear-resistant sleeve, which is located in the cam groove.

[0012] Furthermore, the output component is a gear, and the base includes a rack, with the gear meshing with the rack.

[0013] Furthermore, the retraction drive structure also includes an elastic plunger, which includes a column, an elastic element, and a ball head. The ball head is floatingly mounted on the column through the elastic element, and the output shaft is provided with a limiting groove, in which the ball head is located.

[0014] Furthermore, the end of the worm gear away from the motor is provided with an operating groove.

[0015] Furthermore, the base includes a base plate, a guide rail, a slider, and a mounting base. The guide rail is fixed to the base plate, the slider is slidably mounted on the guide rail, the mounting base is fixed to the slider, and the retraction drive structure is fixed to the mounting base.

[0016] Furthermore, the base includes a base plate, a support frame, and a support. The support frame is fixed to the base plate, and the support is installed at the end of the support frame. The support includes a main body, a stylus, and an indicator light. The main body is provided with a receiving groove, and the stylus is installed in the receiving groove. The stylus is connected to the indicator light. When the conduit is installed in the receiving groove, it abuts against the stylus, causing the indicator light to be lit.

[0017] The second objective of this invention is achieved by the following technical solution:

[0018] A retraction drive structure includes a housing, a motor, a worm gear, a turbine, a clutch assembly, and an output component. The motor is driven by the worm gear, which meshes with the turbine. The clutch assembly includes a turbine shaft, an opening / closing shaft, and an output shaft. The worm shaft is fixedly connected to the turbine and has a cam groove, which includes a first slot and a second slot. The opening / closing shaft is rotatably mounted on the housing. The output shaft is connected to the output component, and the end of the opening / closing shaft is located in the cam groove. When the motor rotates forward, the opening / closing shaft is located in the first slot, and the opening / closing shaft cooperates with the output shaft to drive the output shaft to rotate, causing the output component to output rotation. When the motor rotates in reverse, the turbine shaft rotates, causing the end of the opening / closing shaft to be located in the second slot, and the opening / closing shaft rotates relative to the output shaft and separates from the output shaft.

[0019] Compared with existing technologies, the in vivo interventional imaging device of the present invention has the following advantages:

[0020] (1) When the motor rotates forward, the worm gear meshes with the turbine, the opening and closing shaft is located in the first slot, the opening and closing shaft cooperates with the output shaft to drive the output shaft to rotate, the output component cooperates with the base to drive the catheter to retract relative to the base. At this time, due to the self-locking of the worm gear, the retraction mechanism cannot be driven in the reverse direction. That is, in this state, the retraction mechanism can only achieve backward sliding movement, which ensures the safety of the treatment process.

[0021] (2) When the motor reverses, the turbine shaft rotates so that the end of the opening and closing shaft is in the second slot. The opening and closing shaft rotates relative to the output shaft and separates from the output shaft. The retraction mechanism can be manually moved forward and backward.

[0022] (3) An operating groove is provided at the end of the worm gear away from the motor. In case of motor failure or other abnormalities, the worm gear can be manually turned to realize the manual opening and closing of the clutch mechanism.

[0023] (4) The clutch assembly also includes a wear-resistant sleeve. One end of the opening and closing shaft is located in the wear-resistant sleeve, and the wear-resistant sleeve is rotatably connected to the output shaft. The other end of the opening and closing shaft is also located in the wear-resistant sleeve, and the wear-resistant sleeve is located in the cam groove. The wear-resistant sleeve converts the relative sliding between the cam groove on the turbine shaft and the opening and closing shaft into two sets of rolling, effectively reducing motion damping and improving transmission efficiency.

[0024] (5) The opening and closing shaft is equipped with a first gear and the output shaft is equipped with a second gear. When the motor rotates forward, the first gear meshes with the second gear. The first gear and the second gear are conjugate teeth, which reduces the backlash of the transmission and improves the meshing and transmission reliability.

[0025] (6) The ball head is floatingly mounted on the column through an elastic element. The ball head is located in the limited slip groove of the output shaft. When the contact force is exceeded, the output component slips relative to the output shaft. This can protect the opening and closing mechanism from damage due to excessive torque when the opening and closing mechanism is locked but the operator misoperates.

[0026] (7) When the conduit is installed in the receiving slot, it contacts the contact pin and the indicator light is lit. There is a visual indication after the conduit is installed in place, which prevents misoperation and improves safety. Attached Figure Description

[0027] Figure 1 This is an assembly diagram of the in vivo interventional imaging device of the present invention;

[0028] Figure 2 for Figure 1 Another assembly diagram of the in vivo interventional imaging device;

[0029] Figure 3 for Figure 1 Exploded view of an in vivo interventional imaging device;

[0030] Figure 4 for Figure 3 A three-dimensional view of the base of the in vivo interventional imaging device;

[0031] Figure 5 for Figure 4 A three-dimensional view of the base support;

[0032] Figure 6 for Figure 3 A schematic diagram of the internal structure of the retraction drive structure of an in vivo interventional imaging device;

[0033] Figure 7 for Figure 6 A three-dimensional view of the worm gear in the retraction drive structure;

[0034] Figure 8 for Figure 6 A three-dimensional view of the clutch assembly of the retraction drive structure;

[0035] Figure 9 for Figure 8 A perspective view of the turbine shaft of the clutch assembly;

[0036] Figure 10 for Figure 6 A partial three-dimensional view of the retraction drive structure;

[0037] Figure 11 for Figure 10 A partial structural cross-sectional view of the retraction drive structure;

[0038] Figure 12 for Figure 6 Another cross-sectional view of the retraction drive structure.

[0039] In the diagram: 10. Base; 11. Base plate; 12. Rack; 13. Guide rail; 14. Limiting block; 15. Mounting seat; 16. Battery; 17. Support frame; 18. Support; 181. Main body; 1810. Receiving part; 1811. Receiving slot; 1812. Mounting rod; 182. Stylus; 183. Indicator light; 19. Slider; 20. Retraction drive structure; 21. Housing; 210. Mounting surface; 211. Spring groove; 22. Motor; 23. Worm gear; 230. Operating groove; 24. Turbine; 25. Clutch assembly; 250. Turbine shaft ; 2501, Cam groove; 2502, First slot; 2503, Second slot; 251, Opening / closing shaft; 2510, First gear; 252, Output shaft; 2520, Second gear; 2521, Limited slip groove; 253, Wear-resistant sleeve; 254, One-way valve; 2540, Friction shaft; 2541, Elastic element; 26, Output component; 27, Elastic plunger; 270, Column; 271, Elastic element; 272, Ball head; 28, Backlash-free gear; 29, Encoder; 30, Conduit; 31, Mounting part; 32, Body; 320, Positioning surface. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or it can be fixed through another intermediate component. When a component is said to be "connected to" another component, it can be directly connected to the other component or it may be fixed through another intermediate component. When a component is said to be "set on" another component, it can be set directly on the other component or it may be set through another intermediate component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0043] Figures 1 to 3 The present invention provides an in vivo interventional imaging device, which includes a base 10, a retraction drive structure 20, and a catheter 30.

[0044] Please continue reading. Figure 4 The base 10 includes a base plate 11, a rack 12, a guide rail 13, a limit block 14, a mounting base 15, a battery 16, a support frame 17, a support 18, and a slider 19.

[0045] The base plate 11 includes a first plate and a second plate, with the second plate extending from the side of the first plate and perpendicular to it. The base plate 11 has an L-shaped cross-section. A rack 12 is fixed to the top of the second plate. The guide rail 13 is a linear guide rail, fixed to the first plate, and its extension direction is parallel to that of the rack 12. There are two limiting blocks 14, which are fixed to the two ends of the guide rail 13 respectively. When the slider 19 slides relative to the guide rail 13 to its two extreme positions, it abuts against the two limiting blocks 14 respectively. A mounting base 15 is fixed to the slider 19 and is used to mount the retraction drive structure 20. The mounting base 15 has two opposing inclined surfaces to position the retraction drive structure 20 relative to the mounting base 15. A battery 16 is fixed to the first plate and is electrically connected to an indicator light 183 on the support 18, providing power to the indicator light 183. The support frame 17 is fixed to the end of the first plate and is used to support the mounting part 31 of the conduit 30. The top of the support frame 17 is provided with a mounting groove, which is elongated.

[0046] Please continue reading. Figure 5The support 18 includes a main body 181, a stylus 182, and an indicator light 183. The main body 181 includes a receiving portion 1810 and a mounting rod 1812, which extends from the bottom of the receiving portion 1810. The mounting rod 1812 extends into a mounting groove and is locked by a nut. The position of the support 18 is adjusted by mounting the mounting rod 1812 at different positions in the mounting groove. The height of the support 18 is adjusted by providing different numbers of shims between the mounting rod 1812 and the mounting groove. The receiving portion 1810 has a receiving groove 1811 that receives the mounting portion 31 of the conduit 30. The stylus 182 is installed in the receiving groove 1811, and the indicator light 183 is fixed to the main body 181 and connected to the stylus 182. When the conduit 30 is installed, it contacts the stylus 182, which activates the indicator light 183 to indicate that the conduit 30 is properly installed.

[0047] Please continue reading. Figure 6 and Figure 7 The retraction drive structure 20 includes a housing 21, a motor 22, a worm gear 23, a turbine 24, a clutch assembly 25, an output component 26, an elastic plunger 27, a backlash-free gear 28, and an encoder 29.

[0048] The housing 21 houses the motor 22, worm gear 23, turbine gear 24, clutch assembly 25, output component 26, elastic plunger 27, backlash-free gear 28, and encoder 29. Specifically, the housing 21 comprises two parts: one part for mounting the backlash-free gear 28, clutch assembly 25, and output component 26; and the other part for mounting the worm gear 23 and turbine gear 24. The housing 21 has a mounting surface 210, which is inclined to facilitate installation. The housing 21 also has multiple spring grooves 211 located on a circumference. Each spring groove 211 is arc-shaped, with one end close to the center and the other end away from the center.

[0049] Motor 22 is a DC servo motor. The output end of motor 22 is connected to worm gear 23, and motor 22 drives worm gear 23 to rotate. Worm gear 24 meshes with worm gear 23. An operating groove 230 is provided at the end of worm gear 23 away from motor 22. In case of malfunction or other abnormalities of motor 22, worm gear 23 can be manually turned through operating groove 230 to manually open and close the clutch mechanism.

[0050] Please continue reading. Figures 8 to 11 The clutch assembly 25 includes a turbine shaft 250, an opening and closing shaft 251, an output shaft 252, a wear-resistant sleeve 253, and a one-way valve 254.

[0051] The turbine shaft 250 is fixedly connected to the turbine 24, with part of the turbine shaft 250 located inside the turbine 24 and the remaining part extending out of the turbine 24. A cam groove 2501 is provided at the end of the turbine shaft 250. The cam groove 2501 includes a first groove 2502 and a second groove 2503, with the first groove 2502 communicating with the second groove 2503. Multiple cam grooves 2501 are evenly distributed at the end of the turbine shaft 250.

[0052] There are multiple opening / closing shafts 251, the same number as the number of cam grooves 2501. Each opening / closing shaft 251 includes two ends and an extension connecting the two ends. The two ends are parallel to each other, and the extension is perpendicular to the two ends. A first gear 2510 is provided at the junction of the extension and one end. One end of the opening / closing shaft 251 is rotatably connected to the output shaft 252, and the other end of the opening / closing shaft 251 is located in the cam groove 2501.

[0053] Wear-resistant sleeves 253 are installed at both ends of the opening and closing shaft 251. Wear-resistant sleeves 253 convert the relative sliding between the cam groove 2501 on the turbine shaft 250 and the opening and closing shaft 251 into two sets of rolling, effectively reducing motion damping and improving transmission efficiency.

[0054] The output shaft 252 is equipped with a second gear 2520, which meshes with the first gear 2510, enabling the opening / closing shaft 251 to drive the output shaft 252 to rotate. The first gear 2510 and the second gear 2520 are conjugate teeth, reducing the backlash of the transmission and improving meshing and transmission reliability. The output shaft 252 is also equipped with a limiting groove 2521, which is used to install an elastic plunger 27. When the contact force is exceeded, the output component 26 slips relative to the output shaft 252, protecting the opening / closing mechanism from damage due to excessive torque in case the opening / closing mechanism is locked but the operator misoperates.

[0055] The one-way valve 254 includes a friction shaft 2540 and an elastic element 2541. The number of friction shafts 2540 and elastic elements 2541 is the same as the number of spring slots 211. The elastic element 2541 is a spring. The friction shaft 2540 and elastic element 2541 are located in the spring slots 211, with the friction shaft 2540 located at the narrow end of the spring slot 211. The elastic element 2541 abuts against the friction shaft 2540.

[0056] The output component 26 is mounted on the output shaft 252 via a resilient plunger 27. In this embodiment, the output component 26 is a gear.

[0057] The resilient plunger 27 includes a plunger 270, an elastic element 271, and a ball head 272. The elastic element 271 is installed inside the plunger 270. The ball head 272 is installed at the end of the plunger 270 and is connected to the elastic element 271, floating on the plunger 270 via the elastic element 271. Specifically, the elastic element 271 is a spring. The plunger 270 has external threads and is threadedly installed on the output component 26. The ball head 272 is located in the limiting groove 2521. When the contact force is exceeded, the elastic element 271 is compressed and retracts, causing the ball head 272 to disengage from the limiting groove 2521, causing the output component 26 to slip relative to the output shaft 252. This protects the opening and closing mechanism from damage due to excessive torque when it is locked but the operator misoperates.

[0058] The backlash-eliminating gear 28 meshes with the output component 26. The backlash-eliminating gear 28 can compensate for the reverse position detection error caused by unavoidable tooth backlash, thus ensuring the position accuracy of the system.

[0059] There are two encoders 29, namely a speed ring encoder and a position ring encoder. The speed ring encoder is arranged on the end of the motor 22 shaft, and the position ring encoder is installed on the backlash-free gear 28.

[0060] The conduit 30 includes a mounting portion 31 and a body 32. The mounting portion 31 is located at the end of the body 32 and extends out of the body 32. The mounting portion 31 is cylindrical and its diameter is smaller than the width of the body 32. The body 32 is provided with a positioning surface 320, which is an inclined surface to facilitate positioning of the conduit 30 during installation.

[0061] When assembling the in vivo interventional imaging device, the retraction drive structure 20 is fixed to the mounting base 15 of the base 10, and the output component 26 engages with the rack 12. The body 32 of the catheter 30 is mounted on the retraction drive structure 20, and the mounting part 31 is mounted on the support 18. When the catheter 30 is installed, it contacts the contact needle 182, and the contact needle 182 turns on the indicator light 183 to indicate that the catheter 30 is installed in place.

[0062] When using the in vivo interventional imaging device, motor 22 rotates forward, worm gear 23 meshes with turbine 24, and opening / closing shaft 251 is located in the first slot 2502. Opening / closing shaft 251 cooperates with output shaft 252, causing it to rotate. Output component 26 cooperates with base 10, causing catheter 30 to retract relative to base 10. At this time, due to the self-locking of turbine 24 and worm gear 23, the retraction mechanism cannot reverse; that is, in this state, the retraction mechanism can only slide backward, ensuring the safety of the treatment process. During the rotation of output shaft 252, if... Figure 12As shown, the output shaft 252 rotates clockwise, driving the friction shaft 2540 to move within the spring groove 211. The friction shaft 2540 contacts the elastic element 2541, compressing it. Since the spring groove 211 is arc-shaped, with one end close to the center and the other away, after the friction shaft 2540 moves within the spring groove 211, it moves away from the output shaft 252, allowing the output shaft 252 to rotate continuously. When the motor 22 reverses, the turbine shaft 24 rotates, causing the end of the opening / closing shaft 251 to be positioned in the second slot 2503. The opening / closing shaft 251 rotates relative to the housing 21 and separates from the output shaft 252. The retraction mechanism can be manually operated to move forward and backward. When the output shaft 252 rotates counterclockwise, it drives the friction shaft 2540 to move in the spring groove 211. Driven by the output shaft 252 and resisted by the elastic element 2541, the friction shaft 2540 moves in the spring groove 211 and approaches the output shaft 252. When the output shaft 252 rotates counterclockwise, it will be squeezed due to the friction of the movement, thus preventing the output shaft 252 from rotating.

[0063] This application's in vivo interventional imaging device adopts a modular design while minimizing transmission components, resulting in a compact structure and low manufacturing cost. In case of abnormalities such as motor 22 failure, the worm gear 23 can be manually turned to manually open and close the clutch mechanism. The wear-resistant sleeve 253 converts the relative sliding between the cam groove 2501 on the turbine shaft and the opening / closing shaft 251 into two sets of rolling, effectively reducing motion damping and improving transmission efficiency. The first gear 2510 and the second gear 2520 are conjugate teeth, reducing the transmission backlash and improving meshing and transmission reliability. The ball head 272 is floatingly mounted on the column 270 via the elastic element 271. When the contact force is exceeded, the output component 26 slips relative to the output shaft 252, protecting the opening / closing mechanism from damage due to excessive torque if the opening / closing mechanism is locked but the operator misoperates. When the catheter 30 is installed in the receiving slot 1811, it contacts the stylus 182, illuminating the indicator light 183. After the catheter 30 is installed in place, there is a visual indication to prevent misoperation and improve safety.

[0064] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These are all equivalent modifications and improvements made to the above embodiments based on the essential technology of the present invention, and all of these fall within the protection scope of the present invention.

Claims

1. An in vivo interventional imaging device, comprising a base, a retraction drive structure, and a catheter, characterized in that: The retraction drive structure is slidably mounted on the base, and the conduit is fixedly mounted on the retraction drive structure. The retraction drive structure includes a housing, a motor, a worm, a worm wheel, a clutch assembly, and an output component. The motor is drivenly connected to the worm, and the worm meshes with the worm wheel. The clutch assembly includes a worm wheel shaft, an opening / closing shaft, and an output shaft. The worm wheel shaft is fixedly connected to the worm wheel and has a cam groove, which includes a first groove and a second groove. The opening / closing shaft is rotatably mounted on the housing, and the output shaft is connected to the output component. The end of the opening / closing shaft is located in the cam groove. When the motor rotates forward, the opening / closing shaft is located in the first groove. The opening / closing shaft cooperates with the output shaft to drive the output shaft to rotate. The output component cooperates with the base to drive the conduit to retract relative to the base. When the motor rotates in reverse, the worm wheel shaft rotates to cause the end of the opening / closing shaft to be located in the second groove. The opening / closing shaft rotates relative to the housing and separates from the output shaft. The housing is also provided with multiple spring grooves located on the circumference. Each spring groove is arc-shaped, with one end close to the center and the other end away from the center. The clutch assembly also includes a one-way device, which includes a friction shaft and an elastic element. The number of friction shafts and elastic elements is the same as the number of spring slots. The friction shafts and elastic elements are located in the spring slots. The friction shafts are located at the narrow end of the spring slots, and the elastic elements abut against the friction shafts. When the output shaft rotates clockwise, it drives the friction shaft to move in the spring groove. The friction shaft abuts against the elastic element, and the elastic element is compressed. Since the spring groove is arc-shaped, with one end close to the center and the other end away from the center, after the friction shaft moves in the spring groove, the friction shaft moves away from the output shaft, and the output shaft can rotate continuously. When the output shaft rotates counterclockwise, it drives the friction shaft to move in the spring groove. Driven by the output shaft and resisted by the elastic element, the friction shaft moves in the spring groove and approaches the output shaft. When the output shaft rotates counterclockwise, it will be squeezed due to the friction of the movement, thus preventing the output shaft from rotating.

2. The in vivo interventional imaging device according to claim 1, characterized in that: The opening and closing shaft is equipped with a first gear, and the output shaft is equipped with a second gear. When the motor rotates forward, the first gear meshes with the second gear; when the motor rotates in reverse, the first gear disengages from the second gear.

3. The in vivo interventional imaging device according to claim 1, characterized in that: The clutch assembly also includes a wear-resistant sleeve, one end of the opening and closing shaft is located in the wear-resistant sleeve, and the wear-resistant sleeve is rotatably connected to the output shaft.

4. The in vivo interventional imaging device according to claim 3, characterized in that: The other end of the opening and closing shaft is also located in the wear-resistant sleeve, which is located in the cam groove.

5. The in vivo interventional imaging device according to claim 1, characterized in that: The output component is a gear, and the base includes a rack, with the gear meshing with the rack.

6. The in vivo interventional imaging device according to claim 1, characterized in that: The retraction drive structure further includes an elastic plunger, which includes a column, an elastic element, and a ball head. The ball head is floatingly mounted on the column through the elastic element. The output shaft is provided with a limiting groove, and the ball head is located in the limiting groove.

7. The in vivo interventional imaging device according to claim 1, characterized in that: The end of the worm gear away from the motor is provided with an operating groove.

8. The in vivo interventional imaging device according to claim 1, characterized in that: The base includes a base plate, a guide rail, a slider, and a mounting base. The guide rail is fixed to the base plate, the slider is slidably mounted on the guide rail, the mounting base is fixed to the slider, and the retraction drive structure is fixed to the mounting base.

9. The in vivo interventional imaging device according to claim 1, characterized in that: The base includes a base plate, a support frame, and a support. The support frame is fixed to the base plate, and the support is installed at the end of the support frame. The support includes a main body, a stylus, and an indicator light. The main body is provided with a receiving groove, and the stylus is installed in the receiving groove. The stylus is connected to the indicator light. When the conduit is installed in the receiving groove, it contacts the stylus, causing the indicator light to light up.

10. A retraction drive structure, comprising a housing and a motor, characterized in that: The retraction drive structure further includes a worm, a worm wheel, a clutch assembly, and an output component. The motor is connected to the worm gear via a transmission. The worm gear meshes with the worm wheel. The clutch assembly includes a worm wheel shaft, an opening / closing shaft, and an output shaft. The worm wheel shaft is fixedly connected to the worm wheel and has a cam groove on it. The cam groove includes a first slot and a second slot. The opening / closing shaft is rotatably mounted on the output shaft and is connected to the output component. The end of the opening / closing shaft is located in the cam groove. When the motor rotates forward, the opening / closing shaft is located in the first slot. The opening / closing shaft cooperates with the output shaft to drive the output shaft to rotate, and the output component outputs rotation. When the motor rotates in reverse, the worm wheel shaft rotates, causing the end of the opening / closing shaft to be located in the second slot. The opening / closing shaft rotates relative to the output shaft and separates from the output shaft. The housing is also provided with multiple spring grooves located on the circumference. Each spring groove is arc-shaped, with one end close to the center and the other end away from the center. The clutch assembly also includes a one-way device, which includes a friction shaft and an elastic element. The number of friction shafts and elastic elements is the same as the number of spring slots. The friction shafts and elastic elements are located in the spring slots. The friction shafts are located at the narrow end of the spring slots, and the elastic elements abut against the friction shafts. When the output shaft rotates clockwise, it drives the friction shaft to move in the spring groove. The friction shaft abuts against the elastic element, and the elastic element is compressed. Since the spring groove is arc-shaped, with one end close to the center and the other end away from the center, after the friction shaft moves in the spring groove, the friction shaft moves away from the output shaft, and the output shaft can rotate continuously. When the output shaft rotates counterclockwise, it drives the friction shaft to move in the spring groove. Driven by the output shaft and resisted by the elastic element, the friction shaft moves in the spring groove and approaches the output shaft. When the output shaft rotates counterclockwise, it will be squeezed due to the friction of the movement, thus preventing the output shaft from rotating.

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