A drive system for a biopsy-rotary cutting device

Abstract

The present application relates to the technical field of driving system, provide a kind of biopsy rotary cutting device's driving system, comprising: first drive unit is connected with first output gear, to drive inner cutter tube around axis do circumferential rotation movement;Second drive unit is connected with second output gear, to drive inner cutter tube along the direction do reciprocating linear motion;Clutch linkage unit is connected with third output gear, for when outer cutter tube needs to do circumferential rotation movement around axis, third output gear is linked with the first output gear, when outer cutter tube does not need to do circumferential rotation movement around axis, third output gear is disconnected with the first output gear.Using two drive motors controls the three movements of puncture needle, improves the reliability of biopsy rotary cutting device, greatly reduces the cost, weight and assembly difficulty of product.At the same time, it provides development direction for the light weight, miniaturization of biopsy rotary cutting device, will produce significant social benefits.

Description

Technical Field

[0001] This invention relates to the technical field of drive systems, and more particularly to a drive system for a biopsy excision device. Background Technology

[0002] Vacuum-assisted breast biopsy excision devices are commonly used under ultrasound guidance for the removal of abnormal breast tissue. Existing biopsy excision devices typically consist of a drive system composed of three motors, each driving one of three driven gears on a disposable breast biopsy needle. This drives the outer blade in circumferential motion, the inner blade in axial linear translation, and the inner blade in circumferential rotation, thereby achieving tissue removal. As the key actuator of the excision device, the accuracy of the drive system directly affects the effectiveness of the surgery and patient safety. Therefore, existing products use high-precision small motors. However, these high-precision small motors are not only expensive, posing a cost problem for hospitals, but also have a certain failure rate due to their complexity. Furthermore, given comparable manufacturing processes, the weight of the drive system largely depends on the number of motors; more motors result in a heavier drive handle. More motors also mean more control wiring, which occupies more space, leading to a larger drive system and hindering the miniaturization and lightweighting of modern medical devices.

[0003] In existing biopsy rotary cutting devices, the motor driving the movement of the outer blade of the puncture needle mainly serves two purposes: firstly, it calibrates the circumferential position of the puncture needle during the initial assembly stage and adjusts the angle of the blade groove during surgery; secondly, it locks the circumferential position of the outer blade during the sampling stage. During the sampling process, because the two motors controlling the axial and circumferential movement of the inner blade transmit torque to the motor controlling the outer blade through the driven structure of the puncture needle, the outer blade control motor is prone to failure due to bearing the sum of the torques of the other two motors for a long time. This is also the most common failure problem in traditional three-motor rotary cutting systems. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a drive system for a biopsy excision device. This system employs two drive motors to control the three movements of the puncture needle, thereby improving the reliability of the biopsy excision device and significantly reducing product cost, weight, and assembly difficulty. Simultaneously, it provides a development direction for the lightweighting and miniaturization of biopsy excision devices, generating significant social benefits.

[0005] The above-mentioned objective of this invention is achieved through the following technical solutions: A drive system for a biopsy excision device includes: a first output module, a second output module, and a third output module; The first output module includes a first drive unit and a first output gear; the second output module includes a second drive unit and a second output gear; and the third output module includes a clutch linkage unit and a third output gear. The first drive unit is connected to the first output gear and is used to drive the first output gear to move so as to drive the inner blade tube to rotate circumferentially around the axis of the inner blade tube. The second drive unit is connected to the second output gear and is used to drive the second output gear to move so as to drive the inner blade tube to reciprocate linearly along the direction of the inner blade tube; The clutch linkage unit is connected to the third output gear and is used to link the third output gear with the first output gear when the outer tool tube needs to perform circumferential rotation around the axis of the outer tool tube, and the third output gear moves synchronously with the first output gear. When the outer tool tube does not need to perform circumferential rotation around the axis of the outer tool tube, the third output gear is disengaged from the first output gear, and the third output gear does not move synchronously with the first output gear.

[0006] Furthermore, the first drive unit includes a first motor, a first gear, a second gear, a third gear, a first shaft, and a second shaft; The output shaft of the first motor is connected to the second shaft via the first gear. The second gear meshes with the first gear. The second gear and the third gear are coaxially mounted on the first shaft. The third gear meshes with the first output gear.

[0007] Furthermore, the second drive unit includes a second motor, a fourth gear, a fifth gear, a sixth gear, a third shaft, and a fourth shaft; The second motor is connected to the fourth shaft via a fourth gear, the fourth gear meshes with the fifth gear, the fifth gear and the sixth gear are coaxially mounted on the third shaft, and the sixth gear meshes with the second output gear.

[0008] Furthermore, the clutch linkage unit includes a first electromagnetic protective cover, a first electromagnet, a first electromagnet mounting bracket, an electromagnet engagement shaft, a locking disc, a locking disc end cover, a nut, a second electromagnet, and a second electromagnetic protective cover. The locking disc and the locking disc end cover are mounted on both sides of the third output gear; The electromagnet engagement shaft passes sequentially through the third output gear, the first output gear, and the second output gear, and the nut is installed at the end of the electromagnet engagement shaft near the second output gear. The second electromagnet and the second electromagnetic protective cover are sequentially installed on the outer side of the gearbox near the second output gear, and the second electromagnet is fixed by bolts at the tail end of the second electromagnetic protective cover. The first electromagnetic mounting bracket, the first electromagnet, and the first electromagnetic protective cover are sequentially installed at one end of the electromagnet's attraction shaft near the third output gear, and a nut is installed at the tail end of the first electromagnetic protective cover to fix the first electromagnet.

[0009] Furthermore, when the first electromagnet is energized and the second electromagnet is de-energized, the first electromagnet attracts the end of the electromagnet that is axially away from the first output gear, and the third output gear disengages from the first output gear, and the third output gear does not move synchronously with the first output gear. When the first electromagnet is de-energized and the second electromagnet is energized, the second electromagnet attracts the end of the electromagnet that is axially close to the first output gear, and the third output gear contacts and moves in conjunction with the first output gear, and the third output gear moves synchronously with the first output gear.

[0010] Furthermore, the locking disc has pins on its end face, and the pins are evenly distributed along the axis of the locking disc. The third output gear has the same number of pin holes as the pin evenly distributed along its axis, and the pin holes cooperate with the pins. The end cap of the locking disc is provided with countersunk holes of the same number and size as the pins on the end cap surface; After the pin passes through the pin hole, it is fixed to the bottom surface of the countersunk hole on the lock disc end cover by means including welding and gluing. The inner surface of the pin hole and the outer surface of the pin are smooth, allowing the locking disc and the locking disc end cap to reciprocate in a straight line along the pin hole.

[0011] Furthermore, the first output gear, the second output gear, and the third output gear are connected by the electromagnet attraction shaft, the surface of which is smooth and slides smoothly within the first output gear, the second output gear, and the third output gear; The inner side of the right end of the gear bracket is in contact with the right end of the second output gear. A cylindrical recessed step is provided on the left side of the third output gear. The inner surface of the cylindrical recessed step is in clearance fit with the outer cylindrical surface of the first electromagnet mounting bracket. The right end face of the first electromagnet mounting bracket is in clearance fit with the left recessed step surface of the third output gear. A stepped shaft is provided on the left side of the first electromagnet mounting bracket. The stepped end face of the stepped shaft is in contact with the left end face of the gear bracket. The first electromagnet mounting bracket has a pin hole on the stepped shaft on the left side, which is fixed to the left end face of the gear bracket by bolts to prevent the first output gear, the second output gear and the third output gear from moving axially.

[0012] Furthermore, a conical hole surface is provided on the right side of the first electromagnet mounting bracket, and a conical boss is provided on the left side of the lock disc, with the conical hole surface and the conical boss having the same taper; A cylindrical recessed hole is provided on the left side of the first electromagnet mounting bracket. The inner surface of the cylindrical recessed hole matches the outer cylindrical surface of the first electromagnet. The stepped surface inside the cylindrical hole on the left side of the first electromagnet mounting bracket is in contact with the right end face of the first electromagnet. A tapered countersunk hole is provided on the left side of the first output gear. The tapered surface of the countersunk hole has the same taper as the tapered surface of the end cover of the lock disc, and they fit together tightly. The right end face of the first electromagnet, the left end face of the lock disc, the conical hole surface, the conical boss, the end cover conical surface of the lock disc end cover, the lock disc end face of the lock disc end cover, the countersunk conical surface of the conical countersunk hole of the first output gear, and the bottom surface of the conical countersunk hole of the first output gear are friction surfaces with preset friction force.

[0013] Furthermore, when the first electromagnet is energized and the second electromagnet is de-energized, the first electromagnet attracts the end of the electromagnet that moves away from the first output gear along the attraction axis. The right end face of the first electromagnet is in contact with the left end face of the locking disc, the conical hole surface is in contact with the conical boss, the end cap conical surface of the locking disc end cover is disengaged from the conical countersunk hole conical surface of the first output gear, and the locking disc end face of the locking disc end cover is disengaged from the bottom surface of the conical countersunk hole of the first output gear. The third output gear is unable to rotate and is in a locked state due to the frictional force between the right end face of the first electromagnet and the left end face of the locking disc, as well as the frictional force between the conical hole surface and the conical boss. At the same time, the third output gear and the first output gear are in a disengaged state. When the first electromagnet is de-energized and the second electromagnet is energized, the electromagnet's attraction shaft is acted upon by the rightward electromagnetic force of the second electromagnet, moving towards the end closer to the first output gear. The locking disc end face of the locking disc end cover is in contact with the bottom surface of the conical countersunk hole of the first output gear. At this time, the right end face of the first electromagnet is no longer in contact with the left end face of the locking disc, the conical hole surface, and the conical boss, and is in a disengaged state. The locking disc rotates smoothly and is in motion. The end cover conical surface of the locking disc end cover is in contact with the countersunk hole conical surface of the conical countersunk hole of the first output gear. At the same time, the locking disc end face of the locking disc end cover is in contact with the bottom surface of the conical countersunk hole of the first output gear. The third output gear and the first output gear are in a linked state.

[0014] Furthermore, when the third output gear and the first output gear are in a disengaged state, the distance between the end face of the lock disc end cover and the right end face of the third output gear, and the distance between the magnet end face of the second electromagnet and the shaft end face of the electromagnet's attraction shaft, are greater than the distance between the left end face of the lock disc and the right end face of the first electromagnet when the third output gear and the first output gear are in a linked state.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The biopsy excision device driving system includes: a first output module, a second output module, and a third output module; the first output module includes a first drive unit and a first output gear, the second output module includes a second drive unit and a second output gear, and the third output module includes a clutch linkage unit and a third output gear; the first drive unit is connected to the first output gear and is used to drive the first output gear to move, thereby driving the inner blade tube to rotate circumferentially around the axis of the inner blade tube; the second drive unit is connected to the second output gear and is used to drive the second output gear to move, thereby driving the inner blade tube to reciprocate linearly along the direction of the inner blade tube; the clutch linkage unit is connected to the third output gear and is used to link the third output gear with the first output gear when the outer blade tube needs to rotate circumferentially around the axis of the outer blade tube, and the third output gear moves synchronously with the first output gear; when the outer blade tube does not need to rotate circumferentially around the axis of the outer blade tube, the third output gear is disengaged from the first output gear, and the third output gear does not move synchronously with the first output gear. The aforementioned technical solution employs two drive motors to control the three movements of the puncture needle, improving the reliability of the biopsy excision device and significantly reducing product cost, weight, and assembly difficulty. Simultaneously, it provides a development direction for the lightweighting and miniaturization of biopsy excision devices, generating significant social benefits. Attached Figure Description

[0016] Figure 1 This is a top view of the drive system in the biopsy excision device of the present invention; Figure 2 This is a front view of the drive system engaging with the puncture needle in the biopsy excision device of the present invention; Figure 3 This is a rear view of the drive system in the biopsy excision apparatus of the present invention; Figure 4 This is an exploded view of the third output module of the present invention; Figure 5 This is a schematic diagram (8) showing the relationship between the locking disc, the third output gear, and the locking disc end cover of the present invention. Figure 6In the clutch state of the present invention Figure 1 Cross-sectional view from the perspective of AA; Figure 7 In the linkage state of the present invention Figure 1 Cross-sectional view from the perspective of AA; Figure 8 For the present invention Figure 6 Enlarged view of part I in the middle.

[0017] Figure Labels 100: First output module; 200: Second output module; 300: Third output module; 400: Gearbox; 500: Gear support; 110: First drive unit; 120: First output gear; 130: First input gear; 111: First motor; 112: First gear; 113: Second gear; 114: Third gear; 115: First shaft; 116: Second shaft; 121: The conical surface of the countersunk hole; 122: The bottom surface of the conical countersunk hole; 210: Second drive unit; 220: Second output gear; 230: Second input gear; 211: Second motor; 212: Fourth gear; 213: Fifth gear; 214: Sixth gear; 215: Third shaft; 216: Fourth shaft; 310: Clutch linkage unit; 320: Third output gear; 330: Third input gear; 311: First electromagnetic protective cover; 312: First electromagnet; 313: First electromagnet mounting bracket; 314: Electromagnet attraction shaft; 315: Locking disc; 316: Locking disc end cover; 317: Nut; 318: Second electromagnet; 319: Second electromagnetic protective cover; 3121: Outer cylindrical surface; 3122: Right end face; 3131: Outer cylindrical surface; 3132: Right end face; 3133: Stepped end face; 3134: Conical hole surface; 3135: Inner surface of cylindrical recessed hole; 3136: Stepped inner surface of left cylindrical hole; 3141: Shaft end face; 3151: Locking disc end face; 3152: Pin; 3153: Conical boss; 3154: Left side end face; 3161: End cap end face; 3162: Countersunk hole; 3163: End cap conical surface; 3164: Locking disc end face; 3181: Magnet end face; 3201: Pin hole; 3202: Inner surface of cylindrical recessed step; 3203: Recessed step surface; 3204: Right end face of gear; 510: Left end face. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0020] The biopsy excision device's drive handle drives the breast excision needle in three main movements: circumferential motion of the outer blade around its axis, reciprocating linear motion of the inner blade along its direction, and circumferential rotation around its axis. The movement of the inner blade is directly related to the surgical cutting action, while the movement of the outer blade is mainly used for tumor marker adjustments and calibration, not during the actual cutting procedure. Therefore, during outer blade movement (calibration or blade angle adjustment, where the rotation angles of the outer and inner blades are the same), the left high-energy magnet is de-energized while the right high-energy magnet is energized, linking the gear driving the inner blade's rotation around its axis with the gear driving the outer blade's rotation around its axis. When outer blade movement is not needed, energizing the left high-energy electromagnet and de-energizing the right high-energy magnet separates the two gears, thus achieving dual-motor control of the three gears' movement.

[0021] First Embodiment like Figure 1-3As shown, this embodiment provides a drive system for a biopsy excision device, including: a first output module 100, a second output module 200, and a third output module 300; the first output module 100 includes a first drive unit 110 and a first output gear 120, the second output module 200 includes a second drive unit 210 and a second output gear 220, and the third output module 300 includes a clutch linkage unit 310 and a third output gear 320; the puncture needle connected to the drive system also includes a first input gear 130, a second input gear 230, and a third input gear 330, which mesh with the first output gear 120, the second output gear 220, and the third output gear 320, respectively.

[0022] The first drive unit 110 is connected to the first output gear 120 and is used to drive the first output gear 120 to move, so as to drive the inner cutter tube to rotate circumferentially around the axis of the inner cutter tube; the second drive unit 210 is connected to the second output gear 220 and is used to drive the second output gear 220 to move, so as to drive the inner cutter tube to reciprocate linearly along the direction of the inner cutter tube; the clutch linkage unit 310 is connected to the third output gear 320 and is used to link the third output gear 320 with the first output gear 120 when the outer cutter tube needs to rotate circumferentially around the axis of the outer cutter tube, so that the third output gear 320 moves synchronously with the first output gear 120; when the outer cutter tube does not need to rotate circumferentially around the axis of the outer cutter tube, the third output gear 320 is disengaged from the first output gear 120, so that the third output gear 320 does not move synchronously with the first output gear 120.

[0023] The specific structures of the first drive unit 110, the second drive unit 210, and the clutch linkage unit 310 are described below: The first drive unit 110 includes a first motor 111, a first gear 112, a second gear 113, a third gear 114, a first shaft 115, and a second shaft 116. The output shaft of the first motor 111 is connected to the second shaft 116 through the first gear 112. The second gear 113 meshes with the first gear 112. The second gear 113 and the third gear 114 are coaxially mounted on the first shaft 115. The third gear 113 meshes with the first output gear 120.

[0024] The second drive unit 210 includes a second motor 211, a fourth gear 212, a fifth gear 213, a sixth gear 214, a third shaft 215, and a fourth shaft 216. The second motor 211 is connected to the fourth shaft 216 via the fourth gear 212. The fourth gear 212 meshes with the fifth gear 213. The fifth gear 213 and the sixth gear 214 are coaxially mounted on the third shaft 215. The sixth gear 214 meshes with the second output gear 220.

[0025] All of the gears mentioned above have gaps between them, resulting in smooth surface friction.

[0026] like Figure 4 As shown, the clutch linkage unit 310 includes a first electromagnetic protective cover 311, a first electromagnet 312, a first electromagnet mounting bracket 313, an electromagnet attraction shaft 314, a locking disc 315, a locking disc end cover 316, a nut 317, a second electromagnet 318, and a second electromagnetic protective cover 319. The locking disc 315 and the locking disc end cover 316 are installed on both sides of the third output gear 320; The electromagnet attraction shaft 314 passes through the third output gear 320, the first output gear 120 and the second output gear 220 in sequence, and the nut 317 is installed at the end of the electromagnet attraction shaft 314 near the second output gear 220; The second electromagnet 318 and the second electromagnetic protective cover 319 are sequentially installed on the outer side of the gearbox 400 near the second output gear 220, and the second electromagnet 318 is fixed by bolts at the tail end of the second electromagnetic protective cover 319. The first electromagnetic mounting bracket 313, the first electromagnet 312, and the first electromagnetic protective cover 311 are sequentially installed at one end of the electromagnet engaging shaft 314 near the third output gear 320, and a nut is installed at the tail end of the first electromagnetic protective cover 311 to fix the first electromagnet 312.

[0027] The axial reciprocating motion of the electromagnet attraction shaft 314 is achieved by switching the electrical energy on and off of the first electromagnet 312 and the second electromagnet 318. After the third output module 300 is installed, when the first electromagnet 312 is energized and the second electromagnet 318 is de-energized, the first electromagnet 312 attracts the electromagnet attraction shaft 314 and moves it away from the first output gear 120. The third output gear 320 disengages from the first output gear 120 and does not move synchronously with the first output gear 120. When the first electromagnet 312 is de-energized and the second electromagnet 318 is energized, the second electromagnet 318 attracts the electromagnet attraction shaft 314 and moves it closer to the first output gear 120. The third output gear 320 contacts and is linked with the first output gear 120, and moves synchronously with the first output gear 110.

[0028] When the first electromagnet 312 is energized and the second electromagnet 318 is de-energized, the third output gear 320 and the first output gear 120 are in a disengaged state. At this time, the third input gear 330 (meshing with the third output gear 320), which controls the rotation of the outer blade on the breast rotary cutting puncture needle, is also locked and cannot move. The first input gear 130 and the second input gear 230, which mesh with the first output gear 120 and the second output gear 220, can move normally. At this time, the rotary cutting system can drive the inner blade tube to move axially in a linear motion and circumferentially in a rotary motion, which can complete the sampling, aspiration, and flushing actions during the operation. When the first electromagnet 312 is de-energized and the second electromagnet 318 is energized, the third output gear 330 and the first output gear 130 are in a linked state. At this time, the rotary cutting system can drive the inner and outer blade tubes to rotate circumferentially simultaneously, which can complete the calibration and blade groove angle adjustment actions during the operation.

[0029] Furthermore, such as Figure 5 As shown, a pin 3152 is provided on the end face 3151 of the locking disc 315, and the pin 3152 is evenly distributed on the circumference along the axis of the locking disc 315. The third output gear 320 has the same number of pin holes 3201 as the pins 3152 evenly distributed along its axis. The pin holes 3201 cooperate with the pins 3152. The shapes of the pin holes 3201 and the pins 3152 are not limited to cylindrical shapes, but can also be any complementary shapes such as conical shapes.

[0030] The end face 3161 of the lock disc end cover 316 is provided with countersunk holes 3162 of the same number and size as the pins 3152. After the pin 3152 passes through the pin hole 3201, it is fixed to the bottom surface of the countersunk hole 3162 on the lock disc end cover 316 by means including welding and gluing. The inner surface of the pin hole 3201 and the outer surface of the pin 3152 are smooth, so that the locking disc 315 and the locking disc end cover 316 can reciprocate in a straight line along the pin hole 3201.

[0031] Furthermore, the first output gear 120, the second output gear 220, and the third output gear 230 are connected by the electromagnet attraction shaft 314, which has a smooth surface and slides smoothly within the first output gear 120, the second output gear 220, and the third output gear 320. The inner side of the right end of the gear bracket 500 is in contact with the right end of the second output gear 220. A cylindrical recessed step is provided on the left side of the third output gear 320. The inner surface 3202 of the cylindrical recessed step is in clearance fit with the outer cylindrical surface 3131 of the first electromagnet mounting bracket 313. The right end face 3132 of the first electromagnet mounting bracket 313 is in clearance fit with the left recessed step surface 3203 of the third output gear 320. A stepped shaft is provided on the left side of the first electromagnet mounting bracket 313. The stepped end face 3133 of the stepped shaft is in contact with the left end face 510 of the gear bracket 500. The first electromagnet mounting bracket 313 has a pin hole on the stepped shaft on the left side, which is fixed to the left end face 510 of the gear bracket 500 by bolts to prevent the first output gear 120, the second output gear 220 and the third output gear 320 from axial movement.

[0032] like Figure 6-8 As shown, a conical hole surface 3134 is provided on the right side of the first electromagnet mounting bracket 313, and a conical boss 3153 is provided on the left side of the locking disc 315. The conical hole surface 3134 and the conical boss 3153 have the same taper. A cylindrical recessed hole is provided on the left side of the first electromagnet mounting bracket 313. The inner surface 3135 of the cylindrical recessed hole cooperates with the outer cylindrical surface 3121 of the first electromagnet 312. The stepped surface 3136 of the cylindrical hole on the left side of the first electromagnet mounting bracket 313 is in contact with the right end face 3122 of the first electromagnet 312. The first output gear 120 has a tapered countersunk hole on its left side. The tapered surface 121 of the countersunk hole has the same taper as the tapered surface 3163 of the end cover of the lock disc end cover 316, and they fit together tightly. The right end face 3122 of the first electromagnet 312, the left end face 3154 of the locking disc 315, the conical hole surface 3134, the conical boss 3153, the end cap conical surface 3163 of the locking disc end cover 316, the locking disc end face 3164 of the locking disc end cover 316, the countersunk conical surface 121 of the conical countersunk hole of the first output gear 120, and the bottom surface 122 of the conical countersunk hole of the first output gear 120 are friction surfaces with preset friction force, and are all made of materials with a high coefficient of friction and relatively high friction force. All gears and bolts are made of non-magnetic materials, while the locking disc 315, the locking disc end cover 316, the nut 317, and the electromagnet attraction shaft 314 are made of strong magnetic materials.

[0033] When the first electromagnet 312 is energized and the second electromagnet 318 is de-energized, the first electromagnet 312 attracts the electromagnet attraction shaft 314 to move away from the first output gear 120. The right end face 3122 of the first electromagnet 312 is in contact with the left end face 3154 of the locking disc 315, the conical hole surface 3134 and the conical boss 3153 are in contact, and the end cover conical surface 3163 of the locking disc end cover 316 is in contact with the countersunk conical surface 1 of the conical countersunk hole of the first output gear 120. 21. When disengaged, the locking disc end face 3164 of the locking disc end cover 316 disengages from the conical countersunk bottom surface 122 of the first output gear 120. The third output gear 130 is subjected to frictional force between the right end face 3122 of the first electromagnet 312 and the left end face 3154 of the locking disc 315, as well as frictional force between the conical hole surface 3134 and the conical boss 3153, and cannot rotate and is in a locked state. At the same time, the third output gear 320 and the first output gear 120 are in a disengaged state. When the first electromagnet 312 is de-energized and the second electromagnet 318 is energized, the electromagnet attraction shaft 314 is acted upon by the rightward electromagnetic force of the second electromagnet 318, moving towards the end closer to the first output gear 120. The locking disc end face 3164 of the locking disc end cover 316 is in contact with the bottom surface 122 of the conical countersunk hole of the first output gear 120. At this time, the right end face 3122 of the first electromagnet 312 is in contact with the left end face 3154 of the locking disc 315, and the conical countersunk hole surface... 3134 and the conical boss 3153 are no longer in contact and are in a disengaged state. The locking disc 315 rotates smoothly and is in motion. The end cap conical surface 3163 of the locking disc end cover 316 is in contact with the countersunk conical surface 121 of the conical countersunk hole of the first output gear 120. At the same time, the locking disc end face 3164 of the locking disc end cover 316 is in contact with the bottom surface 122 of the conical countersunk hole of the first output gear 120. The third output gear 320 and the first output gear 120 are in a linked state.

[0034] Furthermore, in order to ensure that the left end face 3154 of the lock disc 315 can fit with the right end face 3122 of the first electromagnet 312 when in the clutch state (since the taper is the same, the conical boss 3153 and the conical hole surface 3134 are theoretically fitted at this time), and at the same time, in the linkage state, the lock disc end face 3164 of the lock disc end cover 316 fits with the bottom surface 122 of the conical countersunk hole of the first output gear 120. When the third output gear 320 and the first output gear 120 are in a disengaged state, the distance between the end face 3161 of the lock disc end cover 316 and the right end face 3204 of the third output gear 320, and the distance between the magnet end face 3181 of the second electromagnet 318 and the shaft end face 56 of the electromagnet attraction shaft 314, are greater than the distance between the left end face 3154 of the lock disc 315 and the right end face 3122 of the first electromagnet 312 when the third output gear 320 and the first output gear 120 are in a linked state.

[0035] Furthermore, when the first electromagnet 312 is energized and the second electromagnet 318 is de-energized, the attraction force of the first electromagnet 312 on the locking disc 315 and the electromagnet engagement shaft 314 should be greater than the sum of the frictional forces experienced by the electromagnet engagement shaft 314 as it moves along the axis; when the first electromagnet 312 is energized and the second electromagnet 318 is de-energized, the attraction force of the second electromagnet 318 on the electromagnet engagement shaft 314 and the nut 317 should be greater than the sum of the frictional forces experienced by the electromagnet engagement shaft 314 as it moves along the axis. Simultaneously, when the first electromagnet 312 is energized and the second electromagnet 318 is de-energized, after the first electromagnet 312 attracts the locking disc 315 and the electromagnet attracting shaft 314, the sum of the frictional force between the right end face 3122 of the first electromagnet 312 and the left end face 3154 of the locking disc 315, plus the frictional force between the conical boss 3153 and the conical hole surface 3134, should be greater than the torque exerted by the first motor 111 and the second motor 222 on the third output gear 320. When the second electromagnet 318 is energized and the first electromagnet 312 is de-energized, the frictional force between the end cap conical surface 3163 of the locking disc end cover 316 and the countersunk conical surface 121 of the conical countersunk hole of the first output gear 120, plus the frictional force between the locking disc end face 62 of the locking disc end cover 316 and the bottom surface 122 of the conical countersunk hole of the first output gear 120, should be greater than the load borne by the third output gear 320.

[0036] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

[0037] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A drive system for a biopsy excision device, characterized in that, include: First output module, second output module, third output module; The first output module includes a first drive unit and a first output gear; the second output module includes a second drive unit and a second output gear; and the third output module includes a clutch linkage unit and a third output gear. The first drive unit is connected to the first output gear and is used to drive the first output gear to move so as to drive the inner blade tube to rotate circumferentially around the axis of the inner blade tube. The second drive unit is connected to the second output gear and is used to drive the second output gear to move so as to drive the inner blade tube to reciprocate linearly along the direction of the inner blade tube; The clutch linkage unit is connected to the third output gear and is used to link the third output gear with the first output gear when the outer blade tube needs to perform circumferential rotation around the axis of the outer blade tube, and the third output gear moves synchronously with the first output gear; when the outer blade tube does not need to perform circumferential rotation around the axis of the outer blade tube, the third output gear is disengaged from the first output gear, and the third output gear does not move synchronously with the first output gear. The clutch linkage unit includes a first electromagnetic protective cover, a first electromagnet, a first electromagnet mounting bracket, an electromagnet engagement shaft, a locking disc, a locking disc end cover, a nut, a second electromagnet, and a second electromagnetic protective cover. The locking disc and the locking disc end cover are mounted on both sides of the third output gear; The electromagnet engagement shaft passes sequentially through the third output gear, the first output gear, and the second output gear, and the nut is installed at the end of the electromagnet engagement shaft near the second output gear. The second electromagnet and the second electromagnetic protective cover are installed sequentially on the outer side of the gearbox near the second output gear, and the second electromagnet is fixed by bolts at the tail end of the second electromagnetic protective cover. The first electromagnetic mounting bracket, the first electromagnet, and the first electromagnetic protective cover are sequentially installed at one end of the electromagnet's attraction shaft near the third output gear, and a nut is installed at the tail end of the first electromagnetic protective cover to fix the first electromagnet.

2. The driving system of the biopsy excision device according to claim 1, characterized in that, The first drive unit includes a first motor, a first gear, a second gear, a third gear, a first shaft, and a second shaft; The output shaft of the first motor is connected to the second shaft via the first gear. The second gear meshes with the first gear. The second gear and the third gear are coaxially mounted on the first shaft. The third gear meshes with the first output gear.

3. The driving system of the biopsy excision device according to claim 1, characterized in that, The second drive unit includes a second motor, a fourth gear, a fifth gear, a sixth gear, a third shaft, and a fourth shaft; The second motor is connected to the fourth shaft via a fourth gear, the fourth gear meshes with the fifth gear, the fifth gear and the sixth gear are coaxially mounted on the third shaft, and the sixth gear meshes with the second output gear.

4. The driving system of the biopsy excision device according to claim 1, characterized in that, Also includes: When the first electromagnet is energized and the second electromagnet is de-energized, the first electromagnet attracts the end of the electromagnet that is axially away from the first output gear, and the third output gear disengages from the first output gear. The third output gear does not move synchronously with the first output gear. When the first electromagnet is de-energized and the second electromagnet is energized, the second electromagnet attracts the end of the electromagnet that is axially close to the first output gear, and the third output gear contacts and moves in conjunction with the first output gear, and the third output gear moves synchronously with the first output gear.

5. The driving system of the biopsy excision device according to claim 1, characterized in that, The locking disc is provided with pins on its end face, and the pins are evenly distributed along the axis of the locking disc. The third output gear has the same number of pin holes as the pin evenly distributed along its axis, and the pin holes cooperate with the pins. The end cap of the locking disc is provided with countersunk holes of the same number and size as the pins on the end cap surface; After the pin passes through the pin hole, it is fixed to the bottom surface of the countersunk hole on the lock disc end cover by means including welding and gluing. The inner surface of the pin hole and the outer surface of the pin are smooth, allowing the locking disc and the locking disc end cap to reciprocate in a straight line along the pin hole.

6. The driving system of the biopsy excision device according to claim 1, characterized in that, The first output gear, the second output gear, and the third output gear are connected by the electromagnet attraction shaft. The surface of the electromagnet attraction shaft is smooth and slides smoothly within the first output gear, the second output gear, and the third output gear. The inner side of the right end of the gear bracket is in contact with the right end of the second output gear. A cylindrical recessed step is provided on the left side of the third output gear. The inner surface of the cylindrical recessed step is in clearance fit with the outer cylindrical surface of the first electromagnet mounting bracket. The right end face of the first electromagnet mounting bracket is in clearance fit with the left recessed step surface of the third output gear. A stepped shaft is provided on the left side of the first electromagnet mounting bracket. The stepped end face of the stepped shaft is in contact with the left end face of the gear bracket. The first electromagnet mounting bracket has a pin hole on the stepped shaft on the left side, which is fixed to the left end face of the gear bracket by bolts to prevent the first output gear, the second output gear and the third output gear from moving axially.

7. The driving system of the biopsy excision device according to claim 5, characterized in that, The first electromagnet mounting bracket has a conical hole on its right side, and the lock disc has a conical boss on its left side. The conical hole and the conical boss have the same taper. A cylindrical recessed hole is provided on the left side of the first electromagnet mounting bracket. The inner surface of the cylindrical recessed hole matches the outer cylindrical surface of the first electromagnet. The stepped surface inside the cylindrical hole on the left side of the first electromagnet mounting bracket is in contact with the right end face of the first electromagnet. A tapered countersunk hole is provided on the left side of the first output gear. The tapered surface of the countersunk hole has the same taper as the tapered surface of the end cover of the lock disc, and they fit together tightly. The right end face of the first electromagnet, the left end face of the lock disc, the conical hole surface, the conical boss, the end cover conical surface of the lock disc end cover, the lock disc end face of the lock disc end cover, the countersunk conical surface of the conical countersunk hole of the first output gear, and the bottom surface of the conical countersunk hole of the first output gear are friction surfaces with preset friction force.

8. The driving system of the biopsy excision device according to claim 7, characterized in that, Also includes: When the first electromagnet is energized and the second electromagnet is de-energized, the first electromagnet attracts the end of the electromagnet that moves away from the first output gear along the attraction axis. The right end face of the first electromagnet is in contact with the left end face of the locking disc, the conical hole surface is in contact with the conical boss, the end cap conical surface of the locking disc end cover is disengaged from the conical countersunk hole conical surface of the first output gear, and the locking disc end face of the locking disc end cover is disengaged from the bottom surface of the conical countersunk hole of the first output gear. The third output gear is unable to rotate and is in a locked state due to the frictional force between the right end face of the first electromagnet and the left end face of the locking disc, as well as the frictional force between the conical hole surface and the conical boss. At the same time, the third output gear and the first output gear are in a disengaged state. When the first electromagnet is de-energized and the second electromagnet is energized, the electromagnet's attraction shaft is acted upon by the rightward electromagnetic force of the second electromagnet, moving towards the end closer to the first output gear. The locking disc end face of the locking disc end cover is in contact with the bottom surface of the conical countersunk hole of the first output gear. At this time, the right end face of the first electromagnet is no longer in contact with the left end face of the locking disc, the conical hole surface, and the conical boss, and is in a disengaged state. The locking disc rotates smoothly and is in motion. The end cover conical surface of the locking disc end cover is in contact with the countersunk hole conical surface of the conical countersunk hole of the first output gear. At the same time, the locking disc end face of the locking disc end cover is in contact with the bottom surface of the conical countersunk hole of the first output gear. The third output gear and the first output gear are in a linked state.

9. The driving system of the biopsy excision device according to claim 8, characterized in that, Also includes: When the third output gear and the first output gear are in a disengaged state, the distance between the end face of the lock disc end cover and the right end face of the third output gear, and the distance between the magnet end face of the second electromagnet and the shaft end face of the electromagnet's attraction shaft, are greater than the distance between the left end face of the lock disc and the right end face of the first electromagnet when the third output gear and the first output gear are in a linked state.

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