Drive mechanism and blood pump

Abstract

The invention relates to a driving mechanism and a blood pump, the driving mechanism comprises a shell assembly and a rotating assembly, the shell assembly is provided with a mounting groove and a through hole, and the mounting groove is provided with a bottom surface wall and a side surface wall; the rotating assembly is provided with a far end and a near end, the far end of the rotating assembly can rotatably penetrate through the through hole, the near end of the rotating assembly is provided with a rotating head, the rotating head can be rotatably arranged in the mounting groove and slidably abuts against the bottom surface wall and the side surface wall, the rotating head is provided with a first spherical surface wall, and the first spherical surface wall is tangent to the side surface wall. The driving mechanism and the blood pump structure are long in service life.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a driving mechanism and a blood pump. Background Art

[0002] The blood pump is designed to be inserted percutaneously into a patient's blood vessel, such as an artery or vein in the thigh or armpit, and can be advanced into the patient's heart to function as a left ventricular assist device or a right ventricular assist device. Therefore, the blood pump may also be referred to as an intracardiac blood pump or an intravascular blood pump.

[0003] Usually, a blood pump has a driving mechanism and an impeller. The impeller is connected to a rotating component of the driving mechanism. In order to achieve stable rotation of the rotating component, a structure for positioning or limiting the rotating component is usually required. The limiting end of the rotating component usually rotates relative to the casing and causes wear, which makes it difficult for the rotating component to maintain wear resistance for long-term operation. Summary of the invention

[0004] The object of the present invention is to provide a driving mechanism and a blood pump with a longer service life.

[0005] The present application provides a driving mechanism, which includes:

[0006] A shell component, the shell component has a mounting groove and a through hole, the mounting groove has a bottom wall and a side wall; a rotating component, the rotating component has a distal end and a proximal end, the distal end of the rotating component can be rotatably inserted into the through hole, the proximal end of the rotating component has a rotating head, the rotating head can be rotatably arranged in the mounting groove and slidably abut against the bottom wall and the side wall, the rotating head has a first spherical wall, and the first spherical wall is tangent to the side wall.

[0007] Optionally, the cross-section of the mounting groove along a direction perpendicular to the rotation axis of the rotating assembly is circular or rectangular.

[0008] Optionally, a cross section of the side wall along the rotation axis of the rotating component is parallel to the rotation axis of the rotating component.

[0009] Optionally, the first spherical wall is tangent to the bottom wall, and / or the bottom wall is perpendicular to the side wall.

[0010] Optionally, the mounting slot further has a slot opening and a curved wall, the rotating head is inserted into the slot opening, the side wall connects the curved wall and the bottom wall, and the curved wall is close to the slot opening.

[0011] Optionally, the distance from the tangent point of the first spherical wall and the side wall to the connecting line of the side wall and the bottom wall is 60%-75% of the distance from the notch to the connecting line of the side wall and the bottom wall.

[0012] And / or, the distance from the tangent point between the first spherical wall and the side wall to the connecting line between the side wall and the arc surface is 0.01 mm-0.015 mm.

[0013] Optionally, the rotating head includes a ball head portion and a rod portion connected to the ball head portion, the rod portion is inserted through a notch of the mounting slot, the ball head portion can be rotatably accommodated in the mounting slot, an avoidance section is formed at one end of the rod portion close to the ball head portion, the avoidance section is inserted through the notch of the mounting slot, and the width of the cross-section of the avoidance section in a direction perpendicular to the rotation axis of the rotating component is smaller than the diameter of the ball head portion.

[0014] Optionally, a width of a cross section of the avoidance segment in a direction perpendicular to the rotation axis of the rotating component is 75%-85% of a diameter of the sphere where the ball head is located.

[0015] Optionally, the rotating head includes a ball head portion, the ball head portion is inserted into a notch of the mounting groove, the diameter of the notch of the mounting groove is less than or equal to the diameter of the sphere where the ball head portion is located, and greater than or equal to 1 / 2 of the diameter of the sphere where the ball head portion is located.

[0016] Optionally, the rotating head further has a second spherical wall, the second spherical wall is connected to the first spherical wall, the second spherical wall is in sliding contact with the bottom wall of the mounting groove, and the second spherical wall is tangent to the bottom wall.

[0017] Optionally, a convex ring is further provided on the rotating head, a central axis of the convex ring coincides with the rotation axis of the rotating assembly, and the second spherical wall is arranged on the convex ring.

[0018] Optionally, the inner diameter of the convex ring is not less than 1 / 2 of the diameter of the sphere where the first spherical wall is located.

[0019] Optionally, the housing assembly includes a pump casing and a support member installed on the pump casing, the mounting groove is provided on the support member, the driving mechanism also includes a mounting seat, the mounting seat is fixedly connected to the pump casing, the mounting seat is provided with a mounting cavity and a liquid through hole connected to the mounting cavity, the support member is installed in the mounting cavity, and at least one of the mounting seat and the support member is provided with a flow channel, and the flow channel is connected to the liquid through hole.

[0020] Optionally, the support member is provided with the flow channel, the flow channel on the support member has a first opening and a second opening, the first opening is communicated with the mounting groove, the second opening is communicated with the liquid through hole, and the rotating head avoids the first opening.

[0021] Optionally, the support member includes a ring and a base plate, the base plate is connected to one end of the ring, the base plate and the ring jointly surround the installation groove, at least part of the inner wall of the ring forms the side wall, and the bottom wall is arranged on the base plate.

[0022] Optionally, the bottom plate is provided with the flow channel connected to the mounting groove, the flow channel on the bottom plate is formed by extending from the side of the bottom plate toward the center of the bottom plate, and the rotating head avoids the flow channel on the bottom plate.

[0023] Optionally, the rotating assembly also includes a rotating shaft and a rotor, the rotating shaft having a proximal end and a distal end, the distal end of the rotating shaft being rotatably disposed in the through hole, and the rotor including a first rotor unit, the first rotor unit being fixedly connected to the rotating shaft, and at least one of the first rotor unit and the rotating shaft being connected to the rotating head.

[0024] Optionally, a stop surface is provided on the rotating head, the stop surface is located on the side of the rotating head away from the bottom wall of the mounting groove, and the stop surface is spaced a distance from the notch of the mounting groove, and the first rotor unit abuts against the stop surface so that the first rotor unit is spaced a distance from the notch of the mounting groove.

[0025] Optionally, the housing assembly includes a pump casing and a sleeve mounted on the pump casing, the through hole is arranged on the sleeve, and the driving mechanism also includes a stopper, which is fixedly connected to the rotating assembly, and the stopper is located between the sleeve and the rotating head, and the stopper can abut against the sleeve to limit the movement of the rotating assembly in a direction away from the mounting groove.

[0026] An embodiment of the present application also provides a blood pump, comprising an impeller and any one of the above-mentioned driving mechanisms, wherein the impeller is connected to the rotating component, and the impeller can rotate with the rotating component.

[0027] The rotating head of the driving mechanism of the present scheme abuts against the side wall and the bottom wall of the mounting groove to achieve proximal limit of the rotating component. The first spherical wall of the rotating head is tangent to the side wall. When the rotating head rotates, the contact between the rotating head and the side wall of the mounting groove can be regarded as line-to-line contact. Compared with the matching mode in which the entire first spherical wall of the rotating head contacts the groove wall of the ball head groove, the contact area between the rotating head and the groove wall is reduced, that is, the wear area between the rotating head and the side wall is small, the wear resistance of the rotating head is better, and the service life is longer; at the same time, the contact area is small, and the friction resistance is also small when the rotating head is just started, the torque at startup is small, and the startup is faster. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0029] Figure 1 A schematic diagram of the structure of a blood pump provided by an embodiment of the present invention;

[0030] Figure 2 for Figure 1 The blood pump is shown in a cross-sectional view omitting a portion of the catheter;

[0031] Figure 3 for Figure 2 One of the partial enlarged views of part I shown;

[0032] Figure 4 for Figure 2 The second partial enlarged view of part I shown;

[0033] Figure 5 for Figure 2 The third partial enlarged view of part I shown;

[0034] Figure 6 for Figure 2 An enlarged view of the local structure of the distal part of the blood pump is shown;

[0035] Figure 7 for Figure 2 A schematic structural diagram of a support member of a blood pump shown;

[0036] Figure 8 for Figure 2 A schematic structural diagram of a mounting base of a blood pump shown;

[0037] Fig. 9 for Figure 2 An enlarged view of the local structure of the proximal part of the blood pump is shown;

[0038] Fig.10 for Figure 2 A schematic diagram of the structure of the shaft sleeve;

[0039] Fig.11 It is an enlarged view of the local structure of the distal end portion of the second embodiment of the blood pump of the present invention;

[0040] Fig.12 for Fig.11 A partial enlarged view of part II;

[0041] Fig.13 It is an enlarged view of the local structure of the distal end portion of the third embodiment of the blood pump of the present invention;

[0042] Fig.14 for Fig.13 A schematic diagram of the structure of the rotating head;

[0043] Fig.15 for Fig.13 A schematic diagram of the structure of the support member;

[0044] Fig.16 for Fig.13 Schematic diagram of the structure in which the support member consists of a collar and a base plate. DETAILED DESCRIPTION

[0045] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0046] Reference throughout the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, when the phrases "in one embodiment" or "in some embodiments" appear in various places throughout the specification, not all references are to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, or characteristics may be combined in any suitable manner.

[0047] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0048] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0049] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] In the field of interventional medicine, the end of the instrument closest to the operator is usually defined as the proximal end, and the end farthest from the operator is defined as the distal end.

[0051] The driving mechanism 10 and the blood pump 1 in the embodiment of the present invention are now described.

[0052] Please refer to Figure 1 The blood pump 1 includes a driving mechanism 10 and an impeller 20 . The driving mechanism 10 is in transmission connection with the impeller 20 , and the driving mechanism 10 can drive the impeller 20 to rotate.

[0053] Specifically, the blood pump 1 further includes a cannula 30, which is connected to the driving mechanism 10. The impeller 20 is rotatably accommodated in the cannula 30. The cannula 30 has a blood inlet 31 and a blood outlet 32. When the impeller 20 rotates, blood flows into the cannula 30 from the blood inlet 31 and then flows out from the blood outlet 32. When the blood pump 1 is used in the left ventricle, the cannula 30 extends through a heart valve, such as an aortic valve, the blood inlet 31 is located in the ventricle of the heart, and the blood outlet 32 ​​and the driving mechanism 10 are located in a blood vessel such as the aorta outside the heart.

[0054] Specifically, the blood pump 1 further includes a catheter 40, which is connected to the driving mechanism 10. The catheter 40 is used to accommodate various supply lines. More specifically, the supply lines include wires for electrically connecting to the driving mechanism 10, signal lines for electrically connecting to sensors on the blood pump 1, and flushing lines for passing flushing fluid into the blood pump 1. For example, the flushing fluid can be saline, saline containing heparin, or glucose.

[0055] Please combine Figures 2 to 6The driving mechanism 10 includes a shell component and a rotating component. The shell component has a mounting groove 511 and a through hole 522, and the mounting groove 511 has a bottom wall 512 and a side wall 513. The rotating component has a distal end and a proximal end, and the distal end of the rotating component can be rotatably inserted into the through hole 522; the proximal end of the rotating component has a rotating head 800, and the rotating head 800 can be rotatably arranged in the mounting groove 511, and is in sliding contact with the bottom wall 512 and the side wall 513, and the rotating head 800 has a first spherical wall 810, and the first spherical wall 810 is tangent to the side wall 513. Among them, the cannula 30 and the catheter 40 are both fixedly connected to the shell component; the rotating component is partially located in the cannula 30 and partially located in the shell component; the impeller 20 is fixedly connected to the distal end of the rotating component.

[0056] The rotating head 800 of the above-mentioned driving mechanism abuts against the side wall 513 and the bottom wall 512 of the mounting groove 511 to realize the proximal limit of the rotating component. The first spherical wall 810 of the rotating head 800 is tangent to the side wall 513. When the rotating head 800 rotates, the contact between the rotating head 800 and the side wall 513 of the mounting groove 511 can be regarded as line-to-line contact. Compared with the matching mode in which the entire first spherical wall 810 of the rotating head 800 contacts the groove wall of the ball head groove, the contact area between the rotating head 800 and the groove wall of the mounting groove 511 is reduced, that is, the wear area between the rotating head 800 and the side wall 513 is small, the wear resistance of the rotating head 800 is better, and the service life is longer; at the same time, the contact area is small, and when the rotating head 800 is just started, the friction resistance is also small, the torque at startup is small, and the startup is faster.

[0057] In the illustrated embodiment, when the rotating assembly rotates smoothly, the side wall 513 is parallel to the rotation axis of the rotating assembly. Since the rotating assembly may experience a small axial movement or radial deflection during rotation, such a configuration allows the rotating head 800 to maintain contact with the side wall 513 no matter where it moves when the rotating assembly moves axially in the mounting groove 511, and the radial limit is stable; and when the rotating assembly deflects radially, the rotating head 800 can roll in the mounting groove 511, and the first spherical wall 810 always maintains tangency with the side wall 513.

[0058] The smooth rotation of the rotating assembly refers to a state in which the rotation axis of the rotating assembly substantially coincides with the central axis of the housing assembly when the rotating assembly rotates.

[0059] Of course, in other embodiments, the side wall 513 and the rotation axis of the rotating assembly may also be inclined at a certain angle. Specifically, the angle between the side wall 513 and the rotation axis of the rotating assembly is an acute angle, that is, the distance between the side wall 513 and the rotation axis of the rotating assembly gradually increases in the direction away from the bottom wall 512. In this way, during the assembly process, the rotating head 800 enters the installation groove 511 more smoothly.

[0060] The mounting groove 511 has a certain depth, and the cross section of the mounting groove 511 along the direction of the rotation axis of the vertical rotating assembly is circular. In the illustrated embodiment, the side wall 513 is a cylindrical surface, and when the rotating head 800 abuts against the side wall 513, the first spherical wall 810 is tangent to the side wall 513, that is, when the rotating head 800 rotates, the first spherical wall 810 and the side wall 513 can be regarded as line-to-line contact, which can reduce the contact area. At the same time, when the rotating assembly deflects radially, the cylindrical side wall 513 can be tangent to the rotating head 800 in a line-to-line contact manner when the rotating head 800 rolls to any position, maintaining the radial limiting effect on the rotating head 800.

[0061] In some embodiments, the cross section of the mounting groove 511 may also be rectangular, that is, the side wall 513 is surrounded by four planes. When the rotating head 800 abuts against the side wall 513, the first spherical wall 810 is tangent to the four planes respectively. When the rotating head 800 rotates, the first spherical wall 810 and the side wall 513 can be regarded as point-to-point contact. Such a setting can also reduce the contact area, thereby reducing the wear on the rotating head 800. In other embodiments, the cross section of the mounting groove 511 can also be a triangle, a pentagon, a hexagon, etc., which can also form point-to-point contact, reduce the contact area, and thus reduce wear.

[0062] Please combine Figures 2 to 3 , Fig. 9 and Fig.10 As shown, the housing assembly includes a pump housing 100 , a support member 510 and a sleeve 520 .

[0063] Specifically, the pump housing 100 is a substantially cylindrical structure with two ends open. The distal end of the pump housing 100 is fixedly connected to the cannula 30 , and the proximal end is fixedly connected to the catheter 40 .

[0064] The support member 510 and the shaft sleeve 520 are both installed in the pump housing 100. The support member 510 is arranged at the proximal end of the pump housing 100, and the shaft sleeve 520 is arranged at the distal end of the pump housing 100. The support member 510 and the shaft sleeve 520 are both fixed to the pump housing 100. Specifically, the mounting groove 511 is provided on the support member 510; and the through hole 522 is provided on the shaft sleeve 520.

[0065] The central axis of the through hole 522 coincides with the central axis of the mounting groove 511. The distal end of the rotating assembly can be rotatably disposed in the through hole 522, and a gap for fluid flow is provided between the hole wall of the through hole 522 of the sleeve 520 and the rotating assembly. The flushing liquid entering the pump housing 100 can flow through the gap between the rotating assembly and the hole wall of the through hole 522 and flow out of the pump housing 100.

[0066] The rotating assembly also includes a rotating shaft 300 and a rotor 400. The rotation axis of the rotating shaft 300 coincides with the rotation axis of the rotating assembly. That is, when the rotating assembly rotates smoothly, the rotation axis of the rotating shaft 300 substantially coincides with the central axis of the housing assembly. The rotating shaft 300 can be rotatably mounted on the pump housing 100, and the rotating shaft 300 has a connecting end 310 for connecting with the impeller 20, so that the impeller 20 can rotate with the rotating shaft 300. In the illustrated embodiment, the rotating shaft 300 is passed through the through hole 522 of the sleeve 520. The rotating shaft 300 extends roughly along the axial direction of the pump housing 100. The connecting end 310 of the rotating shaft 300 extends to the outside of the pump housing 100 or extends to the inside of the cannula 30 and is connected to the impeller 20. The rotation axis of the rotating assembly is the rotation axis of the rotating shaft 300. The rotor 400 is arranged in the pump housing 100, and the rotor 400 is fixedly connected to the rotating shaft 300.

[0067] The driving mechanism further comprises a stator 200 , which is disposed in the pump housing 100 . The stator 200 can drive the rotating assembly to rotate. In the illustrated embodiment, the stator 200 is located between the support member 510 and the shaft sleeve 520 .

[0068] The stator 200 can drive the rotor 400 to rotate, and the rotor 400 can drive the rotating shaft 300 to rotate. Specifically, the rotor 400 has magnetism, and the stator 200 can generate a rotating magnetic field that drives the rotor 400 to rotate. The rotating shaft 300 can be rotatably disposed in the stator 200. The rotor 400 is located between the support 510 and the sleeve 520.

[0069] Please combine again Figure 2 In the illustrated embodiment, the rotor 400 includes a first rotor unit 410 and a second rotor unit 420, and the first rotor unit 410 and the second rotor unit 420 are both fixed to the rotating shaft 300. The first rotor unit 410 and the second rotor unit 420 are arranged along the axis of the rotating shaft 300. Among them, the stator 200 is located between the first rotor unit 410 and the second rotor unit 420. The first rotor unit 410 and the second rotor unit 420 are both magnetic, and the stator 200 can generate a rotating magnetic field that drives the first rotor unit 410 and the second rotor unit 420 to rotate. Among them, at least one of the rotating shaft 300 and the first rotor unit 410 is connected to the rotating head 800. In the illustrated embodiment, the rotating head 800 is fixed to an end of the rotating shaft 300 away from the connecting end 310.

[0070] The rotating head 800 and the rotating shaft 300 may be separate, and the rotating head 800 may be fixedly connected to the rotating shaft 300 and the first rotor unit 410 by welding, bonding, etc. In some embodiments, the rotating head 800 and the rotating shaft 300 may be an integrally formed structure for convenient processing. Alternatively, in other embodiments, the rotating head 800 may not be directly connected to the rotating shaft 300, for example, the rotating head 800 is connected to the first rotor unit 410.

[0071] The driving mechanism further includes a stopper 600 , which is fixedly connected to the rotating assembly and is located between the shaft sleeve 520 and the rotating head 800 . The stopper 600 can abut against the shaft sleeve 520 to limit the movement of the rotating assembly in a direction away from the mounting slot 511 .

[0072] Please combine Fig. 9 and Fig.10 As shown, specifically, the stopper 600 is fixed to at least one of the rotating shaft 300 and the rotor 400 (specifically, the second rotor unit 420). In other words, the stopper 600 can be directly fixed to only the rotor 400, or directly fixed to only the rotating shaft 300, or directly fixed to both the rotor 400 and the rotating shaft 300. Since the rotor 400 is fixed to the rotating shaft 300, the stopper 600, the rotating shaft 300 and the rotor 400 rotate and move synchronously. The stopper 600 is located between the rotor 400 and the shaft sleeve 520, and the stopper 600 can abut against the shaft sleeve 520 to limit the movement of the rotating shaft 300 along the axis of the rotating shaft 300 in a direction away from the mounting groove 511.

[0073] In the illustrated embodiment, the stopper 600 is integrally formed with the rotating shaft 300. Since the overall volume of the blood pump 1 is small, the volume of the stopper 600 is even smaller, the processing accuracy is difficult, and the assembly is difficult. The stopper 600 and the rotating shaft 300 are integrally formed to facilitate installation and eliminate the need for fixing operations.

[0074] Specifically, the stopper 600 is generally annular, and the central axis of the stopper 600 coincides with the axis of the rotating shaft 300. The stopper 600 has a stopper surface 610, which is an arc-shaped surface, and can reduce the contact area with the sleeve 520, thereby reducing the wear of both. When the stopper surface 610 abuts against the sleeve 520, the rotating shaft 300 is restricted from moving along the axis of the rotating shaft 300 toward the impeller 20.

[0075] The side of the sleeve 520 facing the stopper 600 is partially recessed to form a guide groove 524, and the guide groove 524 is connected to the through hole 522 of the sleeve 520; when the stopper 600 abuts against the sleeve 520, part of the guide groove 524 is not covered by the stopper 600, so that when the stopper 600 abuts against the sleeve 520, even if there is a problem of obstruction of the flow of the flushing liquid caused by the gap between the through hole 522 of the sleeve 520 and the rotating shaft 300 blocked by the stopper 600, the guide groove 524 not covered by the stopper 600 can be When the stopper 600 abuts against the sleeve 520, fluid communication is achieved to ensure smooth circulation of the flushing liquid. In addition, a guide groove 524 is formed by partially recessing one side of the sleeve 520 facing the stopper 600, so that the flushing liquid can flow better between the stopper 600 and the sleeve 520, thereby lubricating the contact surface between the stopper 600 and the sleeve 520, reducing the friction between the stopper 600 and the sleeve 520, and reducing the wear problem caused by the friction between the stopper 600 and the sleeve 520.

[0076] In the illustrated embodiment, three guide grooves 524 are provided, and the three guide grooves 524 are connected to the through hole 522 and are evenly distributed relative to the through hole 522. The existence of the three guide grooves 524 can firstly allow more flushing liquid to pass through, thereby better lubricating the contact surface between the stop surface 610 and the sleeve 520 and reducing friction. At the same time, the contact area between the sleeve 520 and the stop surface 610 is also reduced, thereby reducing wear.

[0077] Of course, in other embodiments, the number of the guide grooves 524 may be one, two, or more than three, which is not limited here.

[0078] The following embodiments specifically describe the structure of the rotating head 800:

[0079] Embodiment 1: Combination Figure 3As shown, the rotating head 800 includes a ball head 800a, which is rotatably arranged in the mounting groove 511, and the ball head 800a is respectively in sliding contact with the bottom wall 512 and the side wall 513. Specifically in the illustrated embodiment, the first spherical wall 810 of the ball head 800a is tangent to both the side wall 513 and the bottom wall 512. The side wall 513 of the mounting groove 511 is a cylindrical surface, and the bottom wall 512 is a plane, and the bottom wall 512 is perpendicular to the side wall 513. The first spherical wall 810 is at least half of the sphere where the first spherical wall 810 is located, so that the volume of the ball head 800a is at least half of the sphere where the first spherical wall 810 is located. Among them, the tangent point where the first spherical wall 810 is tangent to the side wall 513 is located at the cross section of the maximum diameter of the ball head 800a, and the diameter of the maximum cross section is equal to the diameter of the sphere where the ball head 800a is located. Then, when the rotating head 800 rotates, the first spherical wall 810 and the side wall 513 are in line-to-line contact, with less contact, which can reduce wear; and the tangent point between the first spherical wall 810 and the bottom wall 512 can be regarded as point-to-point contact, which can reduce friction and wear with the bottom wall 512. In addition, the contact between the ball head 800a and the bottom wall 512 can also achieve axial limitation of the proximal end of the rotating component, and the ball head 800a is accommodated in the installation groove 511, and the radial limitation is stable, and the rolling in the installation groove 511 is smoother.

[0080] In this embodiment, the volume of the ball head 800a is larger than half of the sphere where the first spherical wall 810 is located, so as to avoid as much as possible the contact between the angle formed by the connection between the surface of the ball head 800a away from the bottom wall 512 of the mounting groove 511 and the first spherical wall 810 and the side wall 513 of the mounting groove 511, thereby causing scratches and wear on the side wall 513 of the mounting groove 511.

[0081] More specifically, the mounting slot 511 further comprises a slot 514 and a curved wall 513a, the rotating head 800 is disposed through the slot 514, the curved wall 513a is disposed near the edge of the slot 514 and extends in a direction away from the central axis of the slot 514, and the side wall 513 is connected to the curved wall 513a and the bottom wall 512. In this embodiment, the curved wall 513a is a rounded structure disposed at the edge of the slot 514. As the rotating component rotates, the far end of the rotating component will vibrate, causing the rotating head 800 at the proximal end of the rotating component to radially deflect. The rotating head 800 will deviate from the rotation axis of the smoothly rotating rotating component and swing, resulting in the risk of the rotating head 800 being stuck in the mounting groove 511. The arc wall 513a (rounded structure) is provided at the groove 514, which can make the diameter of the groove 514 relatively enlarged and the wall surface smooth. On the one hand, it can provide space for the radial deflection of the rotating head 800 to reduce the risk of the rotating head 800 being stuck. On the other hand, it can also reduce the risk of the rotating head 800 being scratched and worn by the opening edge of the mounting groove that has not been rounded when radial deflection occurs.

[0082] Combination Figure 3 As shown, when the rotating assembly rotates smoothly, in the direction of the rotating axis of the rotating assembly, the distance from the tangent point A where the first spherical wall 810 is tangent to the side wall 513 to the connecting line between the side wall 513 and the bottom wall 512 is 60%-75% of the distance from the notch 514 to the connecting line between the side wall 513 and the bottom wall 512. Specifically, the tangent point A where the first spherical wall 810 is tangent to the side wall 513 is the abutment point between the ball head 800a and the side wall 513. By setting the abutment point in the above manner, the risk of the rotating head 800 moving axially and falling out of the mounting groove 511 during rotation can be reduced.

[0083] In this embodiment, the bottom wall 512 is a plane, the bottom wall 512 is perpendicular to the side wall 513, and the first spherical wall 810 is tangent to the bottom wall 512 and the side wall 513 respectively. Then, the distance from the tangent point A where the first spherical wall 810 is tangent to the side wall 513 to the connecting line between the side wall 513 and the bottom wall 512 is the radius of the sphere where the ball head 800a is located, defined as L; the distance from the notch 514 to the connecting line between the side wall 513 and the bottom wall 512 is the depth of the mounting groove 511, defined as L1, so 60%≤L / L1≤75%.

[0084] Specifically, the distance from the tangent point A where the first spherical wall 810 is tangent to the side wall 513 to the connecting line between the side wall 513 and the curved wall 513a is 0.01mm-0.015mm. The distance from the connecting line between the side wall 513 and the curved wall 513a to the connecting line between the side wall 513 and the bottom wall 512 is defined as L2, that is, the difference between L2 and L is between 0.01mm-0.015mm. Such a setting can, on the one hand, make the mounting groove 511 have a more suitable depth, and on the other hand, reduce the risk of the rotating head 800 moving and falling out of the mounting groove 511; in addition, it can also reduce the risk of the rotating head 800 moving and causing the rotating head 800 to be out of contact with the side wall 513 of the mounting groove 511.

[0085] Combination Figure 4 As shown, the ball head 800a can be rotatably received in the mounting groove 511, and the radius of the sphere where the ball head 800a is located is not greater than the depth of the mounting groove 511, so that the ball head 800a is completely placed in the mounting groove 511, which can increase the rotation stability of the ball head 800a.

[0086] The rotating head 800 further includes a rod 850 connected to the ball head 800a, and the rod 850 is inserted into the notch 514 of the mounting groove 511. Specifically, one end of the rod 850 away from the ball head 800a is connected to the rotating shaft 300 or the first rotor unit 410. Specifically, in the illustrated embodiment, one end of the rod 850 away from the ball head 800a is fixedly connected to the rotating shaft 300 (specifically, one end of the rotating shaft 300 away from the connecting end 310). In this embodiment, the rod 850 is a columnar section similar to the rotating shaft 300, and the rotating shaft 300, the rod 850 and the ball head 800a are integrally formed.

[0087] In order to further reduce the risk of the rotating head 800 being stuck and colliding with the edge of the notch 514 of the mounting groove 511 when radial deflection occurs, an avoidance section 820 is formed at one end of the rod 850 close to the ball head 800a. The avoidance section 820 is penetrated through the notch 514 of the mounting groove 511, and the width of the cross section of the avoidance section 820 in the direction perpendicular to the rotation axis of the rotating shaft 300 is smaller than the diameter of the sphere where the ball head 800a is located. The rotation axis of the rotating shaft 300 is the rotation axis of the rotating assembly.

[0088] When the rotating assembly is not started, the cross-section of the side wall 513 in the axial direction of the rotating shaft 300 is parallel to the rotation axis of the rotating shaft 300, and the diameter of the sphere where the ball head 800a is located is also the width of the mounting groove 511; in this embodiment, the diameter of the sphere where the ball head 800a is located is defined as R1, which is also the width of the mounting groove 511, and the diameter of the avoidance section 820 is defined as R2, so R1<R2.

[0089] When the rotating component deflects during rotation, the ball head 800a can roll in the mounting groove 511. The diameter of the avoidance section 820 is smaller than the width of the mounting groove 511. Therefore, during the deflection process, the existence of the avoidance section 820 increases the distance between the rod portion 850 and the slot 514. The rod portion 850 can have a larger deflection angle, thereby increasing the upper limit of the deflection angle and being able to adapt to a larger radial deflection distance.

[0090] Furthermore, while satisfying the condition of adapting to the deflection, the diameter of the avoidance section 820 cannot be too small, otherwise the portion will be too thin, lack strength and be easily broken. The diameter of the avoidance section 820 is set within the range of 75%-85% of the diameter of the sphere where the ball head 800a is located, that is, 75%≤R1 / R2≤85%. Within such a condition range, the avoidance section 820 not only has the effect of adapting to the deflection and reducing the risk of collision with the edge of the slot 514, but also can make the strength of the avoidance section 820 meet the requirements.

[0091] Combination Figure 5 As shown, in the direction of the rotation axis of the rotating shaft 300, the avoidance section 820 also has a certain axial length, and the distance from the end of the avoidance section 820 away from the ball head 800a to the end of the ball head 800a away from the avoidance section 820 is not less than the depth of the installation groove 511. In this embodiment, the depth of the installation groove 511 is defined as L4, the rotating shaft 300 is connected to the first rotor unit 410, so that the rod 850 is also connected to the first rotor unit 410, the avoidance section 820 is provided between the first rotor unit 410 and the support member 510, and the avoidance section 820 extends from the installation groove 511 toward the first rotor unit 410, and has a certain length. The distance from one end of the avoidance section 820 away from the ball head 800a to the other end of the ball head 800a away from the avoidance section 820 is defined as L3, so that L3>L4. Therefore, when the ball head 800a abuts against the bottom wall 512 of the mounting groove 511, the farthest end of the avoidance section 820 away from the bottom wall 512 is higher than the position of the slot 514. In this way, when the rotating shaft 300 is deflected to the maximum angle, it is not easy to hit the edge of the slot 514, thereby reducing the risk of the rotating head 800 being stuck.

[0092] Specifically, since L3>L4, the avoidance section 820 partially extends out of the mounting groove 511, that is, the rod 850 extends out of the mounting groove 511, so that the length of the entire rotating head 800 in the axial direction of the rotating shaft 300 is greater than the depth of the mounting groove 511. Specifically in the illustrated embodiment, a stop surface 860 is formed on the side of the rod 850 away from the rotating head 800; the first rotor unit 410 is provided with a first axial hole 411, and a part of the rod 850 is sleeved in the first axial hole 411, and the stop surface 860 abuts against the side of the first rotor unit 410 close to the support member 510. Since the rod 850 extends out of the mounting groove 511, the rod 850 is located between the first rotor unit 410 and the support member 510, and there is a certain distance between the first rotor unit 410 and the notch 514 of the mounting groove 511, so as to avoid interference and friction between the first rotor unit 410 and the support member 510 during rotation. Figure 5 In the illustrated embodiment, the avoidance section 820 is located between the stop surface 860 and the ball head 800 a.

[0093] It should be noted that in the above-mentioned first embodiment, the arc wall 513a may be provided only at the notch 514, or the avoidance section 820 may be provided only on the rotating head 800, or both may be provided at the same time, which is not limited here.

[0094] Moreover, in other embodiments, the bottom wall 512 may also be a curved wall. Specifically, the bottom wall 512 is an outwardly convex or inwardly concave arc surface; when the bottom wall 512 is an outwardly convex arc surface, the rotating head 800 abuts against the outwardly convex arc surface, and the first spherical wall 810 is tangent to the outwardly convex arc surface; or, when the bottom wall 512 is an inwardly concave arc surface, the rotating head 800 abuts against the inwardly concave arc surface, and the first spherical wall 810 is tangent to the inwardly concave arc surface; or, when the bottom wall 512 is an outwardly convex arc surface, the side of the rotating head 800 facing the bottom wall is a plane wall, and the plane wall can also be tangent to the outwardly convex arc surface of the bottom wall 512.

[0095] Please combine Figure 6 , Figure 7 and Figure 8 As shown, the drive mechanism 10 also includes a mounting seat 700, which is fixed to the pump housing 100. The mounting seat 700 is provided with a mounting cavity 710 and a liquid through hole 720 connected to the mounting cavity 710, the support member 510 is installed in the mounting cavity 710, and a flow channel is provided on the mounting seat 700. In this embodiment, the flow channel is a first flow channel 730, and the first flow channel 730 is connected to the liquid through hole 720, so that the flushing liquid flowing through the liquid through hole 720 can flow into the inner cavity of the pump housing 100 through the first flow channel 730. Among them, the end of the liquid through hole 720 away from the mounting cavity 710 is used to communicate with the flushing pipeline of the catheter 50, so that the flushing liquid can flow into the inner cavity of the pump housing 100 through the liquid through hole 720 and the first flow channel 730.

[0096] Specifically, one end of the first flow channel 730 is connected to the gap between the support member 510 and the cavity bottom 712 of the installation cavity 710, and the other end is connected to the inner cavity of the pump housing 100. In the illustrated embodiment, the first flow channel 730 is formed by a local depression of the cavity wall of the installation cavity 710. In the illustrated embodiment, the number of the first flow channels 730 is two, and the two first flow channels 730 are arranged opposite to each other. It can be understood that the number of the first flow channels 730 can be adjusted according to design requirements. For example, in some embodiments, the number of the first flow channels 730 can also be one or more than two.

[0097] Specifically, the mounting cavity 710 has a cavity bottom 712, an opening of the liquid hole 720 is located at the cavity bottom 712 of the mounting cavity 710, a support step 713 is provided in the mounting cavity 710, and the support step 713 abuts against the support member 510, so that the support member 510 is separated from the cavity bottom 712 by a distance, so as to better ensure the smooth flow of the flushing liquid. The support member 700 is installed in the mounting cavity 710, and the support step 713 abuts against a side of the support member 510 that is away from the shaft sleeve 520.

[0098] Embodiment 2: Embodiment 2 is substantially the same as Embodiment 1, and differs from Embodiment 1 in the structure of the rotating head 800 and the structure of the mounting slot 511 .

[0099] Combination Fig.11 and 12 As shown, the rotating head 800 includes a ball head 800a, which is inserted into the slot 514 and slides against the bottom wall 512 and the side wall 513. Specifically, in the embodiment shown in the figure, the first spherical wall 810 of the ball head 800a is tangent to both the side wall 513 and the bottom wall 512. The side wall 513 of the mounting groove 511 is a cylindrical surface, and the bottom wall 512 is a plane, and the bottom wall 512 is perpendicular to the side wall 513. The diameter of the slot 514 of the mounting slot 511 is smaller than or equal to the diameter of the sphere where the ball head 800a is located, so that part of the ball head 800a is placed outside the slot 514, and at least part of the first spherical wall 810 is also placed outside the slot 514. Therefore, the ball head 800a will not be completely restricted by the side wall 514 in the radial direction. With this arrangement, when the rotating component deflects, the first spherical wall 810 can slide in the mounting slot 511, and the first spherical wall 810 can slide along the slot 514, and the ball head 800a will not be restricted by the slot 514 of the mounting slot 511, thereby avoiding being stuck.

[0100] In this embodiment, the volume of the ball head 800a is larger than half of the sphere where the first spherical wall 810 is located, and the tangent point B where the first spherical wall 810 is tangent to the side wall 513 is lower than the cross-section of the maximum diameter of the ball head 800a, that is, the tangent point B is lower than the radius of the sphere where the ball head 800a is located in the axial direction; the diameter of the slot 514 of the mounting slot 511 is smaller than the diameter of the sphere where the ball head 800a is located. Such an arrangement can avoid as much as possible the contact between the angle formed at the connection between the surface of the ball head 800a away from the bottom wall 512 of the mounting groove 511 and the first spherical wall 810 and the side wall 513 of the mounting groove 511, thereby causing scratches and wear on the side wall 513 of the mounting groove 511; it can also make the volume of the ball head 800a inserted in the mounting groove 511 less than half the volume of the sphere where the first spherical wall 810 is located. When the rotating component is deflected, the first spherical wall 810 slides more smoothly in the mounting groove 511, and the risk of being restricted by the notch 514 and getting stuck is smaller.

[0101] Specifically, the diameter of the sphere where the ball head 800a is located is defined as R3, the diameter of the notch 514 is the width of the mounting groove 511, defined as R4, the radius of the sphere where the ball head 800a is located is defined as r3, and the depth of the mounting groove 511 is defined as L5, that is, R3>R4, r3>L5. In addition, in the illustrated embodiment, the volume of the ball head 800a is larger than that of the mounting groove 511, and when the ball head 800a wears against the bottom wall 512 and the side wall 513, the pressure points can be dispersed on the ball head 800a, so the anti-wear effect is good and the service life is long.

[0102] Furthermore, the diameter of the slot 514 of the mounting slot 511 is not less than half of the diameter of the sphere where the ball head 800a is located; that is, a minimum range of the diameter of the slot 514 is limited. If the diameter of the slot 514 is too small, the depth and width of the rotating head 800 in the mounting slot 511 are too small, and the axial or radial limiting ability of the rotating head 800 during high-speed rotation is too weak, and the rotating head 800 is easy to detach from the mounting slot 514.

[0103] Combination Fig.12 As shown, a stop surface 860 is provided on the rotating head 800, and the stop surface 860 is located on the side of the rotating head 800 away from the bottom wall 512 of the mounting groove 511. The stop surface 860 is spaced a distance from the notch 514 of the mounting groove 511, and the first rotor unit 410 abuts against the stop surface 860 so that a distance is spaced between the first rotor unit 410 and the notch 514 of the mounting groove 511.

[0104] In this embodiment, the rotating head 800 includes a rod 850 connected to the ball head 800a. Specifically, the rod 850 is separately provided from the rotating shaft 300, and one end of the rod 850 away from the ball head 800a is fixedly connected to the first rotor unit 410, and one end of the rotating shaft 300 away from the connecting end 310 is also fixedly connected to the first rotor unit 410. In the illustrated embodiment, the first rotor unit 410 is provided with a first shaft hole 411, and the rod 850 and the rotating shaft 300 are respectively sleeved in the first shaft hole 411. At this time, the stopper 600 can be integrally formed with the rotating shaft 300, and the processing accuracy is good, so that the rotating shaft 300 can be assembled from the distal direction of the first shaft hole 411.

[0105] Specifically, the width of the cross section of the rod 850 in the direction of the rotation axis of the vertical shaft 300 is smaller than the diameter of the sphere where the ball head 800a is located, and a stop surface 860 is formed between the rod 850 and the ball head 800a. The stop surface 860 abuts against the side of the first rotor unit 410 facing the support member 510, and has a limiting effect on the rotating head 800 during assembly. The first rotor unit 410 is spaced a certain distance from the notch 514 of the mounting groove 511, and the support member 510 can also be spaced apart from the first rotor unit 410, effectively avoiding interference and friction between the first rotor unit 410 and the support member 510 during rotation.

[0106] Embodiment 3: Embodiment 3 is substantially the same as Embodiment 2, and differs from Embodiment 2 in the structure of the rotating head 800 and the structure of the supporting member 510 .

[0107] Combination Figures 13 to 15 As shown, the rotating head 800 also has a second spherical wall 840, which is connected to the first spherical wall 810, and the rotating head 800 is in sliding contact with the side wall 513 and the bottom wall 512. Specifically, the first spherical wall 810 is tangent to the side wall 513, and the second spherical wall 840 is tangent to the bottom wall 512, and the second spherical wall 840 is arranged toward the bottom wall 512.

[0108] Specifically, a convex ring 830 is provided on the side of the rotating head 800 facing the bottom wall 512, the central axis of the convex ring 830 coincides with the rotational central axis of the rotating assembly, and a second spherical wall 840 is provided on the convex ring 830. In the present embodiment, the second spherical wall 840 is an outer convex arc surface provided around the convex ring 830. When the convex ring 830 abuts against the bottom wall 512, the second spherical wall 840 is just tangent to the bottom wall 512. With such a configuration, the contact between the bottom wall 512 and the rotating head 800 can be regarded as line-to-line contact, which reduces friction and wear. In addition, since the convex ring 830 is provided in a circumferential manner, the contact area with the bottom wall 512 is relatively dispersed and uniform, so that the pressure of the relatively frictional part will not be too concentrated, further reducing wear and tear, and increasing the service life of the rotating head 800.

[0109] More specifically, the inner diameter of the convex ring 830 is not less than 1 / 2 of the diameter of the sphere where the first spherical wall 810 is located. With such a configuration, when the second spherical wall 840 on the convex ring 830 is tangent to the bottom wall 512, the circumference of the circle formed by the convex ring 830 is relatively large, so that the pressure of the convex ring 830 on the bottom wall 512 is dispersed and not too concentrated, and the wear resistance effect is better.

[0110] Moreover, in other embodiments, the convex ring 830 may not be provided, but a plurality of convex balls may be evenly arranged circumferentially along the rotation center axis of the rotating component, and the second spherical wall 840 may be provided on the convex balls, which can also achieve the same effect, and the number of convex balls may also be three or four or more.

[0111] It should be noted that the convex ring 830 structure in the third embodiment can also be applied to the first embodiment and is not limited here.

[0112] Combination Fig.13 and 15 As shown, in this embodiment, a flow channel is provided on the support member 510, and the flow channel is a second flow channel 516. The second flow channel 516 on the support member 510 has a first opening 515 and a second opening 517. The first opening 515 is connected to the mounting groove 511, and the second opening 517 is connected to the liquid through hole 720. The rotating head 800 avoids the first opening 515. Specifically, one end of the second flow channel 516 is connected to the gap between the support member 510 and the cavity bottom 712 of the mounting cavity 710, and the other end is connected to the mounting groove 511. Among them, the flushing liquid can flow into the mounting groove 511 through the liquid through hole 720, the second opening 517, the second flow channel 516, and the second opening 515. The flushing liquid enters between the mounting groove 511 and the rotating head 800 to play a role in lubrication and heat dissipation, so as to reduce the friction between the rotating head 800 and the mounting groove 511 and dissipate the heat generated, thereby reducing the wear between the rotating head 800 and the mounting groove 511. Moreover, the rotating head 800 will not cover the first opening 515, ensuring that the flushing liquid can enter smoothly, and will not contact the edge of the first opening 515 and cause wear. In the illustrated embodiment, the number of second flow channels 516 is two, and the two second flow channels 516 are arranged opposite to each other. It can be understood that the number of second flow channels 516 can be adjusted according to design requirements. For example, in some embodiments, the number of second flow channels 516 can also be one or more than two.

[0113] It should be noted that the first flow channel 730 on the mounting seat 700 and the second flow channel 516 on the support member 510 can be set at the same time, or only one of them can be set; when both are set at the same time, the flushing liquid enters the mounting cavity 710 from the liquid hole 720 and is divided into two streams, one stream flows into the mounting groove 511 of the support member 510 through the second flow channel 516, and the other stream flows out through the first flow channel 730.

[0114] Furthermore, the support member 510 can be integrally formed or can be composed of two parts. Fig.15 and Fig.16 As shown, when the support member 510 is composed of two parts, the support member 510 includes a ring 518 and a base plate 519, the base plate 519 is connected to one end of the ring 518, the base plate 519 and the ring 518 jointly surround a mounting groove 511, at least part of the inner wall of the ring 518 forms a side wall 513, and the bottom wall 512 is arranged on the base plate 519.

[0115] Specifically, the collar 518 and the base plate 519 can be bonded or abutted. First, it is easier to process during molding, and there is more freedom in material selection. The same material can be used for both, such as ceramic materials; different materials can also be used. For example, the collar 518 is made of ceramic material, and the base plate 519 is a metal part. A diamond coating needs to be applied on the surface of the base plate 519 to improve the surface roughness. Second, during assembly, the rotating head 800 can enter from two axial directions of the collar 518, which is more convenient.

[0116] When the support member 510 is composed of two parts, the second flow channel 516 is arranged on the bottom plate 519, and the second flow channel 516 is a gap extending from the side wall of the bottom plate 519 toward the center of the bottom plate 519, the second flow channel 516 is connected with the liquid hole 720, and the rotating head 800 avoids the second flow channel 516; or in other embodiments, the second flow channel 516 is arranged on the ring 518, and the second flow channel 516 is a gap extending from the side wall of the ring 518 toward the center of the ring 518, the second flow channel 516 is connected with the liquid hole 720, and the rotating head 800 avoids the second flow channel 516.

[0117] It should be noted that the support member 510 structure in the third embodiment can also be applied to the first and second embodiments, which is not limited here.

[0118] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A driving mechanism, characterized in that: The driving mechanism comprises: A housing assembly, wherein the housing assembly has a mounting groove and a through hole, and the mounting groove has a bottom wall and a side wall; a stator disposed within the housing assembly; and A rotating assembly, the rotating assembly having a distal end and a proximal end, the distal end of the rotating assembly being rotatably disposed in the through hole; the stator being capable of driving the rotating assembly to rotate; The proximal end of the rotating assembly has a rotating head, which is rotatably disposed in the mounting groove and is in sliding contact with the bottom wall and the side wall, and the rotating head has a first spherical wall, which is tangent to the side wall; When the rotating assembly undergoes radial deflection in a rotating state, the rotating head can roll in the mounting groove, and the first spherical wall remains tangent to the side wall.

2. The driving mechanism according to claim 1, characterized in that: The rotating head includes a ball head and a rod connected to the ball head; the ball head can be rotatably accommodated in the mounting groove, and the ball head is completely placed in the mounting groove; the rod is a columnar section, the rod is inserted into the notch of the mounting groove, and the width of the cross-section of the rod in the direction perpendicular to the rotation axis of the rotating component is smaller than the diameter of the sphere where the ball head is located.

3. The driving mechanism according to claim 2, characterized in that: An avoidance section is formed at one end of the rod portion close to the ball head portion, and the avoidance section is passed through the notch of the installation slot. The width of the cross section of the avoidance section in a direction perpendicular to the rotation axis of the rotating component is smaller than the diameter of the sphere where the ball head portion is located.

4. The driving mechanism according to claim 3, characterized in that: The width of the cross section of the avoidance section in a direction perpendicular to the rotation axis of the rotating component is 75%-85% of the diameter of the sphere where the ball head is located; and / or, the distance from one end of the avoidance section away from the ball head to the end of the ball head away from the avoidance section is greater than the depth of the mounting groove, so that the avoidance section partially protrudes from the mounting groove.

5. The driving mechanism according to claim 1, characterized in that: The side wall is a cylindrical surface, and the cross section of the mounting groove along the direction perpendicular to the rotation axis of the rotating assembly is circular; Alternatively, the cross-section of the mounting groove along a direction perpendicular to the rotation axis of the rotating assembly is rectangular.

6. The driving mechanism according to claim 1, characterized in that: The side wall is parallel to the rotation axis of the rotating assembly.

7. The driving mechanism according to claim 1, characterized in that: The first spherical wall is tangent to the bottom wall, and / or the bottom wall is a plane, and the bottom wall is perpendicular to the side wall.

8. The driving mechanism according to claim 1, characterized in that: The installation slot also has a slot opening and a curved wall, the rotating head is inserted into the slot opening, the side wall connects the curved wall and the bottom wall, and the curved wall is close to the slot opening.

9. The driving mechanism according to claim 8, characterized in that: The distance from the tangent point between the first spherical wall and the side wall to the connecting line between the side wall and the bottom wall is 60%-75% of the distance from the notch to the connecting line between the side wall and the bottom wall; And / or, the distance from the tangent point between the first spherical wall and the side wall to the connecting line between the side wall and the arc surface is 0.01 mm-0.015 mm.

10. The driving mechanism according to claim 1, characterized in that: The rotating head includes a ball head portion, and the ball head portion is inserted into a notch of the mounting groove. The diameter of the notch of the mounting groove is less than or equal to the diameter of the sphere where the ball head portion is located, and greater than or equal to 1 / 2 of the diameter of the sphere where the ball head portion is located.

11. The driving mechanism according to claim 1, characterized in that: The rotating head also has a second spherical wall, the second spherical wall is connected to the first spherical wall, the second spherical wall is in sliding contact with the bottom wall of the mounting groove, and the second spherical wall is tangent to the bottom wall.

12. The driving mechanism according to claim 11, characterized in that: The rotating head is also provided with a convex ring, the central axis of the convex ring coincides with the rotation axis of the rotating assembly, and the second spherical wall is arranged on the convex ring.

13. The driving mechanism according to claim 12, characterized in that: The inner diameter of the convex ring is not less than 1 / 2 of the diameter of the sphere where the first spherical wall is located.

14. The driving mechanism according to any one of claims 1 to 13, characterized in that: The housing assembly includes a pump housing and a support member mounted on the pump housing, the mounting groove is provided on the support member, the driving mechanism also includes a mounting seat, the mounting seat is fixedly connected to the pump housing, a mounting cavity and a liquid through hole communicating with the mounting cavity are provided on the mounting seat, the support member is installed in the mounting cavity, at least one of the mounting seat and the support member is provided with a flow channel, and the flow channel is communicated with the liquid through hole; The support member is provided with the flow channel, and the flow channel on the support member has a first opening and a second opening, the first opening is communicated with the mounting groove, the second opening is communicated with the liquid through hole, and the rotating head avoids the first opening.

15. The driving mechanism according to claim 14, characterized in that: The support member comprises a collar and a bottom plate, wherein the bottom plate is connected to one end of the collar, the bottom plate and the collar jointly surround the mounting groove, at least a portion of the inner wall of the collar forms the side wall, and the bottom wall is arranged on the bottom plate; The bottom plate is provided with the flow channel communicated with the mounting groove. The flow channel on the bottom plate is formed by extending from the side of the bottom plate toward the center of the bottom plate. The rotating head avoids the flow channel on the bottom plate.

16. The driving mechanism according to claim 1, characterized in that: The rotating assembly also includes a rotating shaft and a rotor. The rotating shaft is inserted into the stator. The rotating shaft has a proximal end and a distal end. The distal end of the rotating shaft can be rotatably inserted into the through hole. The rotor includes a first rotor unit. The first rotor unit is fixedly connected to the rotating shaft. At least one of the first rotor unit and the rotating shaft is connected to the rotating head.

17. The driving mechanism according to claim 16, characterized in that: The rotating head is provided with a stop surface, the stop surface is located on a side of the rotating head away from the bottom wall of the mounting groove, and the stop surface is spaced a distance from the notch of the mounting groove, and the first rotor unit abuts against the stop surface so that the first rotor unit is spaced a distance from the notch of the mounting groove; In which, the rotating head includes a ball head and a rod portion connected to the ball head; the ball head can be rotatably and completely accommodated in the mounting groove; the rod portion is a columnar section, and an avoidance section is formed at one end of the rod portion close to the ball head portion, and the avoidance section is penetrated through the notch of the mounting groove, and the width of the cross-section of the rod portion in the direction perpendicular to the rotation axis of the rotating component is smaller than the diameter of the sphere where the ball head portion is located, and the stop surface is provided between the rod portion and the ball head portion, and the avoidance section is located between the stop surface and the ball head portion.

18. The driving mechanism according to any one of claims 1 to 13, characterized in that: The housing assembly includes a pump housing and a sleeve mounted on the pump housing, the through hole is arranged on the sleeve, and the driving mechanism also includes a stopper, which is fixedly connected to the rotating assembly and is located between the sleeve and the rotating head. The stopper can abut against the sleeve to limit the movement of the rotating assembly in a direction away from the mounting groove.

19. A blood pump, characterized in that: It comprises an impeller and the driving mechanism according to any one of claims 1 to 18, wherein the impeller is connected to the rotating component and can rotate along with the rotating component.

20. The blood pump according to claim 19, characterized in that: The blood pump is designed to be percutaneously inserted into a patient's blood vessel; the blood pump further comprises a cannula connected to the driving mechanism; the impeller is rotatably accommodated in the cannula; the cannula has a blood inlet and a blood outlet.

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