Driving device and blood pump

Abstract

The invention relates to a driving device and a blood pump. The driving device comprises a shell, a rotating assembly, a stator and a near-end bearing. The rotating assembly is rotatably mounted on the shell; the stator is fixedly connected with the shell and can drive the rotor to rotate; the near-end bearing comprises a near-end shaft sleeve, a near-end accessory and a near-end ball. Wherein the near-end shaft sleeve is fixed at the near end of the shell; the near-end accessory is located on the far side of the near-end shaft sleeve, the near-end accessory is opposite to the near-end shaft sleeve in the axial direction, the near-end accessory can rotate relative to the near-end shaft sleeve, and the near-end accessory is fixedly connected with the near end of the rotating assembly; the near-end ball is movably installed on one of the near-end shaft sleeve and the near-end accessory and arranged on the periphery of the central axis of the rotating assembly, the other one of the near-end shaft sleeve and the near-end accessory is provided with a matching wall, and the matching wall abuts against the spherical surface of the near-end ball in the axial direction.

Description

Technical Field

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

[0002] Interventional catheter pumps, also known as blood pumps, are mostly used to push blood from blood vessels into the patient's ventricles to assist the patient's heart in pumping blood and provide support for the patient's blood circulation. A blood pump generally includes a drive device and an impeller. The shaft of the drive device is fixedly connected to the impeller to drive the impeller to rotate and drive blood flow. However, the traditional drive device is unstable during operation and has poor working efficiency. Summary of the invention

[0003] Based on this, it is necessary to provide a driving device and a blood pump to address the above problems, aiming to improve the operating stability of the driving device during operation, reduce the loss during operation of the driving device, and thus improve the working efficiency of the driving device.

[0004] In one embodiment of the present application, the driving device includes a housing, a rotating assembly, a stator and a proximal bearing. The rotating assembly is rotatably mounted on the housing; the stator is fixedly connected to the housing and can drive the rotor to rotate; the proximal bearing includes a proximal sleeve, a proximal accessory and a proximal ball. The proximal sleeve is fixed to the proximal end of the housing; the proximal accessory is located between the proximal sleeve and the stator, the proximal accessory is axially opposite to the proximal sleeve and can rotate relative to the proximal sleeve, and the proximal accessory is fixedly connected to the proximal end of the rotating assembly; the proximal ball is movably mounted on one of the proximal sleeve and the proximal accessory, and the other of the proximal sleeve and the proximal accessory has a matching wall, and the matching wall and the spherical surface of the proximal ball are axially opposed.

[0005] In some embodiments, the rotating assembly includes a rotating shaft and a rotor fixedly connected to the rotating shaft, and the distal end of the proximal accessory is fixedly connected to the proximal end of the rotating shaft; the proximal end of the proximal accessory is provided with a rotating column, the rotating column is coaxial with the rotating shaft, and the rotating column can rotatably pass through the proximal sleeve.

[0006] In some embodiments, a socket is provided at the distal end of the proximal accessory, and the proximal end of the rotating shaft is fixed in the socket; and / or, there are multiple proximal balls, and the multiple proximal balls are arranged around the rotating column.

[0007] In some embodiments, the proximal sleeve is provided with a proximal axial hole, and the rotating column can rotatably pass through the proximal axial hole. A limiting member is provided on the circumferential surface of the proximal end of the rotating column. The limiting member is located on the side of the proximal sleeve facing away from the proximal accessory and can be axially opposed to the proximal sleeve.

[0008] In some embodiments, the proximal end of the shell is provided with a fixing groove for installing the proximal accessory, and a proximal limiting groove located distal to the fixing groove; the proximal accessory is at least partially accommodated in the proximal limiting groove, and the outer circumferential surface of the proximal accessory and the inner circumferential surface of the proximal limiting groove are separated by a gap.

[0009] In some embodiments, one of the proximal sleeve and the proximal accessory is provided with a proximal mounting groove, in which at least one proximal ball is correspondingly installed, and a portion of the proximal ball extends outward from the groove of the proximal mounting groove to abut against the mating wall.

[0010] In some embodiments, the number of the proximal mounting grooves is multiple, and the multiple proximal mounting grooves are arranged at intervals around the rotating shaft, and each of the proximal mounting grooves is provided with at least one proximal ball; or, the number of the proximal mounting groove is one, and the proximal mounting groove is annularly surrounding the rotating component, and the multiple proximal balls are arranged in the proximal mounting groove, and the multiple proximal balls are arranged around the rotating component.

[0011] In some embodiments, the proximal mounting groove has a groove bottom wall and a groove side wall; the proximal ball is in contact with the groove bottom wall, the proximal ball is tangent to the groove side wall and has a tangent position, and the tangent position depth between the tangent position and the notch of the proximal mounting groove is greater than or equal to 1 / 2 times the radius of the proximal ball, and less than the radius of the proximal ball;

[0012] Alternatively, the proximal ball has an axial height protruding outward from the notch of the proximal mounting groove, and the axial height is greater than or equal to 1 / 3 of the radius of the proximal ball and less than the radius of the proximal ball.

[0013] In some embodiments, the proximal bearing further has at least one of the following features:

[0014] The spherical surface of the proximal ball is a ceramic surface;

[0015] The diameter of the proximal ball is 0.4 mm to 0.7 mm;

[0016] The proximal ball is radially spaced a distance from the rotating column provided on the proximal accessory;

[0017] The number of the proximal balls is multiple, and the multiple proximal balls are arranged at intervals around the central axis of the rotating component;

[0018] At least two of the proximal balls are located on opposite sides of the central axis of the rotating assembly.

[0019] In some embodiments, an annular groove is provided on the mating wall, and the annular groove surrounds the central axis of the rotating component; a portion of the proximal ball is accommodated in the annular groove.

[0020] In some embodiments, the annular groove has an annular bottom wall and annular side walls located on both sides of the annular bottom wall; the annular groove also has at least one of the following features:

[0021] The bottom wall of the ring is perpendicular to the central axis of the rotating assembly and is tangent to the spherical surface of the proximal ball;

[0022] The ring side wall is configured in a concave arc shape;

[0023] A rounded wall is provided at the notch of the annular groove;

[0024] The radial width of the annular groove gradually decreases from the proximal sleeve to the proximal fitting.

[0025] In some embodiments, the matching wall is a flat wall without a concave-convex structure, and the matching wall also has at least one of the following characteristics:

[0026] The matching wall is perpendicular to the central axis of the rotating assembly and tangent to the proximal ball;

[0027] The matching wall is a ceramic surface.

[0028] In some embodiments, the rotating assembly includes a rotating shaft; the driving device also includes a distal bearing, and the distal bearing includes:

[0029] A distal sleeve, the distal sleeve being fixed to the distal end of the housing, and the rotating shaft being rotatably disposed through the distal sleeve;

[0030] a distal accessory, wherein the proximal accessory is received in the housing and is fixedly connected to the rotating assembly; and

[0031] A plurality of distal spherical parts are provided on one of the distal sleeve and the distal accessory and are arranged around the rotating shaft; the other of the distal sleeve and the distal accessory has an abutment wall, and the abutment wall abuts against the spherical surface of the distal spherical part along the axial direction.

[0032] The present application also provides a driving device, which includes a housing, a rotating assembly, a stator and a proximal bearing. The rotating assembly can be rotatably mounted on the housing; the stator is fixed to the housing and can drive the rotating assembly to rotate; the proximal bearing includes a proximal sleeve, a proximal accessory and a proximal spherical protrusion. The proximal sleeve is fixed to the proximal end of the housing; the proximal accessory is located between the proximal sleeve and the stator, the proximal accessory is axially opposite to the proximal sleeve and can rotate relative to the proximal sleeve, and the proximal accessory is fixed to the rotating assembly; the proximal spherical protrusion is fixed to one of the proximal sleeve and the proximal accessory, and the other of the proximal sleeve and the proximal accessory has a matching wall, and the matching wall is axially against the spherical surface of the proximal spherical protrusion.

[0033] In some embodiments, the rotating assembly includes a rotating shaft and a rotor fixedly connected to the rotating shaft, and the distal end of the proximal accessory is fixedly connected to the proximal end of the rotating shaft; the proximal end of the proximal accessory is provided with a rotating column, the rotating column is coaxial with the rotating shaft, and the rotating column is rotatably provided with the proximal sleeve;

[0034] The distal end of the proximal accessory is provided with a socket for fixing the proximal end of the rotating shaft, or the number of the proximal spherical protrusions is multiple, and the multiple proximal spherical protrusions surround the rotating column.

[0035] In some embodiments, the proximal sleeve is provided with a proximal shaft hole, and the rotating column can rotatably pass through the proximal shaft hole; the proximal end of the rotating column is located on the side of the proximal sleeve facing away from the proximal accessory, and a limiting member is provided on the circumferential surface of the proximal end of the rotating column, and the limiting member can be axially opposed to the proximal sleeve.

[0036] In some embodiments, an annular groove is provided on the mating wall, and the annular groove surrounds the outer circumference of the central axis of the rotating component; a portion of the proximal spherical protrusion is accommodated in the annular groove.

[0037] In some embodiments, the annular groove has an annular bottom wall and annular side walls located on both sides of the annular bottom wall; the annular groove also has at least one of the following features:

[0038] The bottom wall of the ring is perpendicular to the central axis of the rotating assembly and is tangent to the spherical surface of the proximal spherical protrusion;

[0039] The ring side wall is configured in a concave arc shape;

[0040] A rounded wall is provided at the notch of the annular groove;

[0041] The radial width of the annular groove gradually decreases from the proximal sleeve to the proximal fitting.

[0042] In some embodiments, the proximal bearing further has at least one of the following features:

[0043] The spherical surface of the proximal spherical protrusion is a ceramic surface;

[0044] The diameter of the proximal spherical protrusion is 0.4 mm to 0.7 mm;

[0045] The proximal spherical protrusion is radially spaced a distance from the rotating column provided on the proximal accessory;

[0046] The number of the proximal spherical protrusions is multiple, and the multiple proximal spherical protrusions are arranged at intervals along the central axis of the rotating component;

[0047] At least two of the proximal spherical protrusions are located on opposite sides of the central axis of the rotating assembly.

[0048] In some embodiments, the proximal bearing further has at least one of the following features:

[0049] The matching wall is perpendicular to the central axis of the rotating assembly and is tangent to the proximal spherical protrusion;

[0050] The matching wall is a plane without a concave-convex structure;

[0051] The matching wall is a ceramic surface.

[0052] In some embodiments, the rotating assembly includes a rotating shaft; the driving device also includes a distal bearing, and the distal bearing includes:

[0053] A distal sleeve, the distal sleeve being fixed to the distal end of the housing, and the rotating shaft being rotatably disposed through the distal sleeve;

[0054] A distal accessory, the distal accessory is accommodated in the housing and is fixedly connected to the rotating assembly; and

[0055] A plurality of distal spherical parts are provided on one of the distal sleeve and the distal accessory and are arranged around the rotating shaft; the other of the distal sleeve and the distal accessory has an abutment wall, and the abutment wall abuts against the spherical surface of the distal spherical part along the axial direction.

[0056] The present application also provides a blood pump, comprising an impeller and a driving device as described in any one of the above embodiments, wherein the impeller is fixedly connected to a distal end of a rotating shaft of the driving device.

[0057] In some embodiments, the blood pump also includes a cannula assembly, which is fixedly connected to the housing of the drive device; the proximal end of the cannula assembly is provided with a proximal opening, and the distal end of the cannula assembly is provided with a distal opening, one of the distal opening and the proximal opening is a blood inlet, and the other is a blood outlet; the impeller is disposed in the cannula assembly.

[0058] The above-mentioned drive device is provided with a proximal bearing at the distal end of the shell, and the proximal bearing includes a proximal sleeve, a proximal accessory and a proximal ball; wherein the proximal sleeve is fixedly connected to the proximal end of the shell; the proximal accessory is located between the proximal sleeve and the stator, and is fixedly connected to the rotating assembly; the proximal ball can be movably mounted on one of the proximal sleeve and the proximal accessory; the other of the proximal sleeve and the proximal accessory has a matching wall, and the matching wall and the spherical surface of the proximal ball are axially abutted. In this way, the proximal sleeve, the proximal accessory and the proximal ball are combined to form an axial ball bearing. During the startup and operation of the drive device, the axial ball bearing is kept axially abutted against the abutment wall by the proximal ball, so that the rotating assembly is not prone to axial displacement, thereby preventing the rotating assembly and the fixed parts at the proximal end of the shell from colliding, improving the stability of the operation of the rotating assembly, reducing the risk of failure of the drive device, and extending the service life. Furthermore, when the rotating component is working, the proximal ball of the axial ball bearing can be driven by the rotating component to roll, and the friction between the proximal ball and the mating wall is rolling friction with small friction resistance, which effectively reduces the resistance encountered by the rotating component during rotation, reduces the power loss of the driving device to overcome the resistance, and improves the working efficiency of the driving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 A schematic structural diagram of an embodiment of a blood pump provided in the present application.

[0060] Figure 2 for Figure 1 Schematic diagram of part of the structure of the blood pump.

[0061] Figure 3 This is a schematic structural diagram of the first embodiment of the driving device provided in this application.

[0062] Figure 4 for Figure 3 Schematic diagram of the structure of the distal part of the middle drive device.

[0063] Figure 5 for Figure 4 Medium 1 Enlarged view of .

[0064] Figure 6 for Figure 3 Cross-sectional view of the first bearing.

[0065] Figure 7 for Figure 3 Schematic diagram of the structure of the proximal part of the middle drive device.

[0066] Figure 8 for Figure 7 Medium 2 Enlarged view of .

[0067] Fig. 9 for Figure 3 Schematic diagram of the rotating shaft and the second bearing being assembled into one piece.

[0068] Fig.10 for Fig. 9 Schematic diagram of the disassembled intermediate shaft and second bearing.

[0069] Figure 11-A and Figure 11-B for Figure 3 Schematic diagram of the central shaft experiencing a small radial deflection to the left or right.

[0070] Figure 12-A to Figure 12-C for Fig.10 Schematic diagram of the structure of the mid-proximal accessories.

[0071] Figure 13-A and Figure 13-B for Fig.10 Schematic diagram of the structure of the second bearing.

[0072] Fig.14 This is a schematic structural diagram of the second embodiment of the driving device provided in this application.

[0073] Fig.15 for Fig.14 Schematic diagram of the structure of the proximal part of the middle drive device.

[0074] Figure 16-A to Figure 16-C for Fig.14 Schematic diagram of the structure of the mid-proximal accessories.

[0075] Figure 17-A to Figure 17-C for Fig.14 Schematic diagram of the structure of the second bearing.

[0076] Fig.18 This is a schematic structural diagram of the third embodiment of the driving device provided in this application.

[0077] Fig.19 for Fig.18 Schematic diagram of the structure of the proximal part of the middle drive device.

[0078] Figure 20-A and Figure 20-B for Fig.18 Schematic diagram of the structure of the second bearing.

[0079] Fig.21This is a schematic structural diagram of the fourth embodiment of the driving device provided in the present application.

[0080] Fig. 22 for Fig.21 Schematic diagram of the structure of the proximal part of the middle drive device.

[0081] Fig.23 This is a schematic structural diagram of the sixth embodiment of the driving device provided in the present application.

[0082] Fig.24 for Fig.23 Schematic diagram of the structure of the proximal part of the middle drive device.

[0083] Figure 25-A and Figure 25-B for Fig.24 Schematic diagram of the structure of the second bearing. DETAILED DESCRIPTION

[0084] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0085] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "membrane wall thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply 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 application.

[0086] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0087] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated 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, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0088] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0089] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0090] It should be noted that the “distal end” and “proximal end” in the text are only used to indicate relative positional relationships. The “distal end” of a component refers to the end of the component that enters the patient’s body first and / or is farther away from the operator during normal operation, while the “proximal end” refers to the end that enters the patient’s body later and / or is closer to the operator. Figure 2 As shown, the direction indicated by the arrow Y+ is the direction from the proximal end to the distal end; the direction indicated by the arrow Y- is the direction from the distal end to the proximal end.

[0091] See also Figure 1 The blood pump 1 mentioned in the present application is designed as a percutaneous vascular intervention to assist the heart in pumping blood. The blood pump 1 can be a left heart interventional blood pump or a right heart interventional blood pump. To avoid redundancy, the following mainly uses the left heart interventional blood pump as an example for explanation. The blood pump of the embodiment of the present application is described below.

[0092] See also Figure 1 and Figure 2 The blood pump 1 includes a driving device 10 and an impeller 50; the impeller 50 is connected to the distal end of the rotating shaft 210 of the driving device 10. The driving device 10 drives the impeller 50 to rotate, which can drive blood to flow.

[0093] See also Figure 1 and Figure 2 The blood pump 1 further comprises a cannula assembly 20, which is fixedly connected to the housing 100 of the driving device 10; a proximal opening 20a is provided at the proximal end of the cannula assembly 20, and a distal opening 20b is provided at the distal end of the cannula assembly 20; and an impeller 50 is disposed in the cannula assembly 20. One of the proximal opening 20a and the distal opening 20b serves as a blood inlet, and the other serves as a blood outlet.

[0094] When the blood pump 1 is a right heart interventional blood pump, the blood pump 1 can be pushed to the pulmonary artery through the right ventricle across the pulmonary valve, so that the proximal opening 20a is located in the right ventricle, and the distal opening 20b is located in the pulmonary artery. At this time, the proximal opening 20a is the blood inlet, and the distal opening 20b is the blood outlet.

[0095] When the blood pump 1 is a left heart interventional blood pump, the blood pump 1 can be pushed to the left ventricle through the aorta across the aortic valve, so that the proximal opening 20a is located in the aorta and the distal opening 20b is located in the left ventricle; at this time, the proximal opening 20a is the blood outlet and the distal opening 20b is used as the blood inlet.

[0096] The cannula assembly 20 may include a cannula 21, an inlet pipe 23, and an outlet pipe 22. The outlet pipe 22 is provided with a proximal opening 20a; and the outlet pipe 22 connects the proximal end of the cannula 21 and the distal end of the drive device 10. The inlet pipe 23 is provided with a distal opening 20b, and the inlet pipe 23 is connected to the distal end of the cannula 21. It can be understood that the outlet pipe 22 is not necessary, and the proximal opening 20a can be directly provided on the cannula 21. Similarly, the inlet pipe 23 is also not necessary, and the distal opening 20b can also be directly provided on the cannula 21.

[0097] See also Figure 1 and Figure 2 The blood pump 1 further comprises a catheter 40, which is fixedly connected to the proximal end of the driving device 10. The catheter 40 is used to accommodate wires, flushing lines and other wire bodies of the driving device 10.

[0098] See also Figure 1 and Figure 2The blood pump 1 further includes a non-invasive flexible member 30, which is fixedly connected to the distal end of the cannula assembly 20. Specifically, the non-invasive flexible member 30 is connected to the distal end of the inlet tube 23 of the cannula assembly 20. The non-invasive flexible member 30 can contact the inner wall of the tissue to position the blood pump 1. The non-invasive flexible member 30 is made of a flexible material, so that the non-invasive flexible member 30 is flexible, thereby preventing the non-invasive flexible member 30 from damaging the tissue.

[0099] The driving device 10 in the embodiment of the present application is described in detail below.

[0100] Figure 3 to Figure 13-B The first embodiment of the driving device 10 of the present application is shown. In the first embodiment, the driving device 10 includes a housing 100, a rotating assembly 200 and a stator 300. The rotating assembly 200 includes a rotating shaft 210 and a rotor 220 fixedly connected to the rotating shaft 210. The rotating shaft 210 is rotatably mounted on the housing 100, and the rotating shaft 210 passes through the distal end of the housing 100, and has a connecting end 211 located outside the housing 100. The connecting end 211 is the distal end of the rotating shaft 210. The stator 300 is fixedly connected to the housing 100, and can drive the rotor 220 to rotate, thereby driving the rotating shaft 210 to rotate.

[0101] Combination Figure 2 and Figure 3 The housing 100 is cylindrical. The distal end of the housing 100 is fixedly connected to the proximal end of the cannula assembly 20; the proximal end of the housing 100 is fixedly connected to the distal end of the catheter 40. The housing 100 is provided with a receiving cavity 101; the stator 300 and the rotor 220 are both received in the receiving cavity 101 and arranged at intervals along the axial direction of the housing 100.

[0102] See also Figures 3 to 5 The housing 100 includes a first housing 110 and a second housing 120, and the second housing 120 is connected to the distal end of the first housing 110. The second housing 120 covers the distal end of the first housing 110. The housing 100 may further include a third housing 130, and the third housing 130 is connected to the proximal end of the first housing 110. The first housing 110, the second housing 120, and the third housing 130 enclose a receiving cavity 101. One of the second housing 120 and the third housing 130 is optional.

[0103] See also Figure 3 The rotor 220 includes a first rotor 221, and the first rotor 221 is axially arranged with the stator 300. Specifically, the first rotor 221 is disposed at the distal end of the receiving cavity 101 of the housing 100, and the first rotor 221 is located between the distal bearing 400 and the stator 300, and the stator 300 can drive the first rotor 221 to rotate.

[0104] See also Figure 3The rotor 220 further includes a second rotor 222, and the second rotor 222 and the first rotor 221 are respectively arranged on both sides of the axial direction of the stator 300. That is, the stator 300 is located between the first rotor 221 and the second rotor 222. The stator 300 can also drive the second rotor 222 to rotate.

[0105] There may be only one of the first rotor 221 and the second rotor 222. Any one of the rotors 220 may include a plurality of magnets, which are arranged in a ring shape along the outer circumference of the rotating shaft 210. For example, the plurality of magnets are arranged in a Halbach array magnetic ring. Any one of the rotors 220 may also include a flywheel, which is fixedly connected to the rotating shaft 210, and the plurality of magnets are mounted on the flywheel. It is understandable that the flywheel may be a disc-shaped bracket or a cylindrical bracket.

[0106] See also Figure 3 The stator 300 includes a first stator 310, and the rotating shaft 210 rotatably passes through the first stator 310. The first stator 310 is close to the first rotor 221 and can drive the first rotor 221 to rotate. The stator 300 also includes a second stator 320, and the second stator 320 and the first stator 310 are arranged axially; the rotating shaft 210 rotatably passes through the second stator 320. The second stator 320 is close to the second rotor 222 and can drive the second rotor 222 to rotate. It can be understood that the second stator 320 is not necessary. In other embodiments, there may be only the first stator 310.

[0107] See also Figure 3 , Figure 7 and Figure 8 The driving device 10 further includes a proximal bearing 500, which is disposed at the proximal end of the housing 100. The proximal bearing 500 includes a proximal sleeve 510, a proximal accessory 520 and a proximal ball 530; wherein the proximal sleeve 510 is fixedly connected to the proximal end of the housing 100, the proximal accessory 520 is located between the proximal sleeve 510 and the stator 300, the proximal accessory 520 is axially opposite to the proximal sleeve 510, and can rotate relative to the proximal sleeve 510; the rotating assembly 200 is fixedly connected to the proximal accessory 520 to drive the proximal accessory 520 to rotate. The proximal ball 530 is movably mounted on one of the proximal sleeve 510 and the proximal accessory 520; the other of the proximal sleeve 510 and the proximal accessory 520 has a matching wall 502, and the matching wall 502 is axially opposed to the spherical surface 501 of the proximal ball 530. The axial abutment means that the matching wall 502 and the spherical surface 501 of the proximal ball 530 are axially opposite to each other and abut against each other.

[0108] Specifically, in the first embodiment, the proximal ball 530 of the proximal bearing 500 is movably mounted on the proximal sleeve 510; and the proximal accessory 520 has a matching wall 502, and the matching wall 502 and the proximal ball 530 on the proximal sleeve 510 are against each other. Specifically, the housing 100 further includes a fixing pin 140; the fixing pin 140 is fixed to the proximal end of the housing 100. The fixing pin 140 is provided with a fixing groove 141, and the proximal sleeve 510 is installed in the fixing groove 141. When the rotating assembly 200 has a tendency to move along the Y-direction, the proximal ball 530 of the proximal bearing 500 and the matching wall 502 remain against each other, so that the rotating assembly 200 cannot move along the Y-direction, reducing the risk of axial displacement of the rotating assembly 200.

[0109] The driving device 10 is provided with a proximal bearing 500 at the distal end of the housing 100, and the proximal bearing 500 includes a proximal sleeve 510, a proximal accessory 520 and a proximal ball 530; wherein the proximal sleeve 510 is fixedly connected to the proximal end of the housing 100, the proximal accessory 520 is located between the proximal sleeve 510 and the stator 300, and is fixedly connected to the rotating assembly 200; the proximal ball 530 is movably mounted on one of the proximal sleeve 510 and the proximal accessory 520; the other of the proximal sleeve 510 and the proximal accessory 520 has a matching wall 502, and the matching wall 502 and the spherical surface 501 of the proximal ball 530 are axially opposed. In this way, the proximal sleeve 510, the proximal accessory 520 and the proximal ball 530 are combined to form an axial ball bearing. During the start-up, stop and operation of the drive device 10, the axial ball bearing is kept in axial contact with the abutment wall 402 through the proximal ball 530, so that the rotating assembly 200 is not easy to be displaced axially, thereby preventing the rotating assembly 200 and the fixing parts at the proximal end of the housing 100 from colliding, improving the stability of the operation of the rotating assembly 200, reducing the risk of failure of the drive device 10, and extending the service life. On the other hand, when the rotating assembly 200 rotates, the proximal ball 530 of the axial ball bearing can be driven by the rotating assembly 200 to roll, and there is rolling friction between the proximal ball 530 and the matching wall 502, and the rolling friction resistance is small, which effectively reduces the resistance encountered by the rotating assembly 200 during rotation, reduces the power loss of the drive device 10 to overcome the resistance, and improves the working efficiency of the drive device 10.

[0110] The number of the proximal balls 530 can be multiple. In the present application, multiple means two or more than two. The multiple proximal balls 530 are arranged around the central axis of the rotating assembly 200. The multiple proximal balls 530 of the axial ball bearing jointly support the rotating assembly 200 from different directions of the periphery of the central axis of the rotating assembly 200, effectively preventing the rotating shaft 210 from radial deflection, so that the rotating assembly 200 can run smoothly.

[0111] Optionally, a plurality of proximal balls 530 are arranged at intervals around the central axis of the rotating assembly 200. In this way, a smaller number of proximal balls 530 can be used. In this way, not only the weight of the driving device 10 can be reduced, so that the blood pump 1 has a lighter weight, but also the power of the driving device 10 when starting can be reduced, so that the rotating assembly 200 can be started smoothly.

[0112] Typically, the distal end of the housing 100 (specifically, the distal sleeve 410) has a distal shaft hole 411, and the shaft 210 of the rotating assembly 200 passes through the distal shaft hole 411, and a gap is reserved between the shaft 210 and the inner circumference of the distal shaft hole 411, and the gap is used for the flushing liquid in the housing 100 to be discharged into the cannula assembly 20 of the blood pump 1 to prevent the blood from flowing back into the housing 100. Due to the existence of the gap, the shaft 210 may have a tendency to radially deflect when rotating. However, in the present application, since the multiple proximal balls 530 of the proximal bearing 500 jointly support the rotating assembly 200 from different directions around the rotating assembly 200, the rotating assembly 200 cannot easily deflect radially, thereby reducing the risk of radial deflection of the rotating assembly 200, and the rotating assembly 200 runs more stably.

[0113] Taking a step back, even if the rotating component 200 undergoes a small radial deflection, the distal bearing 400 will contact the mating wall 502 with the proximal ball 530 on one side as a fulcrum, while the proximal ball 530 on the other opposite side will be slightly loosened from the mating wall 502 for a short time, thereby reducing the number of proximal balls 530 in contact with the mating wall 502, and thus reducing the contact points between the proximal accessory 520 and the proximal sleeve 510, thereby reducing the resistance encountered by the rotating shaft 210 during the deflection process, avoiding the rotating shaft 210 from getting stuck, and making it easier for the rotating shaft 210 to return to its original stable state.

[0114] exist Figure 11-A and Figure 11-B Draw a schematic diagram of a small radial runout of the shaft:

[0115] See also Figure 11-A When the rotating shaft 210 deflects radially to the right, the proximal sleeve 510 uses the proximal ball 530 on its left side as a fulcrum and supports the deflection of the rotating shaft 210; the proximal ball 530 on the right side of the proximal sleeve 510 will be slightly loosened from the matching wall 502 for a short time, and at this time, only the proximal ball 530 on the left side of the proximal sleeve 510 remains against the matching wall 502.

[0116] See also Figure 11-BOn the contrary, when the rotating shaft 210 deflects radially toward the left side, the proximal sleeve 510 uses the proximal ball 530 on its right side as a fulcrum to support the deflection of the rotating shaft 210; the proximal ball 530 on the left side of the proximal sleeve 510 will be slightly loosened from the matching wall 502 for a short time, and at this time, only the proximal ball 530 on the right side of the proximal sleeve 510 remains against the matching wall 502.

[0117] It can be seen that if the rotating component 200 undergoes a small radial deflection, the proximal sleeve 510 will contact the mating wall 502 with the proximal ball 530 on one side as a fulcrum, while the proximal ball 530 on the other opposite side will briefly loosen slightly from the mating wall 502, thereby reducing the number of contact points between the proximal accessory 520 and the proximal ball 530, and further reducing the resistance encountered by the rotating shaft 210 during the deflection process.

[0118] It is understandable that the number of the proximal ball 530 may also be one. For example, in some other embodiments, the proximal bearing 500 includes only one proximal ball 530, and the proximal ball 530 is movably mounted on the proximal sleeve 510; the proximal bearing 500 also includes at least one proximal spherical protrusion 540 (refer to Figure 18 to Figure 20-B ), the proximal spherical protrusion 540 is fixed to the proximal sleeve 510, and the proximal spherical protrusion 540 and the proximal ball 530 are arranged together around the central axis of the rotating component 200, and the proximal spherical protrusion 540 and the proximal ball 530 both have a spherical surface 501, and the spherical surfaces 501 of both are axially abutted against the abutment wall 402 on the proximal accessory 520.

[0119] See also Figure 7 and Figure 12-A to Figure 12-C The proximal fitting 520 is set as a disc-shaped structure. The proximal fitting 520 is accommodated in the accommodating cavity 101 of the housing 100. Since the proximal ball 530 is movably mounted on the proximal sleeve 510, the proximal end surface of the proximal fitting 520 facing the proximal sleeve 510 is a matching wall 502, which is located at the far side of the proximal ball 530 and abuts against the proximal ball 530.

[0120] Optionally, the distal end of the proximal accessory 520 is fixedly connected to the proximal end of the rotating shaft 210. The proximal end of the proximal accessory 520 is provided with a rotating column 522, which is coaxial with the rotating shaft 210 and rotatably penetrates the proximal sleeve 510. Specifically, the proximal sleeve 510 is provided with a proximal shaft hole 512, which is rotatably matched with the rotating column 522. At this time, the plurality of proximal balls 530 are specifically arranged at intervals around the rotating column 522.

[0121] The proximal accessory 520 may be an independent component, that is, the proximal accessory 520 and the rotating shaft 210 are formed separately, and the proximal accessory 520 may be connected and fixed to the rotating shaft 210 by welding or bonding. In some embodiments, the proximal accessory 520 may also be formed integrally with the rotating shaft 210. In this embodiment, the proximal accessory 520 and the rotating shaft 210 are formed separately. Specifically, the distal end of the proximal accessory 520 is further provided with a socket 521, and the proximal end of the rotating shaft 210 is fixed in the socket 521. The proximal end of the rotating shaft 210 and the socket 521 are welded or filled with adhesive for bonding.

[0122] Optionally, the insertion hole 521 is a blind hole, and the insertion hole 521 has a bottom wall 521a; the proximal end of the rotating shaft 210 is the mounting end 212, and the mounting end 212 is fixed in the insertion hole 521, and the end surface of the mounting end 212 is against the bottom wall 521a.

[0123] Generally, in some conventional technologies, the proximal end of the rotating shaft 210 is generally provided with a ball head, and a movable groove is provided at the proximal end of the housing 100, so that the ball head of the rotating shaft 210 is installed in the movable groove, and the ball head abuts against the inner wall of the movable groove and can move in the movable groove. Since the distal end of the rotating shaft 210 passes through the axial hole at the distal end of the housing 100, when the ball head of the rotating shaft 210 is installed in the spherical groove, it is necessary to keep a high coaxiality between the rotating shaft 210 and the spherical groove so that the ball head of the rotating shaft 210 can be smoothly installed in the spherical groove. In other words, the rotating shaft 210 of the driving device 10 in the conventional technology is assembled by the ball head and the spherical groove, which has a high requirement on the coaxiality of the rotating shaft 210 and the spherical groove, which increases the manufacturing difficulty of the driving device 10.

[0124] In comparison, the proximal end of the rotating shaft 210 of the driving device 10 in the embodiment of the present application does not need to be provided with a ball head, and the proximal end of the rotating shaft 210 can be directly fixedly connected to the socket 521 of the proximal accessory 520, and the proximal end of the rotating shaft 210 does not need to be movably abutted against the inner wall of the socket 521, so the coaxiality requirement between the rotating shaft 210 and the socket 521 is relatively small. In addition, during the assembly process, the multiple proximal balls 530 between the proximal accessory 520 and the proximal sleeve 510 roll relative to the matching wall 502, and the position of the proximal accessory 520 (that is, the position of the rotating column 522) can be fine-tuned to make the rotating column 522 and the proximal sleeve 510 tend to be coaxial, so that the difficulty of assembling the proximal accessory 520 and the proximal sleeve 510 can be reduced. It can be seen that the proximal bearing 500 can reduce the coaxiality requirement of the rotating shaft 210 and the proximal bearing 500 when installing the rotating shaft 210 through the rolling of the proximal ball 530, thereby reducing the assembly difficulty of the rotating shaft 210 and improving the assembly efficiency.

[0125] Of course, the rotating column 522 is not necessary. In other embodiments, the rotating shaft 210 can penetrate the proximal fitting 520, so that the proximal end of the rotating shaft 210 can be rotatably inserted into the proximal shaft hole 512 of the proximal sleeve 510. In this case, the plurality of proximal balls 530 are specifically arranged around the rotating shaft 210 at intervals.

[0126] See also Figure 7 The proximal end of the shell 100 is also provided with a proximal limit groove 143, which is located on the distal side of the fixing groove 141; the diameter of the proximal limit groove 143 is larger than the diameter of the fixing groove 141, and the proximal accessory 520 is at least partially accommodated in the proximal limit groove 143, and there is a gap between the outer circumferential surface of the proximal accessory 520 and the inner circumferential surface of the proximal limit groove 143.

[0127] Due to the existence of the gap, when the rotating assembly 200 drives the proximal accessory 520 to rotate, the outer circumference of the proximal accessory 520 is not easy to contact the inner circumference of the proximal limit groove 143, which can avoid the proximal accessory 520 from rubbing against the inner circumference of the proximal limit groove 143. Since the proximal accessory 520 is limited to rotate in the proximal limit groove 143, it can avoid that the rotating assembly 200 is not easy to swing significantly.

[0128] See also Figure 7 , Fig. 9 and Fig.10 As for the proximal sleeve 510, the proximal sleeve 510 is an independent component and can be connected and fixed to the housing 100 by bonding, welding, etc. Optionally, a fixing pin 140 is provided at the proximal end of the housing 100, and the fixing pin 140 is provided with a fixing groove 141; the proximal sleeve 510 is installed in the fixing groove 141. Of course, in other embodiments, the proximal sleeve 510 can be a component integrally formed with the housing 100.

[0129] The proximal sleeve 510 has a second end surface 511, and the second end surface 511 and the matching wall 502 of the proximal fitting 520 are axially opposite and spaced. A plurality of proximal balls 530 are movably mounted on the proximal sleeve 510, and a portion of each proximal ball 530 protrudes from the first end surface 421, that is, a portion of the proximal ball 530 is located between the second end surface 511 and the matching wall 502 to abut against the matching wall 502.

[0130] See also Figure 8 and Figure 13-A and Figure 13-BThe proximal sleeve 510 is provided with a proximal mounting groove 503, and the proximal mounting groove 503 has a notch 503c. A proximal ball 530 is installed in each proximal mounting groove 503. A portion of the outer circumference of the proximal ball 530 extends outward from the notch 503c of the proximal mounting groove 503, so that the proximal ball 530 has an inner portion 532 accommodated in the inner side of the proximal mounting groove 503, and an outer protrusion 531 extending outward from the proximal mounting groove 503. The spherical surface 501 on the outer protrusion 531 abuts against the matching wall 502.

[0131] It is understandable that the proximal ball 530 is a sphere. The entire outer peripheral surface of the proximal ball 530 is a spherical surface. Therefore, no matter the proximal ball 530 rolls in any direction or rolls to any position, the proximal ball 530 will have an outer protrusion 531 located outside the proximal mounting groove 503, so that the spherical surface 501 located on the outer protrusion 531 can be against the matching wall 502.

[0132] Specifically, the proximal sleeve 510 is provided with a plurality of proximal mounting grooves 503, and the plurality of proximal mounting grooves 503 are arranged at intervals around the central axis of the rotating assembly 200 (specifically, they can be arranged around the rotating column 522 or the rotating shaft 210). At least one proximal ball 530 is installed in each proximal mounting groove 503. Since the plurality of proximal balls 530 are respectively installed in different proximal mounting grooves 503, the proximal balls 530 in each proximal mounting groove 503 do not interfere with the proximal balls 530 in other proximal mounting grooves 503. When the rotating assembly 200 rotates, the plurality of proximal balls 530 are driven by the rotating assembly 200 and roll in their corresponding proximal mounting grooves 503 respectively. The proximal balls 530 in any two adjacent proximal mounting grooves 503 will not be squeezed and stacked with each other, so that each proximal ball 530 can roll freely. Therefore, the proximal balls 530 at different positions can perform adaptive activities according to the magnitude and direction of the force they are subjected to. Furthermore, the power of the driving device 10 when starting can be reduced, so that the rotating assembly 200 can be started smoothly.

[0133] Of course, in other embodiments, the proximal sleeve 510 may also be provided with only one proximal mounting groove 503, which is annularly arranged around the central axis of the rotating assembly 200. A plurality of proximal balls 530 are installed in the proximal mounting groove 503, which surrounds the central axis of the rotating assembly 200.

[0134] See also Figure 8 and Figure 13-A to Figure 13-B The protruding portion 531 of the proximal ball 530 has a contact point N for the matching wall 502 to abut against. 1 , the contact point N 1The axial distance between the notch 503c and the proximal end mounting groove 503 is also the axial height H of the proximal end ball 530 protruding outward from the notch 503c of the proximal end mounting groove 503. n1 If the axial height H n1 If it is too small, the distance between the second end surface 511 and the matching wall 502 is small, and the two are prone to interfere with each other, affecting the stability of the rotation of the shaft 210.

[0135] Therefore, optionally, the axial height H n1 is set to be greater than or equal to 1 / 3 of the radius of the proximal ball 530. Therefore, H n1 ≥1 / 3R; where R=1 / 2D n , R represents the radius of the proximal ball 530, D n Indicates the diameter of the proximal ball 530. In this way, after the outer protrusion 531 abuts against the matching wall 502, there is a sufficient distance between the second end surface 511 and the matching wall 502, and the two are not likely to interfere with each other, thereby improving the stability of the rotation of the shaft 210.

[0136] Of course, the axial height H n1 It is also not suitable to design it too large, otherwise it will occupy a large axial space of the housing 100; and when the proximal ball 530 moves, the proximal ball 530 is also easy to fall out of the proximal mounting groove 503. Therefore, optionally, the axial height H n1 Smaller than the radius of the proximal ball 530, i.e. H n1 In this way, the volume of the inner portion 532 of the proximal ball 530 can account for at least half of the volume of the proximal ball 530 , so that the center of the proximal ball 530 will fall inside the proximal mounting groove 503 , thereby reducing the risk of the proximal ball 530 falling out of the proximal mounting groove 503 .

[0137] See also Figure 13-A and Figure 13-B The proximal mounting groove 503 has a groove bottom wall 503a and a groove side wall 503b arranged along the circumference of the groove bottom wall 503a; the built-in portion 532 of the proximal ball 530 abuts against the groove bottom wall 503a, and the built-in portion 532 of the proximal ball 530 is also tangent to the groove side wall 503b.

[0138] The groove bottom wall 503a is a plane wall perpendicular to the central axis of the proximal sleeve 510. The proximal ball 530 is tangent to the groove bottom wall 503a, and the tangent position is the abutment position. In other embodiments, the groove bottom wall 503a can be a spherical wall.

[0139] The groove sidewall 503b is perpendicular to the groove bottom wall 503a. The groove sidewall 503b can be a cylindrical surface, in which case the contact between the proximal ball 530 and the groove sidewall 503b is a line contact. The groove sidewall 503b can also be composed of multiple planes, in which case the contact between the proximal ball 530 and the groove sidewall 503b is a point contact. In other embodiments, the groove sidewall 503b can form an inclined angle with the groove bottom wall 503a.

[0140] The position where the inner portion 532 of the proximal ball 530 is tangent to the groove side wall 503b is defined as the tangent position N. 2 , cut position N 2 The cutting depth H is between the notch 503c and the proximal mounting groove 503. n2 Obviously, the cutting depth H n2 It needs to be smaller than the radius R (i.e. H n2 <R, R = 1 / 2D n , D n =The diameter of the proximal ball 530 is the diameter of the proximal ball 530, so that a part of the proximal ball 530 protrudes outward from the notch 503c of the proximal mounting groove 503 to form an outer protrusion 531. n2 It should not be too small, otherwise the proximal ball 530 will easily fall out of the proximal mounting groove 503.

[0141] Therefore, optionally, the cutting depth H n2 Greater than or equal to 1 / 2 times the radius of the proximal ball 530, that is, 1 / 2R≤H n2 <R. In this way, the volume of the inner portion 532 of the proximal ball 530 can be greater than or equal to half the volume of the proximal ball 530. In this way, the center of the proximal ball 530 will fall inside the proximal mounting groove 503, thereby reducing the risk of the proximal ball 530 falling out of the proximal mounting groove 503. It can be understood that the cutting depth H n2 and axial height H n1 The sum is equal to the radius R of the proximal ball 530, that is, H n1 +H n2 =R.

[0142] See also Figure 13-A and Figure 13-B The plurality of proximal balls 530 are arranged around the central axis of the rotating assembly 200, and may be arranged at equal intervals or at non-equal intervals. Specifically, the plurality of proximal balls 530 are arranged at equal intervals around the central axis of the rotating assembly 200 to form a plurality of evenly arranged fulcrums in the circumference of the rotating assembly 200, so that the rotating shaft 210 is installed more stably.

[0143] Optionally, a plurality of proximal balls 530 are arranged at intervals around the rotating column 522. There is an annular area around the rotating column 522; the plurality of proximal balls 530 are all arranged in the annular area.

[0144] Optionally, at least two of the proximal balls 530 are located on opposite sides of the central axis of the rotating assembly 200. Specifically, the two proximal balls 530 are located on opposite sides of the rotating column 522. In this way, at least one fulcrum can be provided on opposite sides of the rotating shaft 210 (such as left and right sides or front and back sides), which can reduce the radial deflection of the rotating shaft 210 along the left and right sides.

[0145] The number of the proximal balls 530 may be 2 to 10, such as but not limited to 3, 4, 5, 6, 8, etc.

[0146] When the number of the proximal balls 530 can be selected to be 3, the 3 proximal balls 530 are arranged at equal intervals around the central axis of the rotating assembly 200, and the vertical connection line between the center of the 3 proximal balls 530 and the central axis of the rotating assembly 200 is Y-shaped.

[0147] When the number of the proximal balls 530 can be selected to be 4, the 4 proximal balls 530 are arranged at equal intervals around the central axis of the rotating component 200, and the vertical connection line between the center of the 4 proximal balls 530 and the central axis of the rotating component 200 is in a cross shape.

[0148] The diameter D of the proximal ball 530 n The range is 0.4mm~0.7mm, i.e. 0.4mm≤D n ≤0.7mm. For example, diameter D n The value can be but is not limited to 0.45mm, 0.5mm, 0.55mm, 0.6mm, 0.65mm, and 0.7mm.

[0149] The spherical surface 501 of the proximal ball 530 can be set as a ceramic surface. Specifically, the proximal ball 530 is made of ceramic material as a whole, so that the spherical surface 501 of the proximal ball 530 becomes a ceramic surface. Of course, in other embodiments, the proximal ball 530 can be made of hard metal material, and a layer of ceramic material is added to the spherical surface 501 of the proximal ball 530, so that the spherical surface 501 forms the ceramic surface. Ceramic materials have high processing accuracy, high biocompatibility, high mechanical strength, and good wear resistance and corrosion resistance.

[0150] See also Figure 7 and Figure 12-A to Figure 12-CFor the matching wall 502 that abuts against the proximal balls 530, an annular groove 504 is provided on the matching wall 502, and the annular groove 504 surrounds the central axis of the rotating assembly 200. Since the rotating column 522 and the rotating assembly 200 are coaxial, the annular groove 504 specifically surrounds the rotating column 522. The portions of the proximal balls 530 protruding from the proximal sleeve 510 (i.e., the outer protrusions 531) are accommodated in the annular groove 504.

[0151] Specifically, the annular groove 504 extends a full circle along the outer circumference of the rotating column 522. The outer protrusions 531 of the plurality of proximal balls 530 are arranged at intervals along the annular groove 504. When the rotating assembly 200 rotates, the plurality of proximal balls 530 are confined to move in the annular groove 504, so that the rotating assembly 200 is not prone to radial deflection.

[0152] See also Figure 7 and Figure 8 The annular groove 504 has an annular bottom wall 504a and annular side walls 504b located on both sides of the annular bottom wall 504a. Optionally, the annular bottom wall 504a is perpendicular to the central axis of the rotating shaft 210 and is tangent to the outer protrusion 531 of the proximal ball 530. In this way, the contact area between the proximal ball 530 and the annular bottom wall 504a can be reduced, thereby reducing friction resistance.

[0153] Optionally, the depth of the annular groove 504 gradually decreases in the direction from the proximal sleeve 510 to the proximal fitting 520. The annular sidewall 504b is set to a concave arc shape. The annular sidewall 504b is recessed in the direction away from the outer protrusion 531. In this way, the contact area between the spherical surface 501 of the proximal ball 530 and the annular sidewall 504b can be reduced, thereby reducing the resistance of the proximal ball 530 to the movement in the annular groove 504.

[0154] Optionally, a rounded wall 504c is provided at the notch of the annular groove 504 to avoid the formation of a sharp corner at the notch of the annular groove 504, so as to avoid significant wear when the proximal ball 530 contacts this position.

[0155] Of course, in other embodiments, the matching wall 502 can also be set as a flat wall without a concave-convex structure (such as an annular groove 504). The matching wall 502 is perpendicular to the central axis of the rotating shaft 210, so that the matching wall 502 and the proximal ball 530 are tangent. In this way, the contact between the multiple proximal balls 530 and the matching wall 502 is a point contact of multiple scattered points, with a small contact area and a small friction resistance. In addition, if the rotating shaft 210 deflects radially, the proximal ball 530 can roll radially on the matching wall 502, reducing the resistance to the movement of the proximal ball 530, avoiding the occurrence of jamming of the rotating shaft 210, and making it easier for the rotating shaft 210 to return to its original stable state.

[0156] The matching wall 502 can also be set as a ceramic surface. For example, the entire proximal accessory 520 is made of ceramic material, so that the matching wall 502 of the proximal accessory 520 becomes a ceramic surface accordingly. For another example, the proximal accessory 520 can be made of hard metal material, and a layer of ceramic material is added on the matching wall 502 to form the ceramic surface.

[0157] See also Figure 7 and Fig. 9 The rotating column 522 can rotatably pass through the proximal shaft hole 512 of the proximal sleeve 510; the proximal end of the rotating column 522 is located on the side of the proximal sleeve 510 that is opposite to the proximal accessory 520; the proximal bearing 500 also includes a limit member 523, which is arranged on the outer peripheral surface of the rotating column 522, and the limit member 523 can be against the proximal sleeve 510.

[0158] Specifically, the stopper 523 has a stopper surface 523a, and the stopper surface 523a can abut against the proximal sleeve 510. During assembly, the proximal ball bearing 530 can be first installed in the proximal installation groove 503 of the proximal sleeve 510; the rotating column 522 of the proximal accessory 520 is inserted into the proximal shaft hole 512 of the proximal sleeve 510; and then the stopper 523 and the rotating column 522 are connected and fixed, so that the proximal accessory 520, the proximal sleeve 510, the proximal ball bearing 530 and the stopper 523 are assembled into an integral proximal bearing 500. In this way, the proximal sleeve 510 can be clamped between the proximal end surface of the proximal accessory 520 and the limiting surface 523a of the limiting member 523. During the installation of the proximal bearing 500, the proximal ball 530 is not easy to fall off from the proximal mounting groove 503 of the proximal sleeve 510, thereby reducing the difficulty of installing the proximal bearing 500 and improving the assembly efficiency.

[0159] In addition, when the rotating shaft 210 is offset along the Y+ direction, the limiting surface 5231 of the limiting member 523 abuts against the proximal sleeve 510 to limit the rotating shaft 210 from continuing to offset along the Y+ direction, so that the offset of the rotating shaft 210 is smaller and the operation of the rotating shaft 210 is more stable; and it can avoid the increase in the distance between the proximal accessory 520 and the proximal sleeve 510, effectively preventing the proximal ball 530 from falling off from the proximal mounting groove 503.

[0160] The stopper 523 is preferably made of a hard material. The hard material may be a metal material or a ceramic material. The stopper 523 may be annular. In other embodiments, the stopper 523 may also be a C-shaped open ring, such as an E-Ring. Alternatively, the stopper 523 may also be a radially protruding baffle on the circumference of the rotating column 522.

[0161] See also Figure 3 and Figure 7A sink 142 is provided at the bottom of the fixed groove 141, and the sink 142 can be connected to the flushing pipeline of the catheter 40. A fluid channel is provided on the side wall of the fixed groove 141, and the fluid channel connects the sink 142 with the flushing flow channel inside the housing 100. The stopper 523 is accommodated in the sink 142.

[0162] Preferably, at least one of the stopper 523 and the proximal end of the rotating column 522 also abuts against the bottom of the trough 142, so that the movement of the rotating column 522 along the Y-direction can be limited, thereby reducing the axial displacement of the rotating shaft 210. The outer diameter of the stopper 523 can be smaller than the inner diameter of the trough 142, so that a space for the flushing liquid to flow is separated between the outer peripheral surface of the stopper 523 and the inner wall surface of the trough 142. The bottom of the trough 142 is provided with a liquid inlet hole (not shown in the figure), and the liquid inlet hole is connected to the flushing pipeline. The stopper 523 does not block the liquid inlet hole.

[0163] Figure 14 to Figure 17-B The second embodiment of the driving device 10 of the present application is shown. The driving device 10 in the second embodiment is different from the driving device 10 in the first embodiment in that the proximal ball 530 is movably mounted on the proximal fitting 520; the proximal sleeve 510 has a matching wall 502, and the matching wall 502 and the spherical surface 501 of the proximal ball 530 are against each other.

[0164] The proximal fitting 520 is also accommodated inside the housing 100. Since the proximal ball 530 can be movably mounted on the proximal fitting 520, the proximal fitting 520 is provided with a plurality of proximal mounting grooves 503, and the plurality of proximal mounting grooves 503 surround the outer circumference of the rotating column 522. A proximal ball 530 is arranged in each proximal mounting groove 503, and a part of the proximal ball 530 extends out from the notch of the proximal mounting groove 503 to abut against the abutment wall 402 on the proximal sleeve 510. The shape and structure of the proximal mounting groove 503 can be implemented with reference to the aforementioned first embodiment, and basically the same technical effect can be obtained, which will not be described in detail here.

[0165] The proximal sleeve 510 is fixed in the fixing groove 141 of the housing 100. The distal wall of the proximal sleeve 510 faces the proximal fitting 520, so that the distal wall of the proximal sleeve 510 forms a matching wall 502. The matching wall 502 can be provided with an annular groove 504, so that a portion of the proximal ball 530 extending from the proximal mounting groove 503 can be accommodated in the annular groove 504. Of course, in other embodiments, the matching wall 502 can also be a flat wall without a concave-convex structure (such as an annular groove).

[0166] The structure, position and fixing method of the above-mentioned proximal sleeve 510 and proximal accessory 520 can be implemented with reference to the above-mentioned first embodiment, and can also obtain basically the same technical effects, which will not be described in detail here.

[0167] For example, the proximal accessory 520 is provided with a rotating column 522 and a plug hole 521 such as those in the first embodiment described above; the proximal end (i.e., the mounting end 212) of the rotating shaft 210 is fixed in the plug hole 521; the rotating column 522 is rotatably matched with the proximal shaft hole 512 provided on the proximal shaft sleeve 510. The structure, position, and matching method of the rotating column 522, the plug hole 521, and the proximal shaft hole 512 can be implemented with reference to the first embodiment described above, and will not be described in detail here.

[0168] Figure 18 to Figure 20-B The third embodiment of the driving device 10 of the present application is shown. The driving device 10 includes a housing 100, a rotating assembly 200, a stator 300 and a proximal bearing 500: the proximal bearing 500 includes a proximal sleeve 510, a proximal accessory 520 and a proximal spherical protrusion 540. The proximal sleeve 510 is fixedly connected to the proximal end of the housing 100, the proximal accessory 520 is located between the proximal sleeve 510 and the stator 300, the proximal accessory 520 is axially opposite to the proximal sleeve 510, and can rotate relative to the proximal sleeve 510; the rotating assembly 200 is fixedly connected to the proximal accessory 520 to drive the proximal accessory 520 to rotate. The proximal spherical protrusion 540 is fixed to one of the proximal sleeve 510 and the proximal accessory 520; the other of the proximal sleeve 510 and the proximal accessory 520 has a matching wall 502, and the matching wall 502 and the spherical surface 501 of the proximal spherical protrusion 540 are axially opposed. The axial abutment means that the matching wall 502 and the spherical surface 501 of the proximal spherical protrusion 540 are axially opposite and abut each other. That is, the driving device 10 in the third embodiment uses the proximal spherical protrusion 540 to replace the proximal ball 530 in the first to third embodiments.

[0169] Specifically, in the third embodiment, the proximal spherical protrusion 540 of the proximal bearing 500 is fixed to the proximal sleeve 510; the proximal fitting 520 has an abutting wall 402, and the abutting wall 402 and the proximal spherical protrusion 540 on the proximal sleeve 510 abut against each other. Specifically, the housing 100 further includes a fixing pin 140; the fixing pin 140 is fixed to the proximal end of the housing 100. The fixing pin 140 is provided with a fixing groove 141, and the proximal sleeve 510 is installed in the fixing groove 141. It can be understood that the proximal spherical protrusion 540 is spherical, so the proximal spherical protrusion 540 has a spherical surface 501.

[0170] It is understandable that the proximal spherical protrusion 540 can be a complete sphere or a part of a sphere, as long as a spherical surface 501 with a suitable area is formed on the proximal spherical protrusion 540 .

[0171] The driving device 10 is provided with a proximal bearing 500 at the distal end of the housing 100, and the proximal bearing 500 includes a proximal sleeve 510, a proximal accessory 520 and a proximal spherical protrusion 540; wherein the proximal sleeve 510 is fixedly connected to the proximal end of the housing 100, the proximal accessory 520 is located between the proximal sleeve 510 and the stator 300, and is fixedly connected to the rotating assembly 200; the proximal spherical protrusion 540 is fixed to one of the proximal sleeve 510 and the proximal accessory 520; the other of the proximal sleeve 510 and the proximal accessory 520 has a matching wall 502, and the matching wall 502 is axially abutted against the spherical surface 501 of the proximal spherical protrusion 540. In this way, the combination of the proximal sleeve 510, the proximal accessory 520 and the proximal spherical protrusion 540 is equivalent to forming an axial bearing. During the operation of the drive device 10, the spherical surface 501 of the proximal spherical protrusion 540 and the matching wall 502 are kept against each other in the axial direction, so that the rotating assembly 200 is not easy to be displaced in the axial direction, thereby preventing the rotating assembly 200 from colliding with the fixing parts at the proximal end of the housing 100, so that the rotating assembly 200 can run smoothly, reduce the risk of failure of the drive device 10, and extend the service life. In addition, the contact area between the spherical surface 501 of the proximal spherical protrusion 540 and the matching wall 502 is small. When the rotating assembly 200 rotates smoothly, the friction between the spherical surface 501 of the proximal spherical protrusion 540 and the matching wall 502 is sliding friction, and the contact area between the two is small, and the friction resistance is small, which can reduce the power loss of the drive device 10, thereby improving the efficiency of the drive device 10.

[0172] In addition, if the rotating component 200 undergoes radial deflection, the spherical surface 501 of the proximal spherical protrusion 540 and the mating wall 502 will roll relative to each other. At this time, the friction between the proximal spherical protrusion 540 and the mating wall 502 is similar to rolling friction, and the friction resistance is small, which can reduce the power loss of the driving device 10 and thereby improve the efficiency of the driving device 10.

[0173] The number of the proximal spherical protrusions 540 can be multiple. In the present application, multiple means two or more than two. The multiple proximal spherical protrusions 540 are arranged around the central axis of the rotating assembly 200. The multiple proximal spherical protrusions 540 of the axial ball bearing jointly support the rotating assembly 200 from different directions of the periphery of the central axis of the rotating assembly 200, effectively preventing the radial deflection of the rotating shaft 210, so that the rotating assembly 200 can run smoothly.

[0174] Optionally, a plurality of proximal spherical protrusions 540 are arranged at intervals around the central axis of the rotating assembly 200. In this way, a smaller number of proximal spherical protrusions 540 can be used. In this way, not only the weight of the driving device 10 can be reduced, so that the blood pump 1 has a lighter weight, but also the power of the driving device 10 when starting can be reduced, so that the rotating assembly 200 can be started smoothly.

[0175] It is understandable that the distal end of the housing 100 (specifically the distal sleeve 410) is provided with a distal shaft hole 411, the shaft 210 of the rotating assembly 200 passes through the distal shaft hole 411, and a gap is reserved between the shaft 210 and the inner circumference of the distal shaft hole 411, and the gap is used for the flushing liquid in the housing 100 to be discharged into the cannula assembly 20 of the blood pump 1 to prevent the blood from flowing back into the housing 100. Due to the existence of the gap, the shaft 210 may have a tendency to radially deflect when rotating. However, since multiple proximal spherical protrusions 540 jointly support the rotating assembly 200 from different directions, the risk of radial deflection of the rotating assembly 200 can be reduced, thereby reducing the occurrence of radial deflection.

[0176] Even if the rotating assembly 200 has a small radial deflection, the distal bearing 400 will deflect with the proximal spherical protrusion 540 on one side as the fulcrum, and the proximal spherical protrusion 540 on the other opposite side will be slightly loosened from the matching wall 502 for a short time, thereby reducing the number of proximal spherical protrusions 540 in contact with the matching wall 502, and thus reducing the contact points between the proximal accessory 520 and the proximal sleeve 800, thereby reducing the resistance encountered by the rotating shaft 210 during the deflection process, avoiding the rotating shaft 210 from getting stuck, and making it easier for the rotating shaft 210 to return to its original stable state. It is worth mentioning that because the proximal spherical protrusion 540 has a spherical surface 501, the rotating assembly 200 can use the proximal spherical protrusion 540 as a support point when deflecting in any direction around the circumference.

[0177] It is understandable that the number of the proximal spherical protrusion 540 may also be one. For example, in some other embodiments, the proximal bearing 500 includes only one proximal spherical protrusion 540, which is movably mounted on the proximal sleeve 510; the proximal bearing 500 also includes at least one proximal ball 530 (see Figures 3 to 6 ), the proximal ball 530 is fixed to the proximal sleeve 510, and the proximal ball 530 and the proximal spherical protrusion 540 are arranged together around the central axis of the rotating component 200, and the proximal ball 530 and the proximal spherical protrusion 540 both have a spherical surface 501, and the spherical surfaces 501 of the two are axially abutted against the abutment wall 402.

[0178] Similar to the driving device 10 of the first embodiment, the proximal accessory 520 is also provided with structures such as the rotating column 522, the jack 521, the stopper 523, etc. in the first embodiment. During the assembly process, the multiple proximal spherical protrusions 540 between the proximal accessory 520 and the proximal sleeve 510 slide relative to the matching wall 502, and the position of the proximal accessory 520 (that is, the position of the rotating column 522) can be fine-tuned to make the rotating column 522 and the proximal sleeve 510 tend to be coaxial, so that the difficulty of assembling the proximal accessory 520 and the proximal sleeve 510 can be reduced. It can be seen that the sliding of the proximal spherical protrusions 540 of the proximal sleeve 510 of the proximal bearing 500 can reduce the requirement for the coaxiality of the rotating shaft 210 and the proximal bearing 500 when installing the rotating shaft 210, thereby reducing the difficulty of assembling the rotating shaft 210 and improving the assembly efficiency. The structure, position and fixing method of the proximal accessory 520 can be implemented with reference to the aforementioned first embodiment, and can also achieve basically the same technical effects, which will not be described in detail here.

[0179] Since the proximal spherical protrusion 540 is fixed to the proximal sleeve 510, there is no need to provide the proximal mounting groove 503 such as in the first embodiment on the proximal sleeve 510. Specifically, the proximal sleeve 510 has a second end surface 511; the proximal spherical protrusion 540 is fixed to the second end surface 511. The proximal spherical protrusion 540 can be integrally formed with the proximal sleeve 510. Alternatively, the proximal spherical protrusion 540 can be fixed to the proximal sleeve 510 by welding or bonding. The proximal end surface of the proximal accessory 520 facing the proximal sleeve 510 is a matching wall 502, which is located on the distal side of the proximal spherical protrusion 540 and abuts against the proximal spherical protrusion 540. The other structures, positions and fixing methods of the distal accessory 420, as well as the structures, positions and fixing methods of the distal sleeve 410 can be implemented with reference to the aforementioned first to third embodiments, and can also obtain basically the same technical effects, which will not be elaborated here one by one.

[0180] For example, the housing 100 is further provided with a fixing groove 141 arranged axially with the receiving cavity 101. The proximal sleeve 510 is fixed in the fixing groove 141. The housing 100 is further provided with a proximal limiting groove 143 located at the far side of the fixing groove 141, and the proximal accessory 520 is at least partially accommodated in the proximal limiting groove 143. There is a gap between the outer peripheral surface of the proximal accessory 520 and the inner wall surface of the proximal limiting groove 143. The gap allows the proximal accessory 520 to rotate smoothly without contacting and colliding with the inner wall surface of the proximal limiting groove 143.

[0181] It is understandable that the proximal spherical protrusion 540 has at least a part of a sphere. For example, the proximal spherical protrusion 540 can be a hemisphere, that is, 1 / 2 of a sphere. In addition, the proximal spherical protrusion 540 can also be 1 / 3 or 1 / 4 of a sphere. The connection between the spherical surface 501 of the proximal spherical protrusion 540 and the second end surface 511 is an arc-shaped transition connection.

[0182] Of course, in some other embodiments, the proximal spherical protrusion 540 is fixedly connected to the proximal fitting 520 via a section of a cylinder. Specifically, the cylinder is in an upright shape, the bottom end of the cylinder is fixed to the end face (i.e., the second end face 521) of the proximal fitting 520, and the top end of the cylinder is connected to the proximal spherical protrusion 540. The diameter of the cylinder is equal to the diameter of the sphere where the proximal spherical protrusion 540 is located.

[0183] As for the size, position and arrangement of the plurality of proximal spherical protrusions 540, reference can be made to the outer protrusion 532 of the proximal ball 530 in the first to second embodiments, and the same technical effect can be achieved. For example:

[0184] The spherical surface 501 of the proximal spherical protrusion 540 is a ceramic surface.

[0185] The diameter of the sphere where the proximal spherical protrusion 540 is located is 0.4 mm to 0.7 mm.

[0186] The proximal spherical protrusion 540 is radially spaced a distance from the central axis of the rotating assembly 200 (specifically, the rotating column 522 ).

[0187] The height of the proximal spherical protrusion 540 protruding from the end surface (ie, the second end surface 511 ) of the proximal sleeve 510 is 0.1 mm to 0.2 mm.

[0188] The plurality of proximal spherical protrusions 540 are arranged at equal intervals or at unequal intervals around the central axis of the rotating assembly 200 (specifically, the rotating column 522 ).

[0189] At least one of the two spherical protrusions 2005 near the rotating end thereof may have at least two fulcrums on each of the two sides of the rotating shaft 210 (such as the left center and the right center of the rotating shaft 210 (the front or rear sides of the rotating shaft 210)), so that the radial deflection of the rotating shaft 210 between the two opposite sides can be reduced.

[0190] The number of the proximal spherical protrusions 540 may be 2 to 10, such as but not limited to 3, 4, 5, 6, 8, etc.

[0191] When the number of the proximal spherical protrusions 540 is 3, the 3 proximal spherical protrusions 540 are arranged at equal intervals around the central axis of the rotating assembly 200 (specifically, they can be around the rotating column 522 or the rotating shaft 210), and the vertical connecting lines between the centers of the 3 proximal spherical protrusions 540 and the central axis of the rotating assembly 200 are Y-shaped.

[0192] When the number of the proximal spherical protrusions 540 is four, the four proximal spherical protrusions 540 are arranged at equal intervals around the central axis of the rotating assembly 200 (specifically, they can be around the rotating column 522 or the rotating shaft 210), and the vertical connecting lines between the centers of the four proximal spherical protrusions 540 and the central axis of the rotating assembly 200 are in a cross shape.

[0193] Fig.21 and Fig. 22 The fourth embodiment of the driving device 10 of the present application is shown. The driving device 10 in the fourth embodiment is different from the driving device 10 in the third embodiment in that the proximal spherical protrusion 540 is fixed to the proximal fitting 520; and the proximal sleeve 510 has a matching wall 502, and the matching wall 502 and the spherical surface 501 of the proximal spherical protrusion 540 are axially opposed.

[0194] As for the size, position and arrangement of the multiple proximal spherical protrusions 540, they can be implemented with reference to the proximal spherical protrusions 540 in the third embodiment, and will not be described in detail here.

[0195] The driving device 10 of the present application also has a fifth embodiment, which can be seen in Figure 3 to Figure 13-B The driving device 10 may further include a distal bearing 400, which is disposed at the distal end of the housing 100; the rotating shaft 210 passes through the distal bearing 400 and has a connecting end 211 extending out of the housing 100. The distal bearing 400 is located between the connecting end 211 and the stator 300.

[0196] See also Figures 3 to 5 The distal bearing 400 includes a distal sleeve 410, a distal accessory 420 and a plurality of distal spherical members 430; the distal sleeve 410 is fixed to the distal end of the housing 100; the distal accessory 420 is accommodated in the interior of the housing 100, and the distal accessory 420 and the distal sleeve 410 are axially opposite to each other. The rotating shaft 210 can be rotatably passed through the distal sleeve 410 and fixedly connected to the distal accessory 420. The plurality of distal spherical members 430 are arranged in one of the distal sleeve 410 and the distal accessory 420, and are arranged around the rotating shaft 210; the other of the distal sleeve 410 and the distal accessory 420 has an abutting wall 402, and the abutting wall 402 abuts against the spherical surfaces 401 of the plurality of distal spherical members 430 in the axial direction. The axial abutment means that the abutting wall 402 and the spherical surface 401 are axially opposite to each other and abut against each other. In the present application, a plurality refers to two or more than two.

[0197] Specifically, the plurality of distal spherical members 430 of the distal bearing 400 are all disposed on the distal fitting 420; the distal sleeve 410 has an abutting wall 402, and the abutting wall 402 abuts against the distal spherical members 430 on the distal fitting 420. In other embodiments, the distal spherical members 430 may also be disposed on the distal sleeve 410, and the distal fitting 420 has an abutting wall 402.

[0198] When the rotating assembly 200 has a tendency to move along the Y+ direction, the distal spherical member 430 of the distal bearing 400 and the abutment wall 402 remain in contact with each other, so that the rotating assembly 200 cannot move along the Y+ direction, reducing the risk of axial displacement of the rotating assembly 200. It can be understood that the distal spherical member 430 can be a complete sphere or a part of a sphere. It is only necessary that a spherical surface 401 of an appropriate area can be formed on the distal spherical member 430.

[0199] The above-mentioned driving device 10 is provided with a distal bearing 400 at the distal end of the shell 100, and the distal bearing 400 includes a distal accessory 420, a distal sleeve 410 and a plurality of distal spherical parts 430; wherein, the distal sleeve 410 is fixed to the distal end of the shell 100 and is rotatably matched with the rotating shaft 210, the distal accessory 420 is accommodated in the interior of the shell 100 and is fixedly connected to the rotating assembly 200; the plurality of distal spherical parts 430 are movably mounted on one of the distal accessory 420 and the distal sleeve 410, and the other of the distal accessory 420 and the distal sleeve 410 has an abutment wall 402, and the abutment wall 402 and the spherical surfaces 401 of the plurality of distal spherical parts 430 abut against each other along the axial direction. During the start-up or operation of the drive device 10, the distal spherical member 430 of the distal bearing 400 and the abutment wall 402 are kept against each other in the axial direction, so that the rotating assembly 200 is not easy to be displaced in the axial direction, thereby reducing the risk of the drive device shaking and improving the stability of the operation of the drive assembly. It can not only improve the operating efficiency of the drive device, but also prevent the collision of the fixed parts at the distal end of the rotating assembly and the shell, thereby reducing the occurrence of faults. In addition, since the multiple distal spherical members 430 of the distal bearing 400 are arranged around the rotating shaft 210, the multiple distal spherical members 430 jointly support the rotating assembly 200 from different circumferential directions of the rotating shaft 210, which can reduce the radial deflection of the rotating assembly 200 and improve the stability of the operation of the rotating assembly 200. The contact area between the distal spherical member 430 and the abutment wall 402 is small, and the friction resistance is small, which can improve the efficiency of the drive device 10.

[0200] In addition, in combination with the aforementioned proximal bearing 500, the multiple proximal balls 530 (or proximal spherical protrusions 540) of the proximal bearing 500 form multiple supporting points for the proximal end of the rotating shaft 210, and the multiple distal spherical parts 430 of the distal bearing 400 form multiple supporting points for the distal end of the rotating shaft 210, so that both ends of the rotating shaft 210 are supported by multiple supporting points, so that the rotating assembly 200 is not prone to radial deflection. Moreover, theoretically speaking, even if the rotating assembly 200 has a tendency to deflect radially, the multiple proximal balls 530 and the multiple distal spherical parts 430 roll (or slide) in the same direction relative to each other, so that the two ends of the rotating shaft 210 can simultaneously move slightly radially (that is, the central axis of the rotating shaft 210 translates radially) without deflection, thereby reducing the occurrence of stuck and stuck situations of the rotating shaft 210.

[0201] It is understandable that a gap is usually reserved between the outer circumference of the rotating shaft 210 and the inner circumference of the distal shaft hole 411, and the gap is used to allow the flushing liquid in the housing 100 to be discharged into the cannula assembly 20 of the blood pump 1 to prevent blood from flowing back into the housing 100. Due to the existence of the gap, the rotating shaft 210 may have a tendency to deflect radially when rotating. However, since multiple distal spherical parts 430 jointly support the rotating assembly 200 from different directions, the risk of radial deflection of the rotating assembly 200 can be reduced, thereby reducing the occurrence of radial deflection. It is understandable that even if the rotating component 200 undergoes a small radial deflection, the distal bearing 400 will contact the abutment wall 402 with the distal spherical component 430 on one side as a fulcrum, while the distal spherical component 430 on the other opposite side will briefly loosen slightly from the abutment wall 402, thereby reducing the number of distal spherical components 430 in contact with the abutment wall 402, and thus reducing the contact points between the distal accessory 420 and the distal sleeve 410, thereby reducing the resistance encountered by the rotating shaft 210 during the deflection process, avoiding the rotating shaft 210 from getting stuck, and making it easier for the rotating shaft 210 to return to its original stable state.

[0202] The plurality of distal spherical members 430 may all be movable balls. Alternatively, in other embodiments, the plurality of distal spherical members 430 may all be fixed spherical protrusions. Of course, in other embodiments, among the plurality of distal spherical members 430, a portion of the distal spherical members 430 may be movable balls, and another portion of the distal spherical members 430 may be fixed spherical protrusions. In this embodiment, the plurality of distal spherical members 430 may all be balls.

[0203] It is understandable that the distal spherical member 430 can be a movable ball or a fixed spherical protrusion. When the distal spherical member 430 is a movable ball, the entire outer peripheral surface of the distal spherical member 430 is a spherical surface 601. When the distal spherical member 430 is a fixed spherical protrusion, the distal spherical member 430 is at least a part of a sphere, so that at least a part of the outer surface of the distal spherical member 430 is a spherical surface 601.

[0204] In this embodiment, the plurality of distal spherical members 430 are all balls. Thus, the distal bearing 400 formed by the distal sleeve 410, the distal accessory 420 and the distal spherical member 430 is an axial ball bearing. The friction between the distal spherical member 430 and the abutting wall 402 in the axial ball bearing is rolling friction, and the friction resistance is small, which can improve the efficiency of the driving device 10.

[0205] Since the rotating shaft 210 is rotatably provided with the distal shaft sleeve 410, the distal shaft sleeve 410 should be provided with a shaft hole for the rotating shaft 210 to pass through. Specifically, the distal shaft sleeve 410 is provided with a distal shaft hole 411, and the distal shaft hole 411 is rotatably provided in the distal shaft hole 411. In addition, the rotating shaft 210 passes through the distal shaft hole 411 and has a connecting end 211 extending outward from the housing 210. The distal shaft sleeve 410 is slidably matched with the outer circumference of the rotating shaft 210 through the inner circumference of the distal shaft hole 411, so the distal shaft sleeve 410 and the outer circumference of the rotating shaft 210 are combined to form a radial sliding bearing, which can limit the radial movement of the rotating shaft 210 and reduce the radial deflection of the rotating shaft 210. That is to say, the distal bearing can form an axial ball bearing through the combination of the distal sleeve 410, the distal accessory 420 and the distal spherical member 430 to limit the axial movement of the rotating shaft 210; and a radial sliding bearing is formed by the combination of the inner circumference of the distal sleeve 410 and the outer circumference of the rotating shaft 210 to limit the radial movement of the rotating shaft 210. The axial ball bearing and the radial sliding bearing cooperate with each other to make the rotating shaft 210 rotate smoothly, improve the coaxiality of the central axis of the rotating shaft 210 and the central axis 11 of the housing 100 during the operation of the rotating shaft 210, thereby reducing the collision of the rotating shaft 210 and the housing 100 and other components, and effectively reducing the risk of failure of the driving device 10.

[0206] It should be noted that when the shaft 210 rotates smoothly, the central axis of the shaft 210 coincides with the central axis 11 of the housing 100. If the shaft 210 deflects radially by a small amplitude, the central axis of the shaft 210 intersects with the central axis 11 of the housing 100.

[0207] The distal bearing 400 is located between the connection end 211 and the stator 300 or the rotor 220. In other words, the distal bearing 400 is arranged between the connection end 211 and the stator 300; or, the distal bearing 400 is arranged between the connection end 211 and the rotor 220. The distal fitting 420 of the distal bearing 400 can be fixedly connected to the rotating shaft 210, and can also be fixedly connected to the rotor 220.

[0208] Specifically, the distal bearing 400 is disposed between the connection end 211 and the first rotor 221. The distal fitting 420 of the distal bearing 400 is fixedly connected to the rotating shaft 210 and the first rotor 221. When the stator 300 drives the rotor 220 to rotate, the rotor 220 drives the rotating shaft 210 to rotate, and the distal fitting 420 rotates with the rotating shaft 210, so that the distal fitting 420 rotates relative to the distal sleeve 410. In this process, the distal spherical member 430 can roll relative to the abutting wall 402.

[0209] See also Figures 3 to 5 As for the distal sleeve 410, the distal sleeve 410 is an independent component and can be connected and fixed to the housing 100 by bonding, welding, etc. Optionally, the distal end of the housing 100 is provided with a mounting hole 103, and the mounting hole 103 and the receiving cavity 101 are arranged along the axial direction; the mounting hole 103 is located at the distal side of the receiving cavity 101, and the distal sleeve 410 is installed in the mounting hole 103. Of course, in other embodiments, the distal sleeve 410 can be a component integrally formed with the housing 100.

[0210] The distal sleeve 410 is configured to be cylindrical. Of course, in other embodiments, the distal sleeve 410 may also have other shapes. The proximal end surface of the distal sleeve 410 faces the receiving cavity 101 , and the proximal end surface of the distal sleeve 410 serves as the abutment wall 402 .

[0211] The distal accessory 420 is received in the receiving cavity 101 of the housing 100. The distal wall of the distal accessory 420 is a first end surface 421. The distal spherical member 430 of the distal accessory 420 protrudes toward the distal sleeve 410 relative to the first end surface 421 to abut against the abutment wall 402. The distal accessory 420 is fixedly connected to at least one of the rotating shaft 210 and the rotor 220.

[0212] The distal accessory 420 is set as a disc-shaped structure. The distal accessory 420 is integrally formed with the rotating shaft 210. The distal accessory 420 can be integrally formed with the rotating shaft 210, which can improve the firmness of the connection between the distal accessory 420 and the rotating shaft 210 and reduce the processing steps. Of course, in other embodiments, the distal accessory 420 can be an independent component, that is, the distal accessory 420 and the rotating shaft 210 are separately formed, and the distal accessory 420 can be connected and fixed to the rotating shaft 210 by welding or bonding.

[0213] Since the first rotor 221 is adjacent to the distal fitting 420 and the first rotor 221 has a distal surface facing the distal fitting 420 , the distal fitting 420 can also be connected and fixed to the distal surface of the first rotor 221 .

[0214] See also Figure 3 and Figure 4 Optionally, the outer diameter of the distal end fitting 420 is smaller than the outer diameter of the first rotor 221. The outer diameter of the distal end fitting 420 is defined as the first outer diameter D 1 , the outer diameter of the first rotor 221 is the second outer diameter D 2 , then the first outer diameter D 1 Smaller than the second outer diameter D 2 , that is, D 1 <D 2 The larger the outer diameter of the rotor 220 is, the larger the volume of the magnet that the rotor 220 can accommodate is, and the greater the magnetic force of the rotor 220 is. Therefore, the outer diameter of the first rotor 221 (ie, the second outer diameter D 2 ) is designed to be larger to increase the magnetic force of the first rotor 221, thereby improving the efficiency of the drive device 10. The outer diameter of the distal accessory 420 is smaller, which can make the volume of the distal accessory 420 smaller, effectively reducing the weight and occupied space of the distal accessory 420.

[0215] In addition, since the outer diameter of the first rotor 221 is larger than the outer diameter of the distal accessory 420, the area of ​​the distal surface of the first rotor 221 is larger than the area of ​​the proximal surface of the distal accessory 420, so that the distal surface of the first rotor 221 can stably support the distal accessory 420 and enhance the stability of the installation of the distal accessory 420.

[0216] See also Figure 3 , Figure 4 and Figure 6 A distal limiting groove 102 is further provided inside the housing 100, and the distal limiting groove 102 is located between the receiving cavity 101 and the mounting hole 103. The diameter of the distal limiting groove 102 is smaller than the diameter of the receiving cavity 101, and the diameter of the distal limiting groove 102 is larger than the diameter of the mounting hole 103. The distal end portion of the distal accessory 420 extends into the distal limiting groove 102, so as to limit the distal accessory 420 from rotating in the distal limiting groove 102.

[0217] It is understandable that, since the distal accessory 420 is fixedly connected to the rotating shaft 210, the distal accessory 420 can rotate with the rotating shaft 210, so the diameter of the distal limiting groove 102 should be larger than the outer diameter of the distal accessory 420 (i.e., the first outer diameter), ensuring that there is a gap between the inner circumferential wall of the distal limiting groove 102 and the outer circumferential surface of the distal accessory 420 for the rotation of the distal accessory 420. When the deflection amplitude of the rotating shaft 210, that is, the deflection amplitude of the rotating shaft 210 is limited, a large radial deflection of the two is avoided. When the shaft 210 has a tendency to have a large radial deflection, the distal limiting groove 102 can limit the distal accessory 420.

[0218] The distal end of the distal accessory 420 extends into the distal stop groove 102, that is, the first end face 421 of the distal accessory 420 extends into the distal stop groove 102. Since the diameter of the distal stop groove 102 is larger than the diameter of the mounting hole 103, a step surface is formed between the distal stop groove 102 and the mounting hole 103. During the assembly process, if the distal accessory 420 (specifically the first end face 421) contacts the step surface earlier than the distal spherical component 430 contacts the abutting wall 402, the step surface will prevent the distal spherical component 430 from contacting the abutting wall 402, making it difficult for the distal spherical component 430 to abut against the abutting wall 402 later.

[0219] In view of the above, in this embodiment, when the distal spherical member 430 on the distal fitting 420 abuts against the abutting wall 402 of the distal sleeve 410, the distal fitting 420 is axially spaced from the step surface by a first distance L 1 Specifically, the first end surface 421 of the accessory 500 is spaced from the step surface by a first distance L 1 The first distance L 1 Such a design can prevent the distal accessory 420 from contacting the step surface earlier than the distal spherical component 430 contacting the abutting wall 402 , thereby ensuring that the distal spherical component 430 can accurately contact the abutting wall 402 .

[0220] See also Figures 4 to 6 For the distal spherical component 430 , the distal spherical component 430 can be movably mounted on the distal accessory 420 , and a portion of the distal spherical component 430 protrudes from the first end surface 421 , that is, a portion of the distal spherical component 430 is located between the first end surface 421 and the abutting wall 402 to abut against the abutting wall 402 .

[0221] Specifically, the distal accessory 420 is provided with a distal mounting groove 403, and the distal mounting groove 403 has a notch 403c. A distal spherical component 430 is correspondingly installed in the distal mounting groove 403. A part of the distal spherical component 430 extends outward from the notch 403c of the distal mounting groove 403, so that the distal spherical component 430 has an inner portion 432 accommodated in the inner side of the distal mounting groove 403, and an outer protrusion 431 extending outward from the distal mounting groove 403. The spherical surface 401 located on the outer protrusion 431 abuts against the abutment wall 402.

[0222] In this embodiment, since the distal spherical member 430 is a movable ball, the entire outer peripheral surface of the distal spherical member 430 is a spherical surface. Therefore, no matter the distal spherical member 430 rolls in any direction or to any position, the distal spherical member 430 will have an outer protrusion 431 located outside the distal mounting groove 403, so that the spherical surface 601 located on the outer protrusion 431 can abut against the abutting wall 401.

[0223] Optionally, in one of the installation modes of the distal ball 430, the distal accessory 420 is provided with a plurality of distal installation grooves 403, and at least one distal ball 430 is installed in each distal installation groove 403. Specifically, only one distal ball 430 is installed in one distal installation groove 403. In other embodiments, at least two distal balls 430 may be installed in each distal installation groove 403.

[0224] Since the multiple distal spherical pieces 430 are respectively installed in different distal mounting grooves 403, the distal spherical pieces 430 in the distal mounting grooves 403 do not interfere with the distal spherical pieces 430 in other distal mounting grooves 403. When the rotating assembly 200 rotates, the multiple distal spherical pieces 430 are driven by the rotating assembly 200 and roll in their corresponding distal mounting grooves 403. The distal spherical pieces 430 in any adjacent distal mounting grooves 403 will not push each other, so that each distal spherical piece 430 can roll freely. Therefore, the distal spherical pieces 430 in different positions can perform adaptive activities according to the size and direction of the force they are subjected to. When the driving device 10 is started, the starting power of the driving device 10 is small, and the starting operation of the rotating assembly 200 is smoother.

[0225] In another installation mode of the distal spherical member 430, the distal accessory 420 may be provided with only one distal installation groove 403, which is annular and surrounds the rotating shaft 210. A plurality of distal spherical members 430 are arranged in the distal installation groove 403, and the plurality of distal spherical members 430 are arranged around the rotating shaft 210 and are adjacent to each other in sequence. Two adjacent distal spherical members 430 are in contact. The spherical surface 401 of the distal spherical member 430 is also in contact with the circumference of the rotating shaft 210. Specifically, the distal installation groove 403 has a groove bottom wall 403a and a groove side wall 403b arranged along the outer periphery of the groove bottom wall 403a, that is, the distal installation groove 403 has only one groove side wall 403b, and the groove side wall 403b and the circumference of the rotating shaft 210 are spaced radially, and the distal spherical member 430 and the groove side wall 403b and the circumference of the rotating shaft 210 are all tangent.

[0226] See also Figures 4 to 6 Regardless of which of the above installation methods is used for the distal spherical member 430, the outer protrusion 431 of the distal spherical member 430 has a contact point F for the abutment wall 402 to abut against. 1 Here, the contact point F of the distal ball 430 1 The distal spherical member 430 has an axial height H protruding outward from the notch 403c of the distal mounting groove 403. f1 , the axial height H f1 It is the contact point F 1 The axial distance between the first end surface 421 and the abutting wall 402 is also the axial distance between the first end surface 421 and the abutting wall 402 .

[0227] If the axial height H f1 If the axial height H is too small, the distance between the first end face 421 and the abutting wall 402 is small, and the two are easy to contact each other, and wear or collision will occur between the first end face 421 and the abutting wall 402 when the rotating shaft 210 rotates. f1 is set to be greater than or equal to 1 / 3 of the radius of the distal spherical member 430. Therefore, H f1 ≥1 / 3R; wherein R represents the radius of the distal spherical member 430. In this way, after the outer protrusion 431 abuts against the abutting wall 402, there is a sufficient distance between the first end surface 421 and the abutting wall 402, so that the two are not likely to contact and interfere with each other, thereby avoiding wear or collision between the two and improving the stability of the rotation of the shaft 210.

[0228] Of course, the axial height H f1 It is also not suitable to design it too large, otherwise it will occupy a large axial space of the housing 100 and easily increase the risk of the distal spherical member 430 falling out of the distal mounting groove 403. Therefore, optionally, the axial height H f1 is smaller than the radius of the distal spherical member 430, that is, H f1In this way, the volume of the inner portion 432 of the distal spherical component 430 can account for at least half of the volume of the distal spherical component 430 , so that the center of the distal spherical component 430 will fall inside the distal mounting groove 403 , thereby reducing the risk of the distal spherical component 430 falling out of the distal mounting groove 403 .

[0229] See also Figures 4 to 6 The distal mounting groove 403 has a groove bottom wall 403a and a groove side wall 403b arranged along the circumference of the groove bottom wall 403a; the built-in portion 432 of the distal spherical component 430 abuts against the groove bottom wall 403a, and the built-in portion 432 of the distal spherical component 430 is also tangent to the groove side wall 403b.

[0230] The groove bottom wall 403a is a plane wall perpendicular to the central axis of the distal fitting 420. At this time, the distal spherical member 430 is tangent to the groove bottom wall 403a, and the tangent position is the abutment position. In other embodiments, the groove bottom wall 403a can be a spherical wall.

[0231] The groove side wall 403b is perpendicular to the groove bottom wall 403a. The groove side wall 403b can be a cylindrical surface, in which case the contact between the distal spherical member 430 and the groove side wall 403b is a line contact. The groove side wall 403b can also be composed of multiple planes, in which case the contact between the distal spherical member 430 and the groove side wall 403b is a point contact. In other embodiments, the groove side wall 403b can form an inclined angle with the groove bottom wall 403a.

[0232] The position where the inner portion 432 of the distal spherical member 430 is tangent to the groove side wall 403b is defined as the tangent position F 2 , cut position F 2 The cutting depth H is between the notch 403c and the distal mounting groove 403. f2 Obviously, the cutting depth H f2 It is necessary to be smaller than the radius R (ie H f2 <R, R = 1 / 2D f ), so that a portion of the distal spherical member 430 protrudes outward from the notch 403c of the distal mounting groove 403 to form an outer protrusion 431. However, the cutting depth H f2 It should not be too small, otherwise the distal spherical component 430 will easily fall out of the distal mounting groove 403.

[0233] Therefore, optionally, the cutting depth Hf 2 Greater than or equal to 1 / 2 times the radius of the distal spherical member 430, that is, 1 / 2R≤H f2<R. In this way, the volume of the inner portion 432 of the distal spherical member 430 can be greater than or equal to half the volume of the distal spherical member 430. In this way, the center of the distal spherical member 430 will fall inside the distal mounting groove 403, thereby reducing the risk of the distal spherical member 430 falling out of the distal mounting groove 403.

[0234] It can be understood that the cutting depth H f2 and axial height H f1 The sum is equal to the radius R of the distal spherical member 430, that is, H f1 +H f2 = R. Further, the cutting depth H f2 Also greater than the axial height H f1 , so 1 / 3R≤H f1 <H f2 This arrangement can ensure that the distal spherical component 430 is not easy to fall out of the distal mounting groove 403 , and can also ensure that the outer protrusion 431 of the distal spherical component 430 has a sufficient height to abut against the abutting wall 402 .

[0235] See also Figure 3 , Fig. 9 and Fig.10 , multiple distal spherical parts 430 are arranged at intervals around the rotating shaft 210, which can be arranged at equal intervals or at non-equal intervals. There is an annular area 102 around the rotating shaft 210, and the annular area 102 is defined by an inner ring and an outer ring. It should be noted that the inner ring and the outer ring are virtual boundaries for defining the annular area 102, and the inner ring is located between the outer ring and the outer peripheral surface of the rotating shaft 210. The centers of the inner ring and the outer ring are located at the central axis of the rotating shaft 210. The inner ring and the outer peripheral surface of the rotating shaft 210 are spaced apart by a distance in the radial direction. Multiple distal spherical parts 430 are all arranged in the annular area 102.

[0236] The plurality of distal spherical members 430 may be arranged at equal intervals or at unequal intervals in the annular region 102. At least two of the distal spherical members 430 are located on opposite sides of the rotating shaft 210. In this way, at least one fulcrum may be provided on opposite sides of the rotating shaft 210 (such as left and right sides or front and back sides), thereby reducing radial deflection of the rotating shaft 210 along the left and right sides.

[0237] The number of the distal spherical components 430 may be 2 to 10. For example, but not limited to, 3, 4, 5, 8, etc. As shown in FIG. 12 , the number of the distal spherical components 430 may be 3. The three distal spherical components 430a to 430c are arranged at equal intervals along the outer periphery of the rotating shaft 210, and the vertical connection line between the center of the three distal spherical components 430a to 430c and the central axis of the rotating shaft 210 is in a Y shape. As shown in FIG. 13 , the number of the distal spherical components 430 may also be 4. The four distal spherical components 430a to 430d are arranged at equal intervals along the outer periphery of the rotating shaft 210, and the vertical connection line between the center of the four distal spherical components 430a to 430d and the central axis of the rotating shaft 210 is in a cross shape.

[0238] 11 , the diameter D of the distal spherical member 430 is f 0.4mm~0.7mm, that is, 0.4mm≤D f ≤0.7mm. The radius R of the distal spherical member 430 is D f 1 / 2 times. For example, diameter D f The value can be but is not limited to 0.45mm, 0.5mm, 0.55mm, 0.6mm, 0.65mm, and 0.7mm.

[0239] The outer surface of the distal spherical member 430 can be set as a ceramic surface. Specifically, the entire distal spherical member 430 is made of a ceramic material, so that the outer surface of the distal spherical member 430 becomes a ceramic surface. Of course, in other embodiments, the distal spherical member 430 can be made of a hard metal material, and a layer of ceramic material is added to the outer surface of the distal spherical member 430 to form the ceramic surface. Ceramic materials have high processing accuracy, high biocompatibility, high mechanical strength, and good wear resistance and corrosion resistance.

[0240] See also Figure 4 and Fig.14 , for the abutting wall 402 abutting against the distal spherical member 430, the abutting wall 402 can be set as a flat wall without a concave-convex structure. The abutting wall 402 is perpendicular to the central axis of the rotating shaft 210, so that the abutting wall 402 is tangent to the distal spherical member 430. In this way, during the rotation of the rotating assembly 200, the distal spherical member 430 can maintain a stable contact and relative rolling with the abutting wall 402. In this way, each distal spherical member 430 can be tangent to the abutting wall 402, so that the contact between multiple distal spherical members 430 and the abutting wall 402 is a point contact of multiple scattered points, with a small contact area and small friction resistance. In addition, if the rotating shaft 210 deflects radially, the distal spherical member 430 can roll radially on the abutting wall 402, reducing the resistance to the movement of the distal spherical member 430, avoiding the occurrence of jamming of the rotating shaft 210, and making it easier for the rotating shaft 210 to return to its original stable state.

[0241] In this embodiment, since the distal shaft sleeve 410 is provided with an abutment wall 402, the distal shaft hole 411 on the distal shaft sleeve 410 penetrates the abutment wall 402. The connection between the inner circumference of the distal shaft hole 411 and the abutment wall 402 is the inner end hole edge of the distal shaft hole 411. The abutment point F of any distal spherical member 430 1 The abutment point F is radially spaced from the distal shaft hole 411. 1 The minimum radial distance between the distal shaft hole 411 is defined as the second distance L 2 When the rotating shaft 210 has a small radial deflection, the second distance L of the distal spherical member 430 on one side 2 When the second distance L on one side 2 When the size is reduced, the distal spherical member 430 may contact the inner edge of the distal shaft hole 411, and greater friction will occur when the two contact each other.

[0242] Therefore, in this embodiment, the second distance L 2 Set to be greater than or equal to 0.2 mm, i.e. L 2 ≥0.2mm. In this way, when the rotating shaft 210 has a small radial deflection, the possibility of the distal spherical member 430 contacting the inner edge of the distal shaft hole 411 can be reduced, thereby reducing the wear of the distal spherical member 430. 2 There is no limit to the maximum value of , and it can be designed accordingly according to the diameter of the distal sleeve 410 .

[0243] The abutment wall 402 can also be set as a ceramic surface. Specifically, the entire distal sleeve 410 is made of ceramic material, so that the abutment wall 402 of the distal sleeve 410 becomes a ceramic surface accordingly. Of course, in other embodiments, the distal sleeve 410 can be made of hard metal material, and a layer of ceramic material is added on the surface of the distal sleeve 410 to form the ceramic surface.

[0244] Of course, in other embodiments, the abutment wall 402 may also be provided with an annular groove (such as the aforementioned annular groove 504 ), so that a portion of the distal spherical member 430 is received in the annular groove.

[0245] Figure 23 to Figure 25-B The sixth embodiment of the driving device 10 of the present application is shown. The sixth embodiment is different from the fifth embodiment described above in that the multiple distal spherical members 430 of the distal bearing 400 are not movable balls, but fixed spherical protrusions. Specifically, the distal spherical members 430 are spherical protrusions fixed on one of the distal sleeve 410 and the distal accessory 420, and the other of the distal sleeve 410 and the distal accessory 420 has an abutment wall 402, and the abutment wall 402 abuts against the spherical surface 401 of the distal spherical member 430 along the axial direction.

[0246] Specifically, the distal spherical member 430 is fixed to the distal accessory 420, and the spherical surface 401 of the distal spherical member 430 abuts against the abutting wall 402. Since the distal spherical member 430 is fixed to the distal accessory 420, there is no need to provide the distal mounting groove 403 such as in the fifth embodiment on the distal accessory 420. The distal spherical member 430 can be integrally formed with the distal accessory 420. Alternatively, the distal spherical member 430 is fixed to the distal accessory 420 by welding or bonding. The distal accessory 420 has a first end surface 421, and the distal spherical member 430 is fixed to the first end surface 421.

[0247] It is understandable that the distal spherical member 430 can be a complete sphere or a part of a sphere, as long as the outer surface of the distal spherical member 430 at least partially has the spherical surface 401. The axial height H of the distal spherical member 430 protruding from the end surface (i.e., the first end surface 421) of the distal accessory 420 is f1 It can be 0.1mm to 0.2mm. The distal spherical member 430 can be a hemisphere, that is, 1 / 2 of a sphere. Of course, in other embodiments, the distal spherical member 430 can also be 1 / 3 or 1 / 4 of a sphere. The connection between the spherical surface 401 of the distal spherical member 430 and the first end surface 421 is an arc-shaped transition connection.

[0248] The size, position and arrangement of the distal spherical member 430 can be implemented with reference to the outer protrusion 522 in the fifth embodiment when the distal spherical member 430 is a ball, and can also achieve basically the same technical effect. For example:

[0249] The distal spherical member 430 is spaced apart from the outer circumference of the rotating shaft 210 in the radial direction.

[0250] The spherical surface 401 of the distal spherical component 430 is a ceramic surface.

[0251] The diameter of the sphere where the distal spherical component 430 is located is 0.4 mm to 0.7 mm.

[0252] The height of the distal spherical component 430 protruding from the end surface of the distal fitting 420 is 0.1 mm to 0.2 mm.

[0253] The plurality of distal spherical members 430 are arranged at equal intervals along the outer circumference of the rotating shaft 210 .

[0254] At least two of the distal spherical members 430 are located on opposite sides of the rotating shaft 210 .

[0255] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0256] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A driving device, characterized in that: The driving device comprises: case; A rotating assembly, the rotating assembly being rotatably mounted on the housing; a stator, the stator being fixedly connected to the housing and capable of driving the rotor to rotate; and The proximal bearing comprises a proximal sleeve, a proximal fitting and a proximal ball; wherein, The proximal end sleeve is fixed to the proximal end of the housing; The proximal accessory is located between the proximal sleeve and the stator, the proximal accessory is axially opposite to the proximal sleeve and can rotate relative to the proximal sleeve, and the proximal accessory is fixedly connected to the rotating assembly; The proximal ball is movably mounted on one of the proximal sleeve and the proximal accessory, and the other of the proximal sleeve and the proximal accessory has a matching wall, and the matching wall is axially opposed to the spherical surface of the proximal ball.

2. The driving device according to claim 1, characterized in that: The rotating assembly includes a rotating shaft and a rotor fixedly connected to the rotating shaft, and the distal end of the proximal accessory is fixedly connected to the proximal end of the rotating shaft; the proximal end of the proximal accessory is provided with a rotating column, the rotating column is coaxial with the rotating shaft, and the rotating column can rotatably pass through the proximal sleeve.

3. The driving device according to claim 2, characterized in that: The distal end of the proximal accessory is provided with a socket, and the proximal end of the rotating shaft is fixed in the socket; and / or, the number of the proximal balls is multiple, and the multiple proximal balls are arranged around the rotating column.

4. The driving device according to claim 2, characterized in that: The proximal sleeve is provided with a proximal shaft hole, and the rotating column can rotatably pass through the proximal shaft hole. A limiting member is provided on the circumferential surface of the proximal end of the rotating column. The limiting member is located on the side of the proximal sleeve facing away from the proximal accessory and can be axially opposed to the proximal sleeve.

5. The driving device according to claim 1, characterized in that: The proximal end of the shell is provided with a fixing groove for installing the proximal accessory, and a proximal limiting groove located distal to the fixing groove; the proximal accessory is at least partially accommodated in the proximal limiting groove, and the outer circumferential surface of the proximal accessory and the inner circumferential surface of the proximal limiting groove are separated by a gap.

6. The driving device according to any one of claims 1 to 5, characterized in that: One of the proximal sleeve and the proximal accessory is provided with a proximal mounting groove, in which at least one proximal ball is mounted, and a portion of the proximal ball extends outward from the notch of the proximal mounting groove to abut against the matching wall.

7. The driving device according to claim 6, characterized in that: There are multiple proximal mounting grooves, which are arranged at intervals around the rotating shaft, and each of the proximal mounting grooves is provided with at least one proximal ball; Alternatively, the number of the proximal mounting groove is one, the proximal mounting groove is annularly surrounding the rotating component, a plurality of the proximal balls are arranged in the proximal mounting groove, and the plurality of the proximal balls are arranged around the rotating component.

8. The driving device according to claim 6, characterized in that: The proximal mounting groove has a groove bottom wall and a groove side wall; the proximal ball is in contact with the groove bottom wall, the proximal ball is tangent to the groove side wall and has a tangent position, and the tangent position depth between the tangent position and the notch of the proximal mounting groove is greater than or equal to 1 / 2 times the radius of the proximal ball, and less than the radius of the proximal ball; Alternatively, the proximal ball has an axial height protruding outward from the notch of the proximal mounting groove, and the axial height is greater than or equal to 1 / 3 of the radius of the proximal ball and less than the radius of the proximal ball.

9. The driving device according to any one of claims 1 to 5, characterized in that: The proximal bearing also has at least one of the following characteristics: The spherical surface of the proximal ball is a ceramic surface; The diameter of the proximal ball is 0.4 mm to 0.7 mm; The proximal ball is radially spaced a distance from the rotating column provided on the proximal accessory; The number of the proximal balls is multiple, and the multiple proximal balls are arranged at intervals around the central axis of the rotating component; At least two of the proximal balls are located on opposite sides of the central axis of the rotating assembly.

10. The driving device according to any one of claims 1 to 5, characterized in that: An annular groove is provided on the matching wall, and the annular groove surrounds the central axis of the rotating component; a part of the proximal ball is accommodated in the annular groove.

11. The driving device according to claim 10, characterized in that: The annular groove has an annular bottom wall and annular side walls located on both sides of the annular bottom wall; the annular groove also has at least one of the following characteristics: The bottom wall of the ring is perpendicular to the central axis of the rotating assembly and is tangent to the spherical surface of the proximal ball; The ring side wall is configured in a concave arc shape; A rounded wall is provided at the notch of the annular groove; The radial width of the annular groove gradually decreases from the proximal sleeve to the proximal fitting.

12. The driving device according to any one of claims 1 to 5, characterized in that: The matching wall is a flat wall without a concave-convex structure, and the matching wall also has at least one of the following characteristics: The matching wall is perpendicular to the central axis of the rotating assembly and tangent to the proximal ball; The matching wall is a ceramic surface.

13. The driving device according to any one of claims 1 to 5, characterized in that: The rotating assembly includes a rotating shaft; the driving device also includes a distal bearing, and the distal bearing includes: A distal sleeve, the distal sleeve being fixed to the distal end of the housing, and the rotating shaft being rotatably disposed through the distal sleeve; A distal accessory, the distal accessory is accommodated in the housing and is fixedly connected to the rotating assembly; and A plurality of distal spherical parts are provided on one of the distal sleeve and the distal accessory and are arranged around the rotating shaft; the other of the distal sleeve and the distal accessory has an abutment wall, and the abutment wall abuts against the spherical surface of the distal spherical part along the axial direction.

14. A driving device, characterized in that: The driving device comprises: case; A rotating assembly, the rotating assembly being rotatably mounted on the housing; a stator, the stator being fixedly connected to the housing and capable of driving the rotating assembly to rotate; and A proximal bearing, the proximal bearing comprising a proximal sleeve, a proximal fitting and a proximal spherical protrusion; wherein, The proximal sleeve is fixed to the proximal end of the housing; The proximal accessory is located between the proximal sleeve and the stator, the proximal accessory is axially opposite to the proximal sleeve and can rotate relative to the proximal sleeve, and the proximal accessory is fixedly connected to the rotating assembly; The proximal spherical protrusion is fixed to one of the proximal sleeve and the proximal fitting, and the other of the proximal sleeve and the proximal fitting has a matching wall, and the matching wall abuts against the spherical surface of the proximal spherical protrusion along the axial direction.

15. The driving device according to claim 14, characterized in that: The rotating assembly includes a rotating shaft and a rotor fixedly connected to the rotating shaft, and the distal end of the proximal end accessory is fixedly connected to the proximal end of the rotating shaft; the proximal end of the proximal end accessory is provided with a rotating column, the rotating column is coaxial with the rotating shaft, and the proximal end sleeve is rotatably passed through the rotating column; The distal end of the proximal end accessory is provided with a socket for fixing the proximal end of the rotating shaft; and / or, The number of the proximal spherical protrusions is multiple, and the multiple proximal spherical protrusions are arranged around the rotating column.

16. The driving device according to claim 15, characterized in that: The proximal shaft sleeve is provided with a proximal shaft hole, and the rotating column can rotatably pass through the proximal shaft hole; the proximal end of the rotating column is located on the side of the proximal shaft sleeve facing away from the proximal accessory, and a limiting member is provided on the circumferential surface of the proximal end of the rotating column, and the limiting member can be axially opposed to the proximal shaft sleeve.

17. The driving device according to any one of claims 14 to 16, characterized in that: An annular groove is provided on the matching wall, and the annular groove surrounds the outer circumference of the central axis of the rotating component; a part of the proximal spherical protrusion is accommodated in the annular groove.

18. The driving device according to claim 17, characterized in that: The annular groove has an annular bottom wall and annular side walls located on both sides of the annular bottom wall; the annular groove also has at least one of the following characteristics: The annular bottom wall is perpendicular to the central axis of the rotating assembly and is tangent to the outer convex portion of the proximal spherical protrusion; The ring side wall is configured in a concave arc shape; A rounded wall is provided at the notch of the annular groove; The radial width of the annular groove gradually decreases from the proximal sleeve to the proximal fitting.

19. The driving device according to any one of claims 14 to 16, characterized in that: The proximal bearing also has at least one of the following characteristics: The spherical surface of the proximal spherical protrusion is a ceramic surface; The diameter of the proximal spherical protrusion is 0.4 mm to 0.7 mm; The proximal spherical protrusion is radially spaced a distance from the rotating column provided on the proximal accessory; The number of the proximal spherical protrusions is multiple, and the multiple proximal spherical protrusions are arranged at intervals around the central axis of the rotating component; At least two of the proximal spherical protrusions are located on opposite sides of the central axis of the rotating assembly.

20. The driving device according to any one of claims 14 to 16, characterized in that: The proximal bearing also has at least one of the following characteristics: The matching wall is perpendicular to the central axis of the rotating assembly and is tangent to the spherical surface of the proximal spherical protrusion; The matching wall is a plane without a concave-convex structure; The matching wall is a ceramic surface.

21. The driving device according to any one of claims 14 to 16, characterized in that: The rotating assembly includes a rotating shaft; the driving device also includes a distal bearing, and the distal bearing includes: A distal sleeve, the distal sleeve being fixed to the distal end of the housing, the shaft being rotatably provided with a distal fitting of the distal sleeve, the distal fitting being accommodated in the housing and fixedly connected to the rotating assembly; and A plurality of distal spherical parts are provided on one of the distal sleeve and the distal accessory and are arranged around the rotating shaft; the other of the distal sleeve and the distal accessory has an abutment wall, and the abutment wall abuts against the spherical surface of the distal spherical part along the axial direction.

22. A blood pump, characterized in that: The blood pump comprises an impeller and a driving device according to any one of claims 1 to 21, wherein the impeller is fixedly connected to a distal end of a rotating shaft of the driving device.

23. The blood pump according to claim 22, characterized in that The blood pump also includes a cannula assembly, which is fixedly connected to the housing of the drive device; a proximal opening is provided at the proximal end of the cannula assembly, and a distal opening is provided at the distal end of the cannula assembly, one of the distal opening and the proximal opening is a blood inlet, and the other is a blood outlet; the impeller is arranged in the cannula assembly.

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