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 far-end bearing. The rotating assembly is rotatably mounted on the shell and comprises a rotating shaft and a rotor fixedly connected with the rotating shaft; the stator is fixedly connected with the shell; the far-end bearing comprises a far-end shaft sleeve, a far-end accessory and a far-end ball. The far-end shaft sleeve is fixed at the far end of the shell, and the rotating shaft rotatably penetrates through the far-end shaft sleeve; the far-end accessory is contained in the shell, and the far-end accessory is opposite to the far-end shaft sleeve in the axial direction and fixedly connected with the rotating assembly. The far-end ball is movably installed on one of the far-end shaft sleeve and the far-end accessory, the other one of the far-end shaft sleeve and the far-end accessory is provided with an abutting wall, and the abutting wall abuts against the spherical surface of the far-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 rotating assembly of the drive device is fixedly connected to the impeller to drive the impeller to rotate and drive blood flow. However, the distal end of the rotating assembly is prone to shaking, making the drive device unstable and the drive device operating efficiency poor. Summary of the invention

[0003] Based on this, it is necessary to provide a more stable driving device and blood pump to address the above problems, aiming to reduce the risk of shaking of the rotating components, improve the stability of the driving device, and thereby improve the operating efficiency of the driving device.

[0004] In some embodiments of the present application, the driving device includes a housing, a rotating assembly, a stator and a distal bearing. The rotating assembly is rotatably mounted on the housing, and includes a rotating shaft and a rotor fixedly connected to the rotating shaft; the stator is fixedly connected to the housing; the distal bearing includes a distal sleeve, a distal accessory and a distal ball. The distal sleeve is fixed to the distal end of the housing, and the rotating shaft is rotatably passed through the distal sleeve; the distal accessory is located between the stator and the distal sleeve, the distal accessory is axially opposite to the distal sleeve, and is fixedly connected to the rotating assembly; the distal ball is movably mounted on one of the distal sleeve and the distal accessory, and 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 ball in the axial direction.

[0005] In some embodiments, the number of the distal balls is multiple, and the multiple distal balls are arranged around the rotating shaft.

[0006] In some embodiments, one of the distal sleeve and the distal accessory is provided with a plurality of distal mounting grooves, each of which is provided with a corresponding distal ball; a portion of the distal ball extends outward from the groove opening of the distal mounting groove to abut against the abutment wall.

[0007] In some embodiments, the distal mounting groove has a groove bottom wall and a groove side wall; the distal ball is in contact with the groove bottom wall, the distal 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 distal mounting groove is greater than or equal to 1 / 2 times the radius of the distal ball, and less than the radius of the distal ball;

[0008] Alternatively, the distal ball has an axial height protruding outward from the notch of the distal mounting groove, and the axial height is greater than or equal to 1 / 3 of the radius of the distal ball and less than the radius of the distal ball.

[0009] In some embodiments, the distal bearing further has at least one of the following features:

[0010] The spherical surface of the distal ball is a ceramic surface;

[0011] The diameter of the distal ball is 0.4 mm to 0.7 mm;

[0012] The distal end ball is spaced a distance apart from the rotating shaft in the radial direction;

[0013] The number of the distal balls is multiple, and the multiple distal balls are arranged around the rotating shaft at equal intervals;

[0014] At least two of the distal balls are located on opposite sides of the rotating shaft.

[0015] In some embodiments, the abutment wall is provided with an annular groove surrounding the rotating shaft, and a portion of the distal ball is accommodated in the annular groove; or, the abutment wall is a flat wall without a concave-convex structure, and the abutment wall has at least one of the following characteristics:

[0016] The abutment wall is perpendicular to the central axis of the rotating shaft and is tangent to the spherical surface of the distal ball;

[0017] The abutting wall is a ceramic surface.

[0018] In some embodiments, the distal ball bearing is movably mounted on the distal accessory; a mounting platform is provided on the circumference of the rotating shaft, the mounting platform is located on the side of the distal accessory facing away from the distal sleeve, the mounting platform has a distal mounting surface, and the distal accessory is fixedly connected to the distal mounting surface;

[0019] In some embodiments, the mounting platform further comprises a proximal mounting surface, the proximal mounting surface facing away from the distal mounting surface; the rotor comprises a first rotor, the first rotor is located between the distal fitting and the stator, and the first rotor is fixedly connected to the proximal mounting surface.

[0020] In some embodiments, the shell is provided with a receiving cavity, a proximal limit groove and a mounting hole arranged along the axial direction, and a step surface is provided between the proximal limit groove and the mounting hole; the distal sleeve is installed in the mounting hole; the distal accessory is at least partially received in the proximal limit groove, and the distal accessory is axially spaced a first distance from the step surface.

[0021] In some embodiments, the distal ball bearing is movably mounted on the distal accessory, and the spherical surface of the distal ball bearing has an abutment point abutting against the abutment wall; the distal sleeve is provided with a distal shaft hole for the rotating shaft to pass through, and the minimum radial spacing between the distal shaft hole and the abutment point is a second distance, and the second distance is greater than or equal to 0.2 mm.

[0022] In some embodiments, a movable groove is provided at the proximal end of the housing, and the movable groove has a bottom wall and a side wall; a ball head is provided at the end of the rotating shaft away from the connecting end, and the ball head is rotatably arranged in the movable groove, and the ball head has a spherical crown surface, and the spherical crown surface is in sliding contact with the bottom wall and is tangent to the side wall. There are multiple distal balls, and the multiple distal balls are arranged around the rotating shaft, and the minimum radial distance from any one of the distal balls to the central axis of the rotating shaft is greater than or equal to 1.5 times the radius of the ball head.

[0023] In some embodiments, the drive device further comprises a proximal bearing, wherein the proximal bearing comprises:

[0024] A proximal sleeve, the proximal sleeve being fixed to the proximal end of the housing;

[0025] A proximal accessory, the proximal accessory is located between the proximal sleeve and the stator, the proximal accessory is axially opposite to the proximal sleeve, and the proximal accessory is fixedly connected to the rotating assembly so as to be rotatable relative to the proximal sleeve; and

[0026] A 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.

[0027] In some embodiments, the number of the proximal balls is multiple;

[0028] A plurality of the proximal balls are arranged around the central axis of the rotating shaft; or,

[0029] The proximal end of the proximal accessory is provided with a rotating column coaxial with the rotating shaft, the proximal end sleeve is rotatably passed through the rotating column, and a plurality of proximal end balls are arranged around the rotating column;

[0030] The distal end of the proximal end accessory is also provided with a socket, and the proximal end of the rotating shaft is fixed in the socket.

[0031] The present application also provides a driving device, which includes a housing, a rotating assembly, a stator and a distal bearing. The rotating assembly is rotatably mounted on the housing, and includes a rotating shaft and a rotor fixedly connected to the rotating shaft; the stator is fixedly connected to the housing and can drive the rotor to rotate; the distal bearing includes a distal sleeve, a distal accessory and a distal spherical protrusion. The distal sleeve is fixed to the distal end of the housing, and the rotating shaft is rotatably passed through the distal sleeve; the distal accessory is accommodated in the interior of the housing, and the distal accessory is axially opposite to the distal sleeve and fixedly connected to the rotating assembly; the distal spherical protrusion is fixed to one of the distal sleeve and the distal accessory, and 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 protrusion along the axial direction.

[0032] In some embodiments, there are multiple distal spherical protrusions, and the multiple distal spherical protrusions are arranged at intervals around the rotating shaft.

[0033] In some embodiments, one of the distal sleeve and the distal accessory has an end face axially opposite to and spaced from the abutment wall, and the distal spherical protrusion is fixed on the end face; the distal spherical protrusion has an axial height protruding from the end face toward the abutment wall, and the axial height is greater than or equal to 1 / 3 times the radius of the sphere where the distal spherical protrusion is located, and is less than the radius of the sphere where the distal spherical protrusion is located.

[0034] In some embodiments, the driving device also has at least one of the following features:

[0035] The spherical surface of the distal spherical protrusion is a ceramic surface;

[0036] The distal spherical protrusion is a hemisphere;

[0037] The diameter of the distal spherical protrusion is 0.4 mm to 0.7 mm;

[0038] The distal spherical protrusion is radially spaced a distance from the rotating shaft;

[0039] The number of the distal spherical protrusions is multiple, and the multiple distal spherical protrusions are arranged around the rotating shaft at equal intervals;

[0040] At least two of the distal spherical protrusions are located on opposite sides of the rotating shaft.

[0041] In some embodiments, the abutment wall is provided with an annular groove surrounding the rotating shaft, and a portion of the distal ball is accommodated in the annular groove; or, the abutment wall is a flat wall without a concave-convex structure, and the abutment wall has at least one of the following characteristics:

[0042] The abutment wall is perpendicular to the central axis of the rotating shaft and is tangent to the spherical surface of the distal ball;

[0043] The abutting wall is a ceramic surface.

[0044] In some embodiments, the shell is provided with a receiving cavity, a proximal limit groove and a mounting hole arranged along the axial direction, and a step surface is provided between the proximal limit groove and the mounting hole; the distal sleeve is installed in the mounting hole; the distal accessory is at least partially received in the proximal limit groove, and the distal accessory is axially spaced a first distance from the step surface.

[0045] In some embodiments, a movable groove is provided at the proximal end of the shell, and the movable groove has a bottom wall and a side wall; a ball head is provided at the end of the rotating shaft away from the connecting end, and the ball head is rotatably arranged in the movable groove, and the ball head has a spherical crown surface, and the spherical crown surface is in sliding contact with the bottom wall and is tangent to the side wall; the number of the distal spherical protrusions is multiple, and the multiple distal spherical protrusions are arranged around the rotating shaft, and the minimum radial distance from any one of the distal spherical protrusions to the central axis of the rotating shaft is greater than or equal to 1.5 times the radius of the ball head.

[0046] In some embodiments, the drive device further comprises a proximal bearing, wherein the proximal bearing comprises:

[0047] A proximal sleeve, the proximal sleeve being fixed to the proximal end of the housing;

[0048] A proximal accessory, the proximal accessory is located between the proximal sleeve and the stator, the proximal accessory is axially opposite to the proximal sleeve, and is fixedly connected to the proximal end of the rotating assembly; and

[0049] A 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.

[0050] In some embodiments, the number of the proximal balls is multiple;

[0051] A plurality of the proximal balls are arranged at intervals around the central axis of the rotating shaft; or,

[0052] The proximal end of the proximal accessory is provided with a rotating column coaxial with the rotating shaft, the proximal shaft sleeve is rotatably passed through the rotating column, and a plurality of proximal balls are arranged at intervals around the rotating column;

[0053] The distal end of the proximal end accessory is also provided with a socket, and the proximal end of the rotating shaft is fixed in the socket.

[0054] The present application also provides a driving device, which includes a housing, a rotating assembly, a stator, a distal bearing and an auxiliary bearing. The rotating assembly is rotatably mounted on the housing, and has a connecting end located outside the housing; the stator is fixedly connected to the housing and can drive the rotor to rotate; the distal bearing is arranged at the distal end of the housing and adjacent to the connecting end; the auxiliary bearing is arranged between the distal bearing and the stator, the rotating assembly passes through the distal bearing and the auxiliary bearing, and the auxiliary bearing and the distal bearing can jointly support the rotation of the rotating assembly.

[0055] In some embodiments, the auxiliary bearing includes an auxiliary base, an auxiliary accessory and an auxiliary spherical part; the auxiliary base is fixedly connected to the shell, and the rotating assembly is rotatably passed through the auxiliary base; the auxiliary accessory is located between the auxiliary base and the distal bearing, and the auxiliary accessory is fixedly connected to the rotating assembly; the auxiliary spherical part is arranged on one of the auxiliary base and the auxiliary accessory, and the other of the auxiliary base and the auxiliary accessory has a limiting wall, and the limiting wall is axially opposed to the spherical surface of the auxiliary spherical part.

[0056] In some embodiments, the number of the auxiliary spherical parts is multiple, and the multiple auxiliary spherical parts are arranged around the rotating shaft. The auxiliary spherical part is a ball movably mounted on one of the auxiliary base and the auxiliary accessory; or the auxiliary spherical part is a spherical protrusion fixed to one of the auxiliary base and the auxiliary accessory.

[0057] In some embodiments, the auxiliary spherical part is a movable ball; one of the auxiliary base and the auxiliary accessory is provided with an assembly groove, and the auxiliary spherical part is movably installed in the assembly groove; a portion of the auxiliary spherical part extends outward from the notch of the assembly groove to abut against the limiting wall.

[0058] In some embodiments, the assembly groove has a groove bottom wall and a groove side wall; the auxiliary spherical part abuts against the groove bottom wall, and the auxiliary spherical part is tangent to the groove side wall of the assembly groove and has a cutting position, and the cutting position depth between the cutting position and the groove opening of the assembly groove is greater than or equal to 1 / 2 times the radius of the auxiliary spherical part, and less than the radius of the auxiliary spherical part.

[0059] In some embodiments, the auxiliary spherical part has an axial height protruding outward from the notch of the assembly groove, and the axial height is greater than or equal to 1 / 3 of the radius of the auxiliary spherical part and less than the radius of the auxiliary spherical part.

[0060] In some embodiments, the shell is provided with a receiving cavity and a mounting hole located at the distal side of the receiving cavity; the distal bearing is received in the mounting hole; the auxiliary bearing is received in the mounting hole, and the auxiliary bearing is located at the proximal side of the distal bearing.

[0061] In some embodiments, a radial boss is provided between the mounting hole and the receiving cavity, the radial boss has a supporting surface facing away from the receiving cavity, and the auxiliary base is fixedly connected to the supporting surface.

[0062] In some embodiments, a receiving cavity for receiving the stator is provided inside the shell, and the proximal end of the rotating component is suspended in the receiving cavity; or, a movable groove is provided at the proximal end of the shell, and the movable groove has a bottom wall and a side wall, and a ball head is provided at the proximal end of the rotating component, and the ball head is rotatably mounted in the movable groove, and the ball head has a spherical crown surface, and the spherical crown surface is in sliding contact with the bottom wall and is tangent to the side wall.

[0063] In some embodiments, the rotating shaft further comprises a first shaft segment and a second shaft segment located between the first shaft segment and the connecting end; wherein the first shaft segment passes through the stator; the second shaft segment passes through the distal bearing and the auxiliary bearing. The first shaft segment has a first length, and the second shaft segment has a second length, and the second length is at least equal to 0.25 times of the first length.

[0064] In some embodiments, the distal bearing includes a distal sleeve, a distal accessory and a distal ball; wherein the distal sleeve is fixed to the distal end of the shell, and the rotating assembly is rotatably passed through the distal sleeve; the distal accessory is arranged between the distal sleeve and the auxiliary bearing, the distal accessory is axially opposite to the distal sleeve, and is fixedly connected to the rotating assembly; the distal ball is movably mounted on one of the distal sleeve and the distal accessory, and 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 ball along the axial direction.

[0065] In some embodiments, the distal bearing includes a distal sleeve, a distal accessory and a distal spherical protrusion; wherein, the distal sleeve is fixed to the distal end of the shell, and the rotating assembly is rotatably passed through the distal sleeve; the distal accessory is arranged between the distal sleeve and the auxiliary bearing, the distal accessory is axially opposite to the distal sleeve, and is fixedly connected to the rotating assembly; the distal spherical protrusion is fixed to one of the distal sleeve and the distal accessory, and 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 protrusion along the axial direction.

[0066] In some embodiments, the distal accessory and the auxiliary accessory are fixedly connected; or, the distal accessory and the auxiliary accessory are integrally formed.

[0067] The present application also provides a blood pump, which includes an impeller and a driving device as described in any one of the above embodiments, wherein the impeller is fixedly connected to a connecting end of a rotating shaft of the driving device.

[0068] In some embodiments, the blood pump further comprises a cannula assembly, wherein the cannula assembly is fixedly connected to the housing of the driving 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; and the impeller is disposed in the cannula assembly.

[0069] The above-mentioned driving device is provided with a distal bearing at the distal end of the shell, and the distal bearing includes a distal accessory, a distal sleeve and a distal ball; wherein the distal sleeve is fixed to the distal end of the shell and rotatably cooperates with the rotating shaft, the distal accessory is accommodated in the interior of the shell and is fixedly connected to the rotating assembly; the distal ball is movably mounted on one of the distal accessory and the distal sleeve, and the other of the distal accessory and the distal sleeve has an abutment wall, and the abutment wall and the spherical surface of the distal ball are axially abutted. In this way, the distal sleeve, the distal accessory and the distal ball are combined to form an axial ball bearing. During the start-stop and operation of the driving device, the axial ball bearing is kept axially abutted against the abutment wall by the distal ball, so that the rotating assembly is not prone to axial displacement, thereby reducing the risk of shaking of the driving device and improving the stability of the driving assembly. Not only can the operating efficiency of the driving device be improved, but also collision between the rotating assembly and the fixed parts at the distal end of the shell can be prevented, thereby reducing the occurrence of failures. Furthermore, the friction between the distal ball and the abutment wall in the axial ball bearing is rolling friction. Even if the distal ball and the abutment wall remain in contact with each other, the frictional resistance between the two is relatively small, so that the power consumed by the drive device to overcome the frictional resistance is reduced, thereby effectively improving the efficiency of the drive device. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 A schematic structural diagram of an embodiment of a blood pump provided in the present application.

[0071] Figure 2 for Figure 1 Schematic diagram of part of the structure of the blood pump.

[0072] Figure 3 This is a schematic structural diagram of the first embodiment of the driving device provided in this application.

[0073] Figure 4 for Figure 3 Schematic diagram of the structure of the distal part of the middle drive device.

[0074] Figure 5 for Figure 3 Schematic diagram of the structure of the proximal part of the middle drive device.

[0075] Figure 6 for Figure 4 Enlarged view of P1 in the figure.

[0076] Figure 7 for Figure 3 Schematic diagram of the internal structure of the middle drive device.

[0077] Figure 8 for Figure 3 Schematic diagram of the central shaft and the distal accessories being assembled into one piece.

[0078] Fig. 9 for Figure 8 Schematic diagram of one of the structural designs of mid-to-distal accessories.

[0079] Fig.10 for Fig. 9 Longitudinal cross-section of the mid-distal fitting.

[0080] Fig.11 for Figure 8 Top view of the mid-distal fitting with three distal balls.

[0081] Fig.12 for Figure 8 Top view of the mid-distal fitting with four distal balls.

[0082] Fig.13 for Figure 7 Schematic diagram of the structure of the mid-distal sleeve.

[0083] Fig.14 for Figure 3 Schematic diagram of the relative arrangement positions of multiple distal balls and ball heads.

[0084] Fig.15 for Figure 8 Schematic diagram of another structural design of the mid-to-distal accessories.

[0085] Fig.16 for Fig.15 Longitudinal cross-section of the mid-distal fitting.

[0086] Fig.17 This is a schematic structural diagram of the second embodiment of the driving device provided in this application.

[0087] Fig.18 for Fig.17 Schematic diagram of the central shaft and the distal accessories being assembled into one piece.

[0088] Fig.19 for Fig.18 Schematic diagram of the exploded view of the central shaft and distal accessories.

[0089] Fig. 20 This is a schematic structural diagram of the third embodiment of the driving device provided in this application.

[0090] Fig.21 This is a schematic structural diagram of the fourth embodiment of the driving device provided in the present application.

[0091] Fig. 22 for Fig.21 Schematic diagram of the structure of mid- and remote accessories.

[0092] Fig.23 for Fig. 22 Longitudinal cross-section of the mid-distal fitting.

[0093] Fig.24 for Fig.23 Schematic diagram of the mid-to-distal accessories and shaft assembly.

[0094] Fig.25 for Fig.24 Longitudinal section view of the mid-distal fitting and shaft assembly.

[0095] Fig.26 This is a schematic structural diagram of the fifth embodiment of the driving device provided in the present application.

[0096] Fig. 27 for Fig.26 Schematic diagram of the structure of the proximal part of the middle drive device.

[0097] Fig.28 for Fig. 27 Enlarged view of P2 in the figure.

[0098] Figure 29-A to Figure 29-C for Fig.26 Schematic diagram of the structure of the mid-proximal accessories.

[0099] Figure 30-A and Figure 30-B for Fig.26 Schematic diagram of the structure of the mid-proximal sleeve.

[0100] Fig.31 This is a schematic structural diagram of the sixth embodiment of the driving device provided in the present application.

[0101] Fig.32 This is a schematic structural diagram of the seventh embodiment of the driving device provided in the present application.

[0102] Fig.33 for Fig.31 Schematic diagram of the structure of the distal part of the middle drive device.

[0103] Fig.34 for Fig.31 Schematic diagram of the structure of the proximal part of the middle drive device.

[0104] Fig.35 for Fig.33 Schematic diagram of the mid- and far-end accessories and auxiliary accessories after being formed into one piece.

[0105] Fig.36 for Fig.31 Schematic diagram of the structure of the auxiliary base.

[0106] Fig.37 for Fig.36 Longitudinal cross-section of the auxiliary base.

[0107] Fig.38 This is a schematic structural diagram of the eighth embodiment of the driving device provided in the present application.

[0108] Fig.39 This is a partial structural schematic diagram of the ninth embodiment of the driving device provided in the present application.

[0109] Fig.40 This is a partial structural schematic diagram of the tenth embodiment of the driving device provided in the present application.

[0110] Fig.41 This is a partial structural schematic diagram of the eleventh embodiment of the driving device provided in the present application.

[0111] Fig.42 for Fig.41 Schematic diagram of the structure of the auxiliary base.

[0112] Fig.43 for Fig.42 Longitudinal cross-section of the auxiliary base. DETAILED DESCRIPTION

[0113] 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.

[0114] In the description of the present application, 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.

[0115] 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.

[0116] 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.

[0117] In this 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 can mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. The first feature being "above", "above" and "above" the second feature can 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 can 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.

[0118] 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 also 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 present, 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.

[0119] 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.

[0120] 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.

[0121] 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 can drive the impeller 50 to rotate to make the blood flow. The blood pump 1 also includes a cannula assembly 20, which is fixed to the housing 100 of the driving device 10; the proximal end of the cannula assembly 20 is provided with a proximal opening 20a, and the distal end of the cannula assembly 20 is provided with a distal opening 20b; the impeller 50 is arranged 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.

[0122] 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 proximal opening 20a is used as the blood inlet; and the distal opening 20b is located in the pulmonary artery, and the distal opening 20b is used as the blood outlet.

[0123] 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 proximal opening 20a is used as the blood outlet; and the distal opening 20b is located in the left ventricle, and the distal opening 20b is used as the blood inlet.

[0124] The cannula assembly 20 may include a flexible cannula 21, a proximal tube 23, and a distal tube 22. The distal tube 22 is provided with a proximal opening 20a; and the distal tube 22 connects the proximal end of the flexible cannula 21 and the distal end of the drive device 10. The proximal tube 23 is provided with a distal opening 20b, and the proximal tube 23 is connected to the distal end of the flexible cannula 21. It can be understood that the distal tube 22 is not necessary, and the proximal opening 20a can be directly provided on the flexible cannula 21. Similarly, the proximal tube 23 is also not necessary, and the distal opening 20b can also be directly provided on the flexible cannula 21.

[0125] 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.

[0126] See also Figure 1 and Figure 2 The 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 proximal 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 and prevents the non-invasive flexible member 30 from damaging the tissue.

[0127] The various embodiments of the driving device 10 in the present application are described in detail below.

[0128] Figures 3 to 13 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 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.

[0129] See also Figures 3 to 5 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.

[0130] Specifically, 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 also 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.

[0131] See also Figure 3 and Figure 7 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.

[0132] See also Figure 3 and Figure 7 The 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.

[0133] There may be only one of the first rotor 221 and the second rotor 222. Any one of the rotors 220 includes 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.

[0134] See also Figure 3 and Figure 7 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.

[0135] The connecting end 211 of the rotating shaft 210 is used to connect with the impeller 50 of the blood pump 1 to drive the impeller 50 to rotate. The end of the rotating shaft 210 away from the connecting end 211 is the mounting end 212, and the mounting end 212 is rotatably mounted in the housing 100. The rotating shaft 210 is not easy to move along the Y-direction. When the driving device 10 is started, the impeller 50 is loaded, and the impeller 50 generates an axial force F0 along the Y+ direction on the rotating assembly 200. When the impeller 50 is loaded with a large load, the axial force F0 is also large, and the axial force F0 easily causes the rotating assembly 200 to move along the Y+ direction.

[0136] In some other related technologies, a thrust ring (not shown in the figure) is usually provided on the rotating shaft 210 to reduce the axial displacement of the rotating assembly 200 by using the thrust ring. When the impeller 50 has no load or a small load, there is a gap between the thrust ring and the fixed component (such as a sleeve) located at the far end of the housing 100 in the axial direction, and the two are not in contact, and the far end of the rotating assembly 200 has no wear or little wear. When the impeller 50 is loaded and the load is large, the axial force F0 applied by the impeller 50 to the rotating assembly 200 is large, and the thrust ring moves along the Y+ direction with the rotating assembly 200 until it abuts against the fixed component, thereby blocking the rotating assembly 200 from continuing to move in the Y+ direction, thereby limiting the rotating assembly 200 from continuing to move axially.

[0137] Although the thrust ring can reduce the axial displacement of the rotating assembly 200, the thrust ring is still separated from the fixed component by a small gap in the axial direction in the initial state. Therefore, when the thrust ring is displaced in the Y+ direction to abut against the fixed component, the thrust ring collides with the fixed component. If the load of the impeller 50 increases or changes frequently, this collision will be more obvious.

[0138] For example, at the moment when the drive device 10 is started, the vibration of the rotating component 200 may move in the Y+ direction and collide with the fixed component. For another example, in some treatment plans, it is necessary to adjust the rotation speed of the shaft 210 according to the normal heart rate so that the blood pump 1 can simulate the pumping frequency of the heart to transport blood. In this case, the rotation speed of the shaft 210 is often controlled to change at a certain frequency. At this time, the axial force F0 applied to the rotating component 200 by the impeller 50 will change accordingly. The rotating component 200 will reciprocate in the Y+ direction and the Y- direction under the action of the axial force F0, which may cause the rotating component 200 to intermittently collide with the fixed component, thereby causing the drive device 10 to fail and affect the service life of the drive device 10.

[0139] Therefore, in the first embodiment of the present application, the difference from the conventional method of using a thrust ring is that: Figure 3 , Figure 4 and Figure 6The driving device 10 in this embodiment further includes 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 located outside the housing 100. The distal bearing 400 includes a distal sleeve 410, a distal accessory 420 and a distal ball 430. The distal sleeve 410 is fixed to the distal end of the housing 100, and the rotating shaft 210 is rotatably provided with the distal sleeve 410; 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, and the distal accessory 420 is fixedly connected to the rotating assembly 200; the distal ball 430 is movably mounted 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 abutting wall 402, and the abutting wall 402 and the spherical surface 401 of the distal ball 430 are axially abutted. The axial abutment means that the abutting wall 402 and the spherical surface 401 of the distal ball 430 are axially opposite to each other and abut against each other.

[0140] Specifically, one of the distal sleeve 410 and the distal fitting 420, on which the distal ball 430 is installed, has a mounting end surface opposite to the abutment wall 402. At least a portion of the distal ball 430 protrudes toward the abutment wall 402 relative to the mounting end surface, thereby abutting against the abutment wall 402. When the rotating assembly 200 has a tendency to move along the Y+ direction, the distal ball 430 of the distal bearing 400 and the abutment wall 402 remain abutted 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.

[0141] The driving device 10 is provided with a distal bearing 400 at the distal end of the housing 100, and the distal bearing 400 includes a distal fitting 420, a distal sleeve 410 and a distal ball 430; wherein the distal sleeve 410 is fixed to the distal end of the housing 100, and the rotating shaft 210 is rotatably provided with the distal sleeve 410; the distal fitting 420 is accommodated in the interior of the housing 100 and is fixedly connected to the rotating assembly 200; the distal ball 430 is movably mounted on one of the distal fitting 420 and the distal sleeve 410, and the other of the distal fitting 420 and the distal sleeve 410 has an abutting wall 402, and the abutting wall 402 and the spherical surface 401 of the distal ball 430 abut against each other in the axial direction. In this way, the distal sleeve 410, the distal fitting 420 and the distal ball 430 are combined to form an axial ball bearing. During the start-up, stop and operation of the drive device 10, the axial ball bearing maintains axial contact with the abutment wall 402 through the distal ball 430, so that the rotating assembly 200 is not prone to axial displacement, thereby reducing the risk of the drive device shaking and improving the stability of the drive assembly operation. It can not only improve the operating efficiency of the drive device, but also prevent the rotating assembly and the fixed parts at the distal end of the shell from colliding, reducing the occurrence of faults. In addition, the friction between the distal ball 430 in the axial ball bearing and the abutment wall 402 is rolling friction. Even if the distal ball and the abutment wall are kept in contact, the friction resistance between the two is small, so that the power consumed by the drive device to overcome the friction resistance is reduced, thereby effectively improving the efficiency of the drive device 10.

[0142] It is understandable that, since the distal sleeve 410 is rotatably provided on the rotating shaft 210, an axial hole for the rotating shaft 210 to pass through should be provided on the distal sleeve 410. Specifically, the distal sleeve 410 is provided with a distal axial hole 411, and the distal axial hole 411 is rotatably provided in the distal axial hole 411. In addition, the rotating shaft 210 passes through the distal axial hole 411 and has a connecting end 211 extending outward from the housing 210. The distal sleeve 410 is slidably matched with the circumference of the rotating shaft 210 through the inner circumference of the distal axial hole 411, so the distal sleeve 410 and the 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, the distal sleeve 410 of the distal bearing 400, the distal accessory 420 and the distal ball 430 can form an axial ball bearing to limit the axial movement of the rotating shaft 210; and the inner circumference of the distal sleeve 410 and the circumference of the rotating shaft 210 can also form a radial sliding bearing to limit the radial movement of the rotating shaft 210. The radial sliding bearing and the axial ball 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.

[0143] 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.

[0144] The number of the distal balls 430 can be multiple. In the present application, multiple means two or more than two. The multiple distal balls 430 are arranged around the rotating shaft 210. The multiple distal balls 430 support the rotating assembly 200 at different positions around 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.

[0145] Optionally, a plurality of distal balls 430 are arranged at intervals around the rotating shaft 210. In this way, a smaller number of distal balls 430 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 when the driving device 10 is started can be reduced, so that the rotating assembly 200 can be started smoothly.

[0146] Generally, a gap is reserved between the circumference of the rotating 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 rotating shaft 210 may have a tendency to deflect radially when rotating. However, since the plurality of distal balls 430 support the rotating assembly 200 at different positions around the rotating shaft 210, the risk of radial deflection of the rotating assembly 200 can be reduced, thereby reducing the occurrence of radial deflection.

[0147] It is understandable that even if the rotating component 200 undergoes a small radial deflection, the rotating component 200 deflects with the distal ball 430 on one side as the fulcrum, while the distal ball 430 on the other opposite side will be slightly loosened from the abutment wall 402 for a short time, thereby reducing the number of distal balls 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.

[0148] For example, when the rotating shaft 210 deflects to the right in the radial direction, the distal accessory 420 uses the distal ball 430 on the left side thereof as a fulcrum to support the deflection of the rotating shaft 210; the distal ball 430 on the right side of the distal accessory 420 will be slightly loosened from the abutting wall 402 for a short time, and at this time, only the distal ball 430 on the left side of the distal accessory 420 will remain in contact with the abutting wall 402. On the contrary, when the rotating shaft 210 deflects to the left in the radial direction, the distal accessory 420 uses the distal ball 430 on the right side thereof as a fulcrum to support the deflection of the rotating shaft 210; the distal ball 430 on the left side of the distal accessory 420 will be loosened from the abutting wall 402, and at this time, only the distal ball 430 on the right side of the distal accessory 420 will remain in contact with the abutting wall 402.

[0149] It can be seen that if the rotating component 200 undergoes a small radial deflection, the distal accessory 420 will contact the abutment wall 402 with the distal ball 430 on one side as a fulcrum, while the distal ball 430 on the other opposite side will briefly loosen slightly from the abutment wall 402, thereby reducing the number of contacts between the distal sleeve 410 and the distal ball 430, reducing the contact points between the distal accessory 420 and the distal sleeve 410, and further reducing the resistance encountered by the rotating shaft 210 during the deflection process, thereby avoiding the rotating shaft 210 from getting stuck.

[0150] Of course, in other embodiments, the plurality of distal balls 430 may also be arranged adjacent to each other in sequence around the rotating shaft 210 , that is, two adjacent distal balls 430 are in contact with each other.

[0151] It is understandable that the number of the distal ball 430 may also be one. For example, in some other embodiments, the distal bearing 400 may include only one distal ball 430; and the distal bearing 400 also includes at least one distal spherical protrusion 440 (refer to Figure 21 to Figure 22 In the embodiment shown, the distal spherical protrusion 440 and the distal ball 430 are arranged together around the rotating shaft 210 at intervals, and the distal spherical protrusion 440 and the distal ball 430 both have a spherical surface 401, and the spherical surfaces 401 of both are axially abutted against the abutment wall 402.

[0152] In this embodiment, 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 disposed between the connection end 211 and the stator 300; or, the distal bearing 400 is disposed between the connection end 211 and the rotor 220. The distal fitting 420 of the distal bearing 400 may be fixedly connected to the rotating shaft 210, or may be fixedly connected to the rotor 220.

[0153] 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 at least one of 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, and at the same time, the distal ball 430 rolls relative to the abutting wall 402.

[0154] In this embodiment, the distal sleeve 410 has an abutting wall 402; the distal fitting 420 is located between the stator 300 and the distal sleeve 410, and the distal fitting 420 has a mounting end face (i.e., a first end face 421) opposite to the abutting wall 402. The distal ball 430 is movably mounted on the distal fitting 420, and the distal ball 430 protrudes toward the abutting wall 402 (i.e., along the Y+ direction) relative to the mounting end face, and abuts against the abutting wall 402.

[0155] See also Figure 3 , Figure 4 and Fig. 9 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.

[0156] 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 of the distal sleeve 410 faces the receiving cavity 101 , and the proximal end wall of the distal sleeve 410 serves as the abutment wall 402 .

[0157] See also Figure 3 , Figures 7 to 9 The distal accessory 420 is received in the receiving cavity 101 of the housing 100. The distal end surface of the distal accessory 420 is a first end surface 421 (i.e., a mounting end surface opposite to the distal accessory 420); the distal ball 430 is movably mounted on the distal accessory 420, and protrudes toward the distal sleeve 410 relative to the first end surface 421 of the distal accessory 420 to abut against the abutting wall 402. The distal accessory 420 is fixedly connected to at least one of the rotating shaft 210 and the rotor 220.

[0158] The distal accessory 420 is set as a disc-shaped structure. 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.

[0159] 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 .

[0160] See also Figure 4 Optionally, the outer diameter of the distal accessory 420 is smaller than the outer diameter of the first rotor 221. Define the outer diameter of the distal accessory 420 as the first outer diameter D1, and the outer diameter of the first rotor 221 as the second outer diameter D2, then the first outer diameter D1 is smaller than the second outer diameter D2, that is, D1<D2. The larger the outer diameter of the rotor 220, the larger the volume of the magnet that the rotor 220 can accommodate, and the greater the magnetic force of the rotor 220. Therefore, the outer diameter of the first rotor 221 (that is, the second outer diameter D2) 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 smaller outer diameter of the distal accessory 420 can make the volume of the distal accessory 420 smaller, effectively reducing the weight and occupied space of the distal accessory 420.

[0161] 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.

[0162] See also Figure 3 , Figure 4 and Figure 6 A proximal limiting groove 102 is further provided inside the housing 100, and the proximal limiting groove 102 is located between the receiving cavity 101 and the mounting hole 103. The diameter of the proximal limiting groove 102 is smaller than the diameter of the receiving cavity 101, and the diameter of the proximal 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 proximal limiting groove 102, so as to limit the rotation of the distal accessory 420 in the proximal limiting groove 102.

[0163] 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 proximal limiting groove 102 should be larger than the outer diameter of the distal accessory 420 (i.e., the first outer diameter D1), ensuring that there is a gap between the inner circumferential wall of the proximal limiting groove 102 and the outer circumferential surface of the distal accessory 420 for the rotation of the distal accessory 420. When the rotating shaft 210 has a tendency to have a large radial deflection, the proximal limiting groove 102 can limit the deflection amplitude of the distal accessory 420, that is, limit the deflection amplitude of the rotating shaft 210, to avoid a large radial deflection of the two.

[0164] The distal end of the distal accessory 420 extends into the proximal limiting groove 102, that is, the first end face 421 of the distal accessory 420 extends into the proximal limiting groove 102. Since the diameter of the proximal limiting groove 102 is larger than the diameter of the mounting hole 103, a step surface 102a is formed between the proximal limiting 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 102a earlier than the distal ball 430 contacts the abutting wall 402, the step surface 102a will block the distal ball 430 from contacting the abutting wall 402, making it difficult for the distal ball 430 to abut against the abutting wall 402 later.

[0165] In view of the above situation, in this embodiment, when the distal ball 430 abuts against the abutting wall 402, the distal accessory 420 is axially spaced apart from the step surface 102a by a first distance L1. Specifically, the first end surface 421 of the distal accessory 420 is spaced apart from the step surface 102a by a first distance L1. The first distance L1 is greater than zero. This design can prevent the distal accessory 420 from contacting the step surface 102a earlier than the distal ball 430 contacts the abutting wall 402, ensuring that the distal ball 430 can accurately contact the abutting wall 402.

[0166] For the distal ball 430, the distal ball 430 is movably mounted on the distal accessory 420, and a portion of the distal ball 430 protrudes from the first end surface 421. In this way, a portion of the distal ball 430 is located between the first end surface 421 and the abutting wall 402 to abut against the abutting wall 402.

[0167] Specifically, the distal accessory 420 is provided with a distal mounting groove 403, and the distal mounting groove 403 has a notch 403c. The distal ball 430 is movably mounted in the distal mounting groove 403. A portion of the distal ball 430 extends outward from the notch 403c of the distal mounting groove 403, so that the distal ball 430 has an inner portion 432 accommodated inside the distal mounting groove 403, and an outer protrusion 431 extending outside the distal mounting groove 403. The spherical surface 401 located on the outer protrusion 431 abuts against the abutment wall 402.

[0168] It is understandable that the distal ball 430 is a sphere. The entire outer peripheral surface of the distal ball 430 is a spherical surface. Therefore, no matter the distal ball 430 rolls in any direction or rolls to any position, the distal ball 430 will have an outer protrusion 431 located outside the distal mounting groove 403, so that the spherical surface 401 located on the outer protrusion 431 can abut against the abutment wall 402.

[0169] In one installation method of the distal ball 430, the distal accessory 420 is provided with a plurality of distal installation slots 403, and the plurality of distal installation slots 403 are sequentially arranged at intervals around the rotating shaft 210. A distal ball 430 is correspondingly installed in each distal installation slot 403. Alternatively, in other embodiments, at least two distal balls 430 are correspondingly installed in each distal installation slot 403.

[0170] Since the multiple distal balls 430 are respectively installed in different distal installation grooves 403, the distal balls 430 in each distal installation groove 403 do not interfere with the distal balls 430 in other distal installation grooves 403. When the rotating assembly 200 rotates, the multiple distal balls 430 are driven by the rotating assembly 200 and roll in their corresponding distal installation grooves 403. Any two adjacent distal balls 430 will not squeeze each other, so that each distal ball 430 can roll freely. Therefore, the distal balls 430 in different positions can perform adaptive activities according to the size and direction of the force they are subjected to. In addition, the power of the driving device 10 when starting can be reduced, so that the rotating assembly 200 can start smoothly.

[0171] See also Fig.15 and Fig.16 In another installation method of the distal ball 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 balls 430 are arranged in the distal installation groove 403, and the plurality of distal balls 430 are arranged around the rotating shaft 210 and are adjacent to each other in sequence. Two adjacent distal balls 430 are in contact. The spherical surface 401 of the distal ball 430 is also in contact with the circumferential surface 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 circumferential surface of the rotating shaft 210 are radially opposite and spaced, and the distal balls 430 and the groove side wall 403b and the circumferential surface of the rotating shaft 210 are all tangent.

[0172] See also Figure 4 , Fig. 9 and Fig.10Regardless of which of the above installation methods is used for the distal ball 430, the outer protrusion 431 of the distal ball 430 has a contact point F1 for the abutment wall 402 to abut against. Here, the abutment point F1 is the tangent point between the spherical surface 401 of the distal ball 430 and the abutment wall 402. The distal ball 430 has an axial height H protruding outward from the notch 403c of the distal installation groove 403. f1 , the axial height H f1 It is the axial distance between the abutment point F1 and the notch 403 c , and also the axial distance between the first end surface 421 and the abutment wall 402 .

[0173] 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 The radius of the distal ball 430 is set to be greater than or equal to 1 / 3 times, that is, H f1 ≥1 / 3R, where R represents the radius of the distal ball 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.

[0174] Of course, the axial height H f1 It is also not suitable to be designed too large, otherwise it will occupy a large axial space of the housing 100 and may increase the risk of the distal ball 430 falling out of the distal mounting groove 403. Therefore, optionally, the axial height H f1 Smaller than the radius of the distal ball 430, i.e. H f1 In this way, the volume of the inner portion 432 of the distal ball 430 can account for at least half of the volume of the distal ball 430 , so that the center of the distal ball 430 will fall inside the distal mounting groove 403 , thereby reducing the risk of the distal ball 430 falling out of the distal mounting groove 403 .

[0175] See also Fig.10 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 ball 430 abuts against the groove bottom wall 403a, and the built-in portion 432 is also tangent to the groove side wall 403b.

[0176] The groove bottom wall 403a is a plane wall perpendicular to the central axis of the distal fitting 420. At this time, the distal ball 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.

[0177] The groove sidewall 403b is perpendicular to the groove bottom wall 403a. The groove sidewall 403b can be a cylindrical surface, in which case the contact between the distal ball 430 and the groove sidewall 403b is a line contact. The groove sidewall 403b can also be composed of multiple planes, in which case the contact between the distal ball 430 and the groove sidewall 403b is a point contact. In other embodiments, the groove sidewall 403b can form an inclined angle with the groove bottom wall 403a.

[0178] The position where the inner portion 432 of the distal ball 430 is tangent to the groove side wall 403b is defined as the cutting position F2. The cutting position F2 to the groove opening 403c of the distal mounting groove 403 has a cutting depth H. f2 Obviously, the cutting depth H f2 It needs to be smaller than the radius R (i.e. H f2 <R, R = 1 / 2D f ), so that a portion of the distal ball 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 ball 430 will easily fall out of the distal mounting groove 403.

[0179] Therefore, optionally, the cutting depth H f2 Greater than or equal to 1 / 2 times the radius of the distal ball 430, that is, 1 / 2R≤H f2 <R. In this way, the volume of the inner portion 432 of the distal ball 430 can be greater than or equal to half the volume of the distal ball 430. In this way, the center of the distal ball 430 will fall inside the distal mounting groove 403, thereby reducing the risk of the distal ball 430 falling out of the distal mounting groove 403.

[0180] 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 ball 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 Such an arrangement can ensure that the distal ball 430 is not easy to fall out of the distal installation groove 403 , and can also ensure that the outer protrusion 431 of the distal ball 430 has a sufficient height to abut against the abutting wall 402 .

[0181] See also Fig. 9 , Fig.11 and Fig.12, multiple distal balls 430 are arranged at intervals around the rotating shaft 210. For example, the rotating shaft 210 has an annular area 102 in the circumferential direction. The annular area 102 can be defined by an inner ring 102a and an outer ring 102b. Among them, the inner ring 102a and the outer ring 102b are virtual boundaries for defining the annular area 102, and the inner ring 102a is located between the outer ring 102b and the outer circumferential surface of the rotating shaft 210. The centers of the inner ring 102a and the outer ring 102b are located at the central axis of the rotating shaft 210. The inner ring 102a and the circumferential surface of the rotating shaft 210 are spaced apart from each other in the radial direction. Multiple distal balls 430 are arranged at intervals around the rotating shaft 210 in the annular area 102.

[0182] Optionally, multiple distal balls 430 can be arranged at equal intervals around the shaft 210 to form multiple evenly arranged fulcrums in the circumference of the shaft 210, so that the shaft 210 is installed more stably. Of course, in other embodiments, multiple distal balls 430 can also be arranged at non-equal intervals around the shaft 210.

[0183] Optionally, at least two of the distal balls 430 are located on opposite sides of the shaft 210. In this way, there can be at least one fulcrum on opposite sides of the shaft 210 (such as left and right sides or front and back sides), which can reduce the radial deflection of the shaft 210 along the left and right sides.

[0184] The number of the distal balls 430 may be 2 to 10, such as but not limited to 3, 4, 5, 8, etc.

[0185] like Fig.11 As shown, there are three distal balls 430. The three distal balls 430a-400c are arranged at equal intervals around the rotating shaft 210, and the vertical connection line between the ball centers of the three distal balls 430a-400c and the central axis of the rotating shaft 210 is in a Y shape.

[0186] like Fig.12 As shown, there are four distal balls 430. The four distal balls 430a-400d are arranged at equal intervals around the rotating shaft 210, and the vertical connection lines between the ball centers of the four distal balls 430a-400d and the central axis of the rotating shaft 210 are in a cross shape.

[0187] See also Fig.10 , the diameter D of the distal ball 430 f 0.4mm~0.7mm, that is, 0.4mm≤D f ≤0.7mm. The radius R of the distal ball 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.

[0188] The spherical surface 401 of the distal ball 430 can be set as a ceramic surface. Specifically, the entire distal ball 430 is made of ceramic material, so that the spherical surface 401 of the distal ball 430 becomes a ceramic surface. Of course, in other embodiments, the distal ball 430 can be made of hard metal material, and a layer of ceramic material is added on the spherical surface 401 of the distal ball 430 to form the ceramic surface. Ceramic materials have high processing accuracy, high biocompatibility, high mechanical strength, and good wear resistance and corrosion resistance.

[0189] See also Figure 4 and Fig.13 For the abutting wall 402 abutting against the distal ball 430, the abutting wall 402 may be provided with an annular groove, which surrounds the rotating shaft 210; a part of the distal ball 430 is accommodated in the annular groove and abuts against the annular groove.

[0190] The annular groove is not necessary. For example, the abutment wall 402 is set as a flat wall without a concave-convex structure (such as an annular groove); the abutment wall 402 is perpendicular to the central axis of the rotating shaft 210 and tangent to the distal ball 430. In this way, each distal ball 430 can be tangent to the abutment wall 402, so that the contact between the multiple distal balls 430 and the abutment 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 ball 430 can roll radially on the abutment wall 402, reducing the resistance to the movement of the distal ball 430, avoiding the rotating shaft 210 from getting stuck, and making it easier for the rotating shaft 210 to return to its original stable state.

[0191] 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 circumferential surface 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 F1 of any distal ball 430 and the distal shaft hole 411 are spaced radially. The minimum radial spacing between the abutment point F1 and the distal shaft hole 411 is defined as the second distance L2. When the rotating shaft 210 has a small radial deflection, the second distance L2 of the distal ball 430 on one side will be reduced, and the distal ball 430 on this side may contact the inner end hole edge of the distal shaft hole 411, and greater friction will occur when the two contact.

[0192] Therefore, in this embodiment, the second distance L2 is set to be greater than or equal to 0.2 mm, that is, L2 ≥ 0.2 mm. In this way, when the rotating shaft 210 has a small radial deflection, the possibility of the distal ball 430 contacting the inner hole edge of the distal shaft hole 411 can be reduced, thereby reducing the wear of the distal ball 430. As for the maximum value of the second distance L2, there is no limitation, and it can be designed accordingly according to the diameter of the distal shaft sleeve 410.

[0193] The surface of the abutment wall 402 in contact with the distal ball 430 is set as a ceramic surface. For example, 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. For another example, the distal sleeve 410 is made of metal material, and a layer of ceramic material is added on the surface of the distal sleeve 410 to form the ceramic surface.

[0194] Figures 17 to 19 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 distal accessory 420 and the rotating shaft 210 are formed separately. The distal accessory 420 has a connecting hole 422; the rotating shaft 210 passes through the connecting hole 422, and the inner wall surface of the connecting hole 422 is connected and fixed to the circumferential surface of the rotating shaft 210. The distal accessory 420 can be connected and fixed to the rotating shaft 210 by bonding, welding, etc. In this way, the distal accessory 420 and the rotating shaft 210 can be manufactured and formed separately, without adjusting the molding mold of the rotating shaft 210, thereby reducing the complexity of manufacturing the rotating shaft 210.

[0195] Optionally, a mounting platform 214 is further provided on the circumference of the rotating shaft 210. The mounting platform 214 is located on the side of the distal accessory 420 that is opposite to the distal shaft sleeve 410. The mounting platform 214 has a distal mounting surface 214a, and the distal accessory 420 is fixedly connected to the distal mounting surface 214a. The mounting platform 214 is a disc-shaped structure, and the distal mounting surface 214a is a plane on the distal side of the mounting platform 214. In other embodiments, the mounting platform 214 can also be composed of a plurality of mounting arms arranged at intervals. By using the mounting platform 214 to support and fix the distal accessory 420, the firmness of the installation of the distal accessory 420 can be further improved.

[0196] Compared with the distal accessory 420, the mounting platform 214 does not need to be provided with a slot-like structure for mounting the distal ball 430, so the structure of the mounting platform 214 is simpler than that of the distal accessory 420 and is easier to be integrally formed with the rotating shaft 210. Therefore, the mounting platform 214 can be integrally formed with the rotating shaft 210, so that the verticality of the mounting platform 214 to the rotating shaft 210 can be higher, ensuring that the distal mounting surface 214a is perpendicular to the central axis of the rotating shaft 210. When the proximal surface of the distal accessory 420 is flat with the distal mounting surface 214a of the mounting platform 214, the central axis of the distal accessory 420 can be made to coincide with the central axis of the rotating shaft 210, and there is no need to repeatedly calibrate the central axes of the two during the assembly process.

[0197] See also Figures 17 to 19 Furthermore, the mounting platform 214 also has a proximal mounting surface 214b, and the proximal mounting surface 214b is opposite to the distal mounting surface 214a. The first rotor 221 is fixedly connected to the proximal mounting surface 214b. In this way, one mounting platform 214 can carry both the first rotor 221 and the distal accessory 420, which can reduce the number of mounting structures on the rotating shaft 210. The mounting platform 214 is used to support and fix the first rotor 221, which can further improve the firmness of the installation of the first rotor 221.

[0198] The proximal mounting surface 214b is a plane on the proximal side of the mounting platform 214 and is parallel to the distal mounting surface 214a. In other words, the proximal mounting surface 214b and the distal mounting surface 214a are both perpendicular to the central axis of the rotating shaft 210. When the distal end surface of the first rotor 221 is flush with the proximal mounting surface 214b of the mounting platform 214, the central axis of the first rotor 221 can be made to coincide with the central axis of the rotating shaft 210, and there is no need to repeatedly calibrate the central axes of the two during the assembly process.

[0199] The outer diameter of the mounting platform 214 is set to be equal to the outer diameter of the distal fitting 420 (i.e., the aforementioned first outer diameter D1). In this way, the volume of the mounting platform 214 can be reduced, the space occupied by the mounting platform 214 can be reduced, and the volume of the driving device 10 can be reduced. Of course, in some other embodiments, the outer diameter of the mounting platform 214 can be set to be larger than the outer diameter of the distal fitting 420 and smaller than the outer diameter of the first rotor 221. Alternatively, without considering the volume of the mounting platform 214, the outer diameter of the mounting platform 214 can also be set to be equal to the outer diameter of the first rotor 221 (i.e., the aforementioned second outer diameter).

[0200] Fig. 20The third embodiment of the driving device 10 of the present application is shown. The driving device 10 in the third embodiment is different from the driving device 10 in the first embodiment in that the distal ball 430 is movably mounted on the distal sleeve 410; the distal accessory 420 has an abutment wall 402, and the abutment wall 402 and the spherical surface 401 of the distal ball 430 abut against each other. Specifically, the distal sleeve 410 has a mounting end face opposite to the abutment wall 402; the distal ball 430 is movably mounted on the distal sleeve 410, and protrudes toward the abutment wall 402 (i.e., along the Y-direction) relative to the mounting end face of the distal sleeve 410, and abuts against the abutment wall 402.

[0201] See also Fig. 20 The distal sleeve 410 is also fixed in the mounting hole 103 of the housing 100 . The distal accessory 420 is also received in the receiving cavity 101 of the housing 100 , and the distal wall of the distal accessory 420 faces the distal sleeve 410 , so that the distal wall of the distal accessory 420 forms the abutment wall 402 .

[0202] Correspondingly, the distal shaft sleeve 410 is provided with a plurality of distal mounting grooves 403, and the plurality of distal mounting grooves 403 surround the outer circumference of the distal shaft hole 411. At least one distal ball 430 is arranged in each distal mounting groove 403, and a portion of the distal ball 430 extends from the notch of the distal mounting groove 403 to abut against the abutment wall 402 on the distal accessory 420. The shape and structure of the distal mounting groove 403 can be implemented with reference to the aforementioned first embodiment, and can also obtain substantially the same technical effect, which will not be described in detail here.

[0203] Similarly, the structure, position and fixing method of the distal accessory 420 and the distal sleeve 410 can be implemented with reference to the aforementioned first embodiment, and can also obtain basically the same technical effects, which will not be described in detail here.

[0204] Figure 21 to Figure 25The fourth embodiment of the driving device 10 of the present application is shown. In the fourth embodiment, the driving device 10 includes a housing 100, a rotating assembly 200, a stator 300 and a distal bearing 400. The rotating assembly 200 is rotatably mounted on the housing 100, the rotating assembly 200 is fixedly connected to the distal accessory 420, and the rotating assembly 200 includes a rotating shaft 210 and a rotor 220 fixedly connected to the rotating shaft 210; the stator 300 is fixedly connected to the housing 100 and can drive the rotor 220 to rotate. The distal bearing 400 includes a distal sleeve 410, a distal accessory 420 and a distal spherical protrusion 440; the distal sleeve 410 is fixed to the distal end of the housing 100, and the shaft 210 is rotatably provided with the distal sleeve 410; the distal accessory 420 is accommodated in the interior of the housing 100 and is fixedly connected to the shaft 210; the distal spherical protrusion 440 is fixed to 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 and the spherical surface 401 of the distal spherical protrusion 440 are axially opposed. The axial abutment means that the abutment wall 402 and the spherical surface 401 of the distal spherical protrusion 440 are opposite to each other in the axial direction and abut against each other. That is to say, the driving device 10 in the fourth embodiment adopts the distal spherical protrusion 440 to replace the distal ball 430 in the first to third embodiments.

[0205] Specifically, one of the distal sleeve 410 and the distal accessory 420, on which the distal spherical protrusion 440 is provided, has a mounting end surface opposite to the abutting wall 402. The distal spherical protrusion 440 is fixed on the mounting end surface and protrudes toward the abutting wall 402, thereby abutting against the abutting wall 402. It can be understood that the distal spherical protrusion 440 is at least a part of a sphere, so the distal spherical protrusion 440 has a spherical surface 401. When the rotating assembly 200 has a tendency to move along the Y+ direction, the distal spherical protrusion 440 of the distal bearing 400 and the abutting wall 402 remain abutted 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.

[0206] 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 distal spherical protrusion 440; wherein, the distal sleeve 410 is fixed to the distal end of the shell 100 and is rotatably matched with the rotating shaft 210, and the distal accessory 420 is accommodated in the interior of the shell 100 and is fixedly connected to the rotating component 200; the distal spherical protrusion 440 is fixed to 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 surface 401 of the distal spherical protrusion 440 abut against each other along the axial direction. In this way, during the start-up, stop and operation of the drive device 10, the distal spherical protrusion 440 of the distal bearing 400 and the abutment wall 402 are kept in axial contact, so that the rotating assembly 200 is not easy to be displaced axially, thereby preventing the rotating assembly 200 and the fixed parts at the distal end of the housing 100 from colliding, reducing the risk of failure of the drive device 10 and extending the service life. On the other hand, the contact area between the spherical surface 401 of the distal spherical protrusion 440 and the abutment wall 402 is small. When the shaft 210 rotates normally, the friction between the spherical surface 401 of the distal spherical protrusion 440 and the abutment wall 402 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 and thereby improve the efficiency of the drive device 10.

[0207] In addition, if the rotating shaft 210 undergoes radial deflection, the spherical surface 401 of the distal spherical protrusion 440 in the distal bearing 400 will roll radially relative to the abutment wall 402, so that the distal sleeve 410, the distal accessory 420 and the distal spherical protrusion 440 are combined to form an axial bearing. At this time, the friction between the distal spherical protrusion 440 and the abutment wall 402 is similar to rolling friction, and the friction resistance is small, which is more conducive to reducing the power loss of the drive device 10, thereby improving the efficiency of the drive device 10.

[0208] It is understandable that, since the distal sleeve 410 is rotatably provided on the rotating shaft 210, an axial hole for the rotating shaft 210 to pass through should be provided on the distal sleeve 410. Specifically, the distal sleeve 410 is provided with a distal axial hole 411, and the distal axial hole 411 is rotatably provided in the distal axial hole 411. In addition, the rotating shaft 210 passes through the distal axial hole 411 and has a connecting end 211 extending outward from the housing 210. The distal sleeve 410 is slidably matched with the outer circumference of the rotating shaft 210 through the inner circumference of the distal axial hole 411, so the distal 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, the distal bearing 400 can form an axial bearing through the combination of the distal sleeve 410, the distal accessory 420 and the distal spherical protrusion 440 to limit the axial movement of the rotating shaft 210; and the inner circumferential surface of the distal sleeve 410 and the circumferential surface of the rotating shaft 210 can form a radial sliding bearing 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.

[0209] 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.

[0210] The number of the distal spherical protrusions 440 can be multiple. Multiple means two or more than two. Multiple distal spherical protrusions 440 are arranged around the rotating shaft 210. Multiple distal spherical protrusions 440 jointly support the rotating assembly 200 from different directions, which can reduce the radial deflection of the rotating assembly 200 and improve the stability of the operation of the rotating assembly 200.

[0211] Optionally, a plurality of distal spherical protrusions 440 are arranged at intervals around the rotating shaft 210. In this way, a smaller number of distal spherical protrusions 440 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 when the driving device 10 is started can be reduced, so that the rotating assembly 200 can be started smoothly.

[0212] For example, 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 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 rotating shaft 210 may have a tendency to deflect radially when rotating. However, since the multiple distal spherical protrusions 440 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.

[0213] 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 protrusion 440 on one side as a fulcrum, while the distal spherical protrusion 440 on the other opposite side will be temporarily loosened from the abutment wall 402, thereby reducing the number of distal spherical protrusions 440 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.

[0214] Of course, in other embodiments, a plurality of distal spherical protrusions 440 may also be arranged adjacent to each other in sequence around the rotation axis 210 .

[0215] The number of the distal spherical protrusion 440 may also be one. For example, in some other embodiments, the distal bearing 400 includes only one distal spherical protrusion 440; the distal bearing 400 also includes at least one distal ball 430 (refer to the distal ball 430 of the first to third embodiments above), the distal ball 430 and the one distal spherical protrusion 440 are arranged together around the rotating shaft 210, the distal ball 430 and the distal spherical protrusion 440 both have a spherical surface 401, and the spherical surfaces 401 of the distal spherical protrusions 440 of both are axially abutted against the abutment wall 402 on the distal sleeve 410.

[0216] In this embodiment, 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 disposed between the connection end 211 and the stator 300; or, the distal bearing 400 is disposed between the connection end 211 and the rotor 220. The distal fitting 420 of the distal bearing 400 may be fixedly connected to the rotating shaft 210, or may be fixedly connected to the rotor 220.

[0217] Specifically, the distal bearing 400 is disposed between the connecting 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 protrusion 440 can slide relative to the abutting wall 402.

[0218] In this embodiment, the distal spherical protrusion 440 of the distal bearing 400 is fixed to the distal accessory 420 ; the distal sleeve 410 has an abutting wall 402 , and the abutting wall 402 and the distal spherical protrusion 440 on the distal accessory 420 abut against each other.

[0219] Since the distal spherical protrusion 440 is fixed to the distal accessory 420, there is no need to set the distal mounting groove 403 such as in the first embodiment on the distal accessory 420. Specifically, the distal spherical protrusion 440 is fixed to the first end surface 421 of the distal accessory 420. 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 are not described one by one here. For example, the housing 100 is also provided with a mounting hole 103 arranged axially with the receiving cavity 101. The distal sleeve 410 is fixed in the mounting hole 103, and the distal accessory 420 is received in the receiving cavity 101 of the housing 100. The shell 100 is also provided with a proximal limiting groove 102 between the accommodating cavity 101 and the mounting hole 103, and a step surface 102a is provided between the proximal limiting groove 102 and the mounting hole 103; the distal end of the distal accessory 420 extends into the proximal limiting groove 102 and is spaced from the step surface 102a by a first distance L1.

[0220] It is understandable that the distal spherical protrusion 440 has at least a part of a sphere, so that a spherical surface is formed on the outer peripheral surface of the distal spherical protrusion 440. For example, the distal spherical protrusion 440 can be a hemisphere, that is, 1 / 2 of a sphere. In addition, the distal spherical protrusion 440 can also be 1 / 3 or 1 / 4 of a sphere. The distal spherical protrusion 440 can be directly fixed to the first end surface 421, and the connection between the spherical surface 401 of the distal spherical protrusion 440 and the first end surface 421 is connected in an arc-shaped transition.

[0221] Of course, in some other embodiments, the distal spherical protrusion 440 can also be fixed to the first end surface 421 through a section of a cylinder. Specifically, the cylinder is in an upright shape, the bottom end of the cylinder is fixed to the end surface of the distal accessory 420 (i.e., the first end surface 421), and the top end of the cylinder is connected to the distal spherical protrusion 440. The diameter of the cylinder is equal to the diameter of the sphere where the distal spherical protrusion 440 is located. It should be noted that the length of the cylinder should be as small as possible to avoid occupying too much axial space.

[0222] As for the size, position and arrangement of the plurality of distal spherical protrusions 440, they can be implemented with reference to the outer protrusion 432 of the distal ball 430 in the first to third embodiments, and can also achieve substantially the same technical effects. For example:

[0223] The distal spherical protrusion 440 is spaced apart from the circumference of the rotating shaft 210 by a distance in the radial direction.

[0224] The spherical surface 401 of the distal spherical protrusion 440 is a ceramic surface.

[0225] The diameter of the sphere where the distal spherical protrusion 440 is located is 0.4 mm to 0.7 mm.

[0226] The height of the distal spherical protrusion 440 protruding from the end surface (ie, the first end surface 421 ) of the distal accessory 420 is 0.1 mm to 0.2 mm.

[0227] A plurality of distal spherical protrusions 440 are arranged at equal intervals around the rotating shaft 210 .

[0228] At least two of the distal spherical protrusions 440 are located on opposite sides of the rotating shaft 210 .

[0229] A plurality of distal spherical protrusions 440 are arranged at intervals around the rotating shaft 210. For example, the rotating shaft 210 has an annular area 102 (such as Fig.11 and Fig.12 The annular region 102 shown in FIG. 1 ). The annular region 102 may be defined by an inner ring 102a and an outer ring 102b. The inner ring 102a and the outer ring 102b are virtual boundaries for defining the annular region 102, and the inner ring 102a is located between the outer ring 102b and the outer circumference of the rotating shaft 210. The centers of the inner ring 102a and the outer ring 102b are located at the central axis of the rotating shaft 210. The inner ring 102a and the circumference of the rotating shaft 210 are spaced apart from each other in the radial direction. A plurality of distal spherical protrusions 440 are spaced apart in the annular region 102 around the rotating shaft 210.

[0230] Optionally, the plurality of distal spherical protrusions 440 may be arranged at equal intervals around the shaft 210 to form a plurality of evenly arranged fulcrums in the circumference of the shaft 210, so that the shaft 210 is installed more stably. Of course, in other embodiments, the plurality of distal balls 430 may also be arranged at unequal intervals around the shaft 210.

[0231] Optionally, at least two of the distal spherical protrusions 440 are located on opposite sides of the shaft 210. In this way, there can be at least one fulcrum on opposite sides (such as left and right sides or front and back sides) of the shaft 210, which can reduce the radial deflection of the shaft 210 between the opposite sides.

[0232] The number of the distal spherical protrusions 440 may be 2 to 10, such as but not limited to 3, 4, 5, 8, etc.

[0233] like Fig.11 As shown, the number of the distal spherical protrusions 440 is 3. The three distal spherical protrusions 440 are arranged at equal intervals around the rotating shaft 210, and the vertical connection line between the spherical centers of the three distal spherical protrusions 440 and the central axis of the rotating shaft 210 is in a Y shape.

[0234] like Fig.12 As shown, there are four distal spherical protrusions 440. The four distal spherical protrusions 440 are arranged at equal intervals around the rotating shaft 210, and the vertical connection line between the spherical centers of the four distal spherical protrusions 440 and the central axis of the rotating shaft 210 is in a cross shape.

[0235] See also Fig.10 , the diameter D of the sphere where the distal spherical protrusion 440 is located f For example, the diameter of the sphere where the distal spherical protrusion 440 is located can be, but is not limited to, 0.45 mm, 0.5 mm, 0.55 mm, 0.6 mm, 0.65 mm, or 0.7 mm.

[0236] The spherical surface 401 of the distal spherical protrusion 440 can be set as a ceramic surface. Specifically, the entire distal spherical protrusion 440 is made of ceramic material, so that the spherical surface 401 of the distal spherical protrusion 440 becomes a ceramic surface. Of course, in other embodiments, the distal spherical protrusion 440 can be made of hard metal material, and a layer of ceramic material is added to the spherical surface 401 of the distal spherical protrusion 440, so that the spherical surface 401 forms the ceramic surface. Ceramic materials have high processing accuracy, high biocompatibility, high mechanical strength, and good wear resistance and corrosion resistance.

[0237] For the abutting wall 402 abutting against the distal spherical protrusion 440 , the abutting wall 402 may be provided with an annular groove (not shown) surrounding the rotating shaft 210 , and a portion of the distal spherical protrusion 440 is received in the annular groove.

[0238] Of course, the annular groove is not necessary. In the present embodiment, the abutment wall 402 is set as a flat wall without a concave-convex structure, the abutment wall 402 is perpendicular to the central axis of the rotating shaft 210, and the abutment wall 402 is tangent to the distal spherical protrusion 440. In this way, each distal spherical protrusion 440 can be tangent to the abutment wall 402, so that the contact between the multiple distal spherical protrusions 440 and the abutment 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 protrusion 440 will be able to slide radially on the abutment wall 402, reducing the resistance to the movement of the distal spherical protrusion 440, 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.

[0239] 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 circumferential surface 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 F1 of any distal spherical protrusion 440 and the distal shaft hole 411 are spaced radially. The minimum radial spacing between the abutment point F1 and the distal shaft hole 411 is the second distance L2. When the rotating shaft 210 has a small radial deflection, the second distance L2 of the distal spherical protrusion 440 on one side will be reduced, and the distal spherical protrusion 440 may contact the inner end hole edge of the distal shaft hole 411, and a large friction will occur when the two contact.

[0240] Therefore, in this embodiment, the second distance L2 is set to be greater than or equal to 0.2 mm, that is, L2 ≥ 0.2 mm. In this way, when the shaft 210 has a small radial deflection, the possibility of the distal spherical protrusion 440 contacting the inner hole edge of the distal shaft hole 411 can be reduced, thereby reducing the wear of the distal spherical protrusion 440. As for the maximum value of the second distance L2, there is no limitation, and it can be designed accordingly according to the diameter of the distal shaft sleeve 410.

[0241] The surface of the abutment wall 402 in contact with the distal spherical protrusion 440 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 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 to the abutment wall 402 of the distal sleeve 410, so that the abutment wall 402 forms the ceramic surface.

[0242] Of course, in other embodiments, the distal spherical protrusion 440 can be fixed to the proximal end surface of the distal sleeve 410; the distal end surface of the distal accessory 420 is the abutment wall 402, and the abutment wall 402 and the spherical surface 401 of the distal spherical protrusion 440 abut against each other.

[0243] In the first to fourth embodiments, the end of the rotating shaft 210 away from the connecting end 211 is the mounting end 212, and the mounting end 212 is rotatably mounted on the proximal end of the housing 100. Optionally, the proximal end of the housing 100 is provided with a movable groove 150; the mounting end 212 is provided with a ball head 213, and the ball head 213 is rotatably mounted on the movable groove 150. The ball head 213 has a spherical crown surface 213a, and the spherical crown surface 213a is in sliding contact with the inner wall of the movable groove 150. Figures 3 to 8 The structure shown is taken as an example for introduction.

[0244] See also Figures 3 to 5 , the ball head 213 abuts against the inner wall of the movable groove 150, which can limit the movement of the rotating shaft 210 along the Y-direction; the distal fitting 420 of the distal bearing 400 abuts against the distal ball 430 and the distal sleeve 410, which can limit the movement of the rotating shaft 210 along the Y+ direction, so that the entire axial movement of the rotating shaft 210 is limited, and the rotating shaft 210 is not easy to move axially. When the rotating shaft 210 deflects radially, the ball head 213 can roll in the movable groove 150, thereby reducing the resistance of the rotating shaft 210 in the movable groove 150. Of course, in other embodiments, the mounting end 212 of the rotating shaft 210 can also abut against the proximal end surface of the receiving cavity 101 of the shell 100 to limit the movement of the rotating shaft 210 along the Y-direction.

[0245] See also Figures 3 to 5 The movable groove 150 has a bottom wall 151 and a side wall 152. The spherical crown surface 213a of the ball head 213 is in sliding contact with the bottom wall 151 and is also tangent to the side wall 152. The spherical crown surface 213a of the ball head 213 is in sliding contact with the bottom wall 151, which can limit the movement of the rotating shaft 210 along the Y-direction; the spherical crown surface 213a of the ball head 213 is also tangent to the side wall 152, which can reduce the resistance of the rotating shaft 210 to radial swing and avoid jamming when the rotating shaft 210 is radially swinging.

[0246] The side wall 152 of the movable groove 150 is set as a cylindrical surface. In this case, the contact between the spherical crown surface 213a of the ball head 213 and the side wall 152 can be regarded as a line contact. Of course, in other embodiments, the side wall 152 can also be composed of at least three planes. In this case, the contact between the spherical crown surface 213a of the ball head 213 and the side wall 152 can be regarded as a point contact.

[0247] The bottom wall 151 of the movable groove 150 is a flat wall perpendicular to the central axis 11 of the housing 100. In this way, the spherical crown surface 213a of the ball head 213 can be tangent to the bottom wall 151, and the tangent point between the spherical crown surface 213a and the bottom wall 151 is the abutment position.

[0248] It is understandable that when the shaft 210 deflects radially, if the resistances at the two ends of the shaft 210 differ greatly, the two ends of the shaft 210 will swing at different angles, and the middle of the shaft 210 will be easily bent and broken. In the present application, when the shaft 210 deflects slightly to the right, the ball head 213 of the shaft 210 rolls in the movable groove 150 in the clockwise direction; the end of the shaft 210 away from the ball head 213 swings with the distal ball 430 on the left side of the distal accessory 420 as the fulcrum, and during this process, the distal ball 430 on the left side can also roll in the same direction; and vice versa.

[0249] To sum up, when the rotating shaft 210 has a small radial deflection, some distal balls 430 of the distal accessory 420 can roll synchronously with the ball head 213, and the contact positions are all point contacts, so that the two ends of the rotating shaft 210 can swing synchronously through approximately the same angle, which can prevent the middle part of the rotating shaft 210 from being subjected to a large bending force, and prevent the rotating shaft 210 from being bent and broken.

[0250] Of course, the movable groove 150 may also have other shapes. For example, in other embodiments, the movable groove 150 may be a spherical groove, so that the inner wall surface of the movable groove 150 is a spherical groove wall. The diameter of the sphere where the spherical crown surface 213a of the ball head 213 is located may be less than or equal to the diameter of the sphere where the spherical groove wall is located.

[0251] See also Figures 3 to 5 The center of the ball head 213 is located on the central axis of the rotating shaft 210. The diameter of the ball head 213 is greater than or equal to the diameter of the rotating shaft 210, which can ensure that the ball head 213 has greater strength, so that the ball head 213 can stably support the rotating shaft 210, and the ball head 213 is not easy to break from the rotating shaft 210, thereby improving the stability of the ball head 213 installed in the movable groove 150.

[0252] See also Figures 3 to 5 , relative to the ball head 213, a plurality of distal balls 430 (or Figure 21 to Figure 25 The multiple distal spherical protrusions 440 in the illustrated embodiment jointly support the rotating shaft 210, so the diameter of each distal ball 430 can be set to be smaller than the diameter of the ball head 213, so that the volume of the distal ball 430 is smaller, thereby reducing the volume of the entire distal accessory 420.

[0253] See also Figures 3 to 5 , multiple distal balls 430 (or Figure 21 to Figure 25The annular area 102 where the multiple distal spherical protrusions 440 in the illustrated embodiment are located is defined by the inner ring 102a and the outer ring 102b, and the centers of the inner ring 102a and the outer ring 102b and the center of the ball head 213 are all located on the central axis of the shaft 210. The minimum radial distance from the multiple distal balls 430 to the central axis of the shaft 210 (i.e., the diameter of the inner ring 102a) is greater than or equal to 1.5 times the radius of the ball head 213. In this way, the multiple distal balls 430 and the ball head 213 can be arranged approximately on the conical tower configuration M (see Fig.14 ); wherein, a plurality of distal balls 430 are located at the bottom circumference of the conical tower configuration M, and the ball head 213 is located at the top of the conical tower configuration M. This arrangement position can make the rotating shaft 210 more stable, less prone to radial deflection, and reduce the occurrence of radial deflection of the rotating shaft 210.

[0254] Of course, the minimum radial distance may also be smaller than 2.5 times the radius of the ball head 213 to prevent the diameter of the distal bearing 400 from being too large and to prevent the distal bearing 400 from occupying a large radial space.

[0255] In the first to fourth embodiments described above, the driving device 10 further includes a fixed sleeve 160, which is disposed at the proximal end of the housing 100. The fixed sleeve 160 is connected and fixed to the housing 100, and the fixed sleeve 160 is provided with the above-mentioned movable groove 150. Optionally, the housing 100 further includes a fixed pin 140; the fixed pin 140 is fixed to the proximal end of the housing 100. The fixed pin 140 is provided with a fixed groove 141, and the fixed sleeve 160 is installed in the fixed groove 141.

[0256] Figure 26 to Figure 30-B The fifth embodiment of the driving device 10 of the present application is shown. The difference from any of the first to fourth embodiments is that the mounting end 212 of the rotating shaft 210 of the driving device 10 of the fifth embodiment is not provided with a ball head 213, and the driving device 10 includes a proximal bearing 500, which is arranged at the proximal end of the housing 100, and the stator 300 is located between the proximal bearing 500 and the distal bearing 400. The mounting end 212 of the rotating shaft 210 is mounted on the proximal bearing 500. It can also be understood that the proximal bearing 500 is used to replace the above-mentioned fixed sleeve 160.

[0257] See also Figure 26 to Figure 28The proximal bearing 500 includes a proximal sleeve 510, a proximal accessory 520 and a proximal ball 530. 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 can be 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. The axial abutment means that the matching wall 502 and the spherical surface 501 of the proximal ball 530 are axially opposite and abut each other.

[0258] Specifically, one of the proximal sleeve 510 and the proximal fitting 520, on which the proximal ball 530 is installed, has a mounting end surface opposite to the abutment wall 402. At least a portion of the distal ball 430 protrudes toward the matching wall 502 relative to the mounting end surface, thereby abutting against the matching wall 502. When the rotating assembly 200 has a tendency to move in the Y-direction, the proximal ball 530 of the proximal bearing 500 and the matching wall 502 remain abutted against each other, so that the rotating assembly 200 cannot move in the Y-direction, reducing the risk of axial displacement of the rotating assembly 200.

[0259] 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, the proximal accessory 520 is axially opposite to the proximal sleeve 510, 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 is axially abutted against the spherical surface 501 of the proximal ball 530. 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, reducing the risk of failure of the drive device 10 and extending the service life. In addition, when the rotating assembly 200 is working, the proximal ball 530 of the axial ball bearing can be driven by the rotating assembly 200 to roll, and the friction between the proximal ball 530 and the matching wall 502 is rolling friction, 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 driving device 10 to overcome the resistance, and improves the working efficiency of the driving device 10.

[0260] 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.

[0261] 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.

[0262] Typically, the distal end of the housing 100 (specifically, the distal sleeve 410) is provided with a distal shaft hole 411, and the rotating shaft 210 of the rotating assembly 200 passes through the distal shaft hole 411, and a gap is reserved between the rotating 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 rotating 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 at different positions around the central axis 11 of the rotating assembly 200, the risk of radial deflection of the rotating assembly 200 can be reduced, thereby reducing the occurrence of radial deflection.

[0263] In addition, in combination with the aforementioned distal bearing 400, the multiple distal balls 430 (or the distal spherical protrusions 440) of the distal bearing 400 form multiple supporting points on the distal outer periphery of the rotating shaft 210, and the multiple proximal balls 530 of the proximal bearing 500 form multiple supporting points on the proximal outer circumference 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 balls 430 (or the distal spherical protrusions 440) 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 moves radially) without deflection, thereby reducing the occurrence of stuck and jammed situations of the rotating shaft 210.

[0264] 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 temporarily loosened from the mating wall 502, thereby reducing the number of proximal balls 530 in contact with the mating wall 502, and also 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.

[0265] 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 at least one fixed proximal spherical protrusion (not shown in the figure, and the specific design can be referred to the aforementioned distal spherical protrusion 440), the proximal spherical protrusion and the proximal ball 530 are arranged together around the rotating shaft 210, and the proximal spherical protrusion 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 of the proximal accessory 520.

[0266] Specifically in the fifth embodiment, the proximal fitting 520 of the proximal bearing 500 has a matching wall 502; the proximal sleeve 510 has a mounting end face (i.e., a second end face 511) opposite to the matching wall 502. The proximal ball 530 is movably mounted on the proximal sleeve 510, and the proximal ball 530 protrudes toward the matching wall 502 (i.e., along the Y+ direction) relative to the mounting end face, and abuts against the matching wall 502.

[0267] Specifically, the housing 100 further includes a fixing pin 140, which is fixed to the proximal end of the housing 100. The fixing pin 140 is provided with a fixing groove 141, in which the proximal end sleeve 510 is installed.

[0268] See also Fig. 27 and Figure 29-A to Figure 29-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 of the proximal fitting 520 facing the proximal sleeve 510 is a matching wall 502, which is located at the distal side of the proximal ball 530 and abuts against the proximal ball 530.

[0269] 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. Accordingly, a plurality of proximal balls 530 are arranged around the rotating column 522.

[0270] 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.

[0271] 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.

[0272] 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 movable groove, it is necessary to keep a high coaxiality between the rotating shaft 210 and the movable groove so that the ball head of the rotating shaft 210 can be smoothly installed in the movable groove. That is to say, the rotating shaft 210 of the driving device 10 in the conventional technology is assembled by the ball head and the movable groove, which has a high requirement on the coaxiality of the rotating shaft 210 and the movable groove, which increases the manufacturing difficulty of the driving device 10.

[0273] 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.

[0274] Of course, the rotating column 522 is not necessary. In other embodiments, the rotating shaft 210 can pass through 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, a plurality of proximal balls 530 are arranged around the rotating shaft 210 at intervals.

[0275] See also Fig. 27 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.

[0276] 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.

[0277] See also Fig. 27 and Figure 30-A and Figure 30-B 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.

[0278] 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.

[0279] See also Fig. 27 and Figure 30-A and Figure 30-B The proximal sleeve 510 is provided with a proximal mounting groove 503, and the proximal mounting groove 503 has a notch 503c, and a proximal ball 530 is correspondingly installed in the proximal mounting groove 503. A part 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.

[0280] It is understandable that the proximal ball 530 is a sphere. The entire outer peripheral wall 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, and the spherical surface 501 located on the outer protrusion 531 can be against the matching wall 502.

[0281] In this embodiment, 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 rotating shaft. At least one proximal ball 530 is correspondingly 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, and the proximal balls 530 in any two adjacent proximal mounting grooves 503 will not squeeze and pile 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 their respective forces. In addition, the power of the driving device 10 when starting can also be reduced, so that the rotating assembly 200 can start smoothly.

[0282] 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.

[0283] See also Fig.28 and Figure 30-A and Figure 30-B The protruding portion 531 of the proximal ball 530 has a contact point N1 for the matching wall 502 to abut against. The axial distance between the contact point N1 and the notch 503c is also the axial height H of the proximal ball 530 protruding outward from the notch 503c of the proximal 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.

[0284] 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.

[0285] Of course, the axial height H n1It is also not suitable to be designed 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 may fall off from 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 .

[0286] See also Fig.28 and Figure 30-A and Figure 30-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.

[0287] The groove bottom wall 503a is a flat 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.

[0288] 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.

[0289] The position where the inner portion 532 of the proximal ball 530 is tangent to the groove side wall 503b is defined as the cutting position N2. The cutting position N2 has a cutting depth H from the groove opening 503c of 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.

[0290] Therefore, optionally, the cutting depth H n2Greater 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 half of 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.

[0291] 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. Further, the cutting depth H n2 Also greater than the axial height H n1 , so 1 / 3R≤H n1 <H n2 This arrangement can ensure that the proximal ball 530 is not easy to fall out of the proximal mounting groove 503 , and can also ensure that the outer protrusion 531 of the proximal ball 530 has a sufficient height to abut against the matching wall 502 .

[0292] See also Fig.28 and Figure 30-A and Figure 30-B , multiple proximal balls 530 are arranged along an annular area on the outer periphery of the rotating column 522. Multiple proximal balls 530 can be arranged at equal intervals in the annular area, or at unequal intervals. Optionally, at least two of the proximal balls 530 are located on opposite sides of the rotating shaft 210. In this way, there can be at least one fulcrum on each of the opposite sides of the rotating column 522 (such as the left and right sides or the front and back sides), which can reduce the radial deflection of the rotating column 522 along the left and right sides.

[0293] The number of the proximal balls 530 may be 2 to 10, such as but not limited to 3, 4, 5, 8, etc.

[0294] When the number of the proximal balls 530 is three, the three proximal balls 530 are arranged at equal intervals around the central axis of the rotating assembly 200 (specifically, around the rotating column 522 or the rotating shaft 210), and the vertical connection line between the ball centers of the three proximal balls 530 and the central axis of the rotating assembly 200 is in a Y shape. The three proximal balls 530 have a good positioning effect on the rotating assembly 200, and the power used to start the rotating assembly 200 is very small, so the rotating assembly 200 starts more smoothly.

[0295] When the number of the proximal balls 530 is 4, the 4 proximal balls 530 are arranged at equal intervals around the central axis of the rotating assembly 200 (specifically, around the rotating column 522 or the rotating shaft 210), and the vertical connecting lines between the centers of the 4 proximal balls 530 and the central axis of the rotating shaft 210 are in a cross shape.

[0296] 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.

[0297] The outer peripheral surface (i.e., spherical surface 401) of the proximal ball 530 can be set as a ceramic surface. Specifically, the entire proximal ball 530 is made of ceramic material, so that the spherical surface 401 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 401 of the proximal ball 530, so that the spherical surface 401 forms the ceramic surface. Ceramic materials have high processing accuracy, high biocompatibility, high mechanical strength, and good wear resistance and corrosion resistance.

[0298] See also Fig.28 and Figure 30-A and Figure 30-B For the matching wall 502 that abuts against the proximal ball 530, the matching wall 502 may be provided with an annular groove 504, and the annular groove 504 surrounds the central axis of the rotating assembly 200. A portion of the proximal ball 530 is received in the annular groove 504 and abuts against the bottom wall of the annular groove 504.

[0299] Specifically, since the rotating column 522 and the rotating assembly 200 are coaxial, the annular groove 504 surrounds the rotating column 522. The portions of the plurality of proximal balls 530 protruding from the proximal sleeve 510 (i.e., the outer protrusions 531) are accommodated in 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.

[0300] See also Fig. 27 and Fig.28 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.

[0301] 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.

[0302] 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.

[0303] The annular groove 504 is not necessary. In other embodiments, the matching wall 502 is configured as a flat wall without a concave-convex structure (such as the annular groove 504), and 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 configuration, 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 rotating shaft 210 from getting stuck, and making it easier for the rotating shaft 210 to return to its original stable state.

[0304] The surface where the mating wall 502 and the proximal ball 530 contact can also be set as a ceramic surface. Specifically, the entire proximal accessory 520 is made of ceramic material, so that the mating wall 502 becomes a ceramic surface accordingly. Of course, in other embodiments, the proximal accessory 520 can be made of hard metal material, and a layer of ceramic material is added on the surface of the mating wall 502 of the proximal accessory 520 to form the ceramic surface.

[0305] See also Fig. 27 and Fig.28 Since the proximal ball 530 is installed in the proximal installation groove 503, and a part of the proximal ball 530 extends from the notch 503c of the proximal installation groove 503, in order to prevent the proximal ball 530 from falling out of the proximal installation groove 503. In this embodiment, 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 facing away from the proximal accessory 520; the proximal bearing 500 also includes a stopper 523, which is arranged on the outer peripheral surface of the rotating column 522, and the stopper 523 can be against the proximal sleeve 510.

[0306] 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 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 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, thereby reducing the difficulty of installing the proximal bearing 500 and improving the assembly efficiency.

[0307] In addition, when the rotating shaft 210 is offset along the Y+ direction, the limiting surface 523a 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.

[0308] 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 convex column protruding radially on the outer peripheral surface of the rotating column 522.

[0309] See also Fig. 27 and Fig.28 A sink 142 is provided at the bottom of the fixed groove 141, and the sink 142 is 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.

[0310] 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.

[0311] Fig.31The sixth embodiment of the driving device 10 of the present application is shown. The driving device 10 in the sixth embodiment is different from the driving device 10 in the fifth 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 abut against each other. Specifically, the proximal fitting 520 has a mounting end face opposite to the matching wall 502; the proximal ball 530 is movably mounted on the proximal fitting 520, and the proximal ball 530 protrudes toward the matching wall 502 (i.e., along the Y-direction) relative to the mounting end face, and abuts against the matching wall 502.

[0312] 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 are arranged at intervals around the rotating column 522. At least one proximal ball 530 is arranged in each proximal mounting groove 503, and a portion of the proximal ball 530 extends from the notch of the proximal mounting groove 503 to abut against the abutment wall 402 on the proximal fitting 520. 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.

[0313] 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 accessory 520, so that the distal wall of the proximal sleeve 510 forms a matching wall 502. Similarly, the structure, position and fixing method of the distal sleeve 410 and the distal accessory 420 can be implemented with reference to the first embodiment described above, and can also obtain basically the same technical effects, which will not be described in detail here. For example, the proximal accessory 520 is provided with a rotating column 522 and a socket 521 such as those in the fifth embodiment described above; the proximal end (i.e., the mounting end 212) of the rotating shaft 210 is fixed in the socket 521; the rotating column 522 is rotatably matched with the proximal shaft hole 512 provided on the proximal sleeve 510. The structure, position and matching method of the rotating column 522, the socket 521 and the proximal shaft hole 512 can be implemented with reference to the first embodiment described above, which will not be described in detail here.

[0314] Figure 32 to Figure 37 FIG. 7 shows a seventh embodiment of the driving device 10 of the present application. Fig.32 and Fig.33The driving device 10 includes a housing 100, a rotating assembly 200, a stator 300, a distal bearing 400 and an auxiliary bearing 600. The rotating assembly 200 is rotatably mounted on the housing 100; the stator 300 is fixedly connected to the housing 100 and can drive the rotor 220 to rotate. The distal bearing 400 is arranged at the distal end of the housing 100 and is adjacent to the connecting end 211 of the rotating assembly 200; the auxiliary bearing 600 is located between the distal bearing 400 and the stator 300; the rotating assembly 200 is penetrated by the distal bearing 400 and the auxiliary bearing 600, so that the auxiliary bearing 600 and the distal bearing 400 can jointly support the rotation of the rotating assembly 200.

[0315] When the rotating assembly 200 rotates, the connecting end 211 of the rotating assembly 200 outputs torque to the impeller 50, so the portion of the rotating assembly 200 adjacent to the connecting end 211 is more likely to have radial runout. Therefore, in the seventh embodiment of the present application, by adding an auxiliary bearing 600 between the distal bearing 400 and the stator 300, the auxiliary bearing 600 and the distal bearing 400 are used to jointly support the rotation of the rotating assembly 200, so that the strength of supporting the rotating assembly 200 can be improved, thereby reducing the risk of radial runout of the rotating assembly 200, improving the stability of the operation of the rotating assembly 200, and further improving the operating efficiency of the driving device 10.

[0316] In this embodiment, the structures of the housing 100, the rotating assembly 200, and the stator 300 can be implemented with reference to any of the above embodiments. The distal bearing 400 can be a distal bearing 400 with a distal ball 430 as listed in any of the first to third embodiments, or a distal bearing 400 with a distal spherical protrusion 440 as listed in any of the fourth to sixth embodiments. Specifically, the distal bearing 400 is a distal bearing 400 with a distal ball 430, and details are given in the first to third embodiments, which will not be repeated here.

[0317] As described above, the distal bearing 400 can limit the movement of the rotating assembly 200 from the proximal end to the distal end of the housing 100 (i.e., the Y+ direction). In some embodiments (such as the first to sixth embodiments described above), the proximal end (i.e., the mounting end 212) of the rotating assembly 200 can be mounted on a support component located at the proximal end of the housing 100, and the support component can be a fixed sleeve 160 (see Figure 3 ) or proximal bearing 500 (see Fig.26 ), the support component can limit the movement of the rotating assembly 200 along the direction from the distal end to the proximal end of the shell 100 (ie, the Y-direction), so that the support component and the distal bearing 400 cooperate to keep the rotating assembly 200 axially stable.

[0318] It is considered that when manufacturing or assembling the drive device 10, it is necessary to require the support component and the distal bearing 400 to maintain a high degree of coaxiality (that is, the central axis of the support component and the central axis of the distal bearing 400 are on the same straight line), so that the two ends of the rotating assembly 200 can be accurately connected to the support component and the distal bearing 400 respectively during assembly. In addition, the axial distance between the support component and the distal bearing 400 is relatively far, and they are separated by the stator 300. In this way, during manufacturing, the precision requirements for the structure and installation of the support component and the distal bearing 400 are increased, and there may be certain manufacturing difficulties; in the subsequent assembly process, it is also not easy to calibrate the coaxiality of the support component and the distal bearing 400, which may lead to greater manufacturing difficulty of the drive device 10, resulting in reduced manufacturing efficiency of the drive device 10.

[0319] See also Figure 32 to Figure 34 In view of the above situation, in this embodiment, the auxiliary bearing 600 is configured to at least limit the movement of the rotating assembly 200 in the direction from the distal end to the proximal end of the housing 100 (i.e., the Y-direction). When the rotating assembly 200 has a tendency to move in the Y+ direction, the distal ball 430 (or the distal spherical protrusion 440) of the distal bearing 400 and the abutment wall 402 abut against each other in the axial direction, thereby limiting the movement of the rotating assembly 200 in the Y+ direction, so that the rotating assembly 200 is not easily displaced in the Y+ direction. When the rotating assembly 200 has a tendency to move in the Y-direction, the auxiliary bearing 600 limits the movement of the rotating shaft 210 in the Y-direction, so that the rotating assembly 200 is not easily displaced in the Y-direction.

[0320] It can be seen that the movement of the rotating assembly 200 along the Y+ and Y- directions can be limited by the cooperation between the auxiliary bearing 600 and the distal bearing 400, so that the rotating assembly 200 cannot easily undergo axial displacement. In this way, the proximal end of the rotating assembly 200 does not need to be mounted on any supporting component (such as a sleeve or a bearing), so the supporting component can be removed, so that the proximal end of the rotating assembly 200 can be suspended inside the housing 100 (see Fig.32 and Fig.34 ). When manufacturing or assembling the drive device 10, there is no need to consider the coaxiality of the support component and the distal bearing 400.

[0321] Furthermore, since the auxiliary bearing 600 is located between the distal bearing 400 and the stator 300, the auxiliary bearing 600 is closer to the distal bearing 400, so that the axial distance between the auxiliary bearing 600 and the distal bearing 400 is smaller, and both are located on the same side of the stator 300 and are not separated by the stator 300. During manufacturing and assembly, it is easier to adjust the coaxiality of the auxiliary bearing 600 and the distal bearing 400, thereby reducing the coaxiality requirements of the auxiliary bearing 600 and the distal bearing 400, thereby effectively improving the manufacturing efficiency of the drive device 10.

[0322] As for the auxiliary bearing 600, the auxiliary bearing 600 may adopt the same or similar structure as the distal bearing 400. As long as the auxiliary bearing 600 can limit the movement of the rotating assembly 200 along the Y-direction (ie, along the direction from the distal bearing 400 to the stator 300), it will be sufficient.

[0323] See also Fig.32 and Fig.33 In this embodiment, the auxiliary bearing 600 includes an auxiliary base 610, an auxiliary accessory 620 and an auxiliary spherical member 630. The auxiliary base 610 is fixedly connected to the housing 100, and the rotating assembly 200 is rotatably provided with the auxiliary base 610; the auxiliary accessory 620 is located between the auxiliary base 610 and the distal bearing 400, and the auxiliary accessory 620 is fixedly connected to the rotating assembly 200; the auxiliary spherical member 630 is arranged on one of the auxiliary base 610 and the auxiliary accessory 620, and the other of the auxiliary base 610 and the auxiliary accessory 620 has a limiting wall 602, and the limiting wall 602 and the spherical surface 601 of the auxiliary spherical member 630 are axially opposed. The axial abutment means that the limiting wall 602 and the spherical surface 601 of the auxiliary spherical member 630 are opposite to each other in the axial direction and abut against each other.

[0324] Specifically, one of the auxiliary base 610 and the auxiliary accessory 620 provided with the auxiliary spherical member 630 has a mounting end surface opposite to the limiting wall 602. At least a portion of the auxiliary spherical member 630 protrudes toward the limiting wall 602 relative to the mounting end surface, thereby abutting against the limiting wall 602.

[0325] When the rotating assembly 200 has a tendency to move in the Y-direction, the auxiliary bearing 600 can limit the movement of the rotating shaft 210 in the Y-direction by axially abutting against the limiting wall 602 through the auxiliary spherical piece 630, so that the rotating assembly 200 is not easily displaced in the Y-direction. During the start-up and operation of the drive device 10, the auxiliary bearing 600 maintains axial abutment against the limiting wall 602 through the auxiliary spherical piece 630, so that the rotating assembly 200 is not easily displaced in the axial direction, thereby preventing the rotating assembly 200 from colliding with the fixed parts at the far end of the housing 100, reducing the risk of failure of the drive device 10 and extending the service life. On the other hand, the friction between the auxiliary spherical piece 630 and the limiting wall 602 in the axial ball bearing is rolling friction, and the friction resistance is small, which can improve the efficiency of the drive device 10.

[0326] Furthermore, the inner wall surface of the distal shaft hole 411 of the distal shaft sleeve of the distal bearing 400 cooperates with the circumference of the rotating shaft 210 to form a radial sliding bearing, which is recorded as the first radial sliding bearing. The rotating shaft 210 can rotatably penetrate the auxiliary base 610 of the auxiliary bearing 600, so the auxiliary base 610 should be provided with an auxiliary shaft hole 612 for the rotating shaft 210 to pass through, and the inner wall surface of the auxiliary shaft hole 612 cooperates with the circumference of the rotating shaft 210 to also form a radial sliding bearing, which is recorded as the second radial sliding bearing. Obviously, the first radial sliding bearing and the second radial sliding bearing are adjacent and arranged side by side along the axial direction, so that the length of the supporting rotating shaft 210 can be effectively increased, and the rotating shaft 210 can be better positioned, so as to more effectively limit the radial movement of the rotating shaft 210, so that the rotating shaft 210 is difficult to deflect radially, and the rotation stability of the rotating shaft 210 is improved.

[0327] See also Fig.32 and Fig.33 In this embodiment, the rotor 220 includes a first rotor 221, and the first rotor 221 is located between the distal bearing 400 and the stator 300. The auxiliary bearing 600 is specifically arranged between the distal bearing 400 and the first rotor 221. The auxiliary base 610 of the auxiliary bearing 600 is fixedly connected to the distal end of the housing 100; the auxiliary accessory 620 of the auxiliary bearing 600 is fixedly connected to the rotating shaft 210. When the stator 300 drives the rotor 220 to rotate, the rotor 220 drives the rotating shaft 210 to rotate, and the auxiliary accessory 620 rotates with the rotating shaft 210, so that the auxiliary accessory 620 rotates relative to the auxiliary base 610; at the same time, the auxiliary spherical member 630 moves relative to the limiting wall 602.

[0328] In this embodiment, the auxiliary accessory 620 has a limiting wall 602, and the auxiliary base 610 has a mounting end surface opposite to the limiting wall 602. The auxiliary spherical member 630 is disposed on the auxiliary base 610, and the auxiliary spherical member 630 protrudes toward the limiting wall 602 relative to the mounting end surface of the auxiliary base 610, and abuts against the limiting wall 602.

[0329] Of course, in other embodiments, the auxiliary base 610 may have a limiting wall 602, and the auxiliary accessory 620 may have a mounting end surface opposite to the limiting wall 602. The auxiliary spherical member 630 is disposed on the auxiliary accessory 620, and the auxiliary spherical member 630 protrudes toward the limiting wall 602 relative to the mounting end surface and abuts against the limiting wall 602.

[0330] See also Fig.32 and Fig.33 For the auxiliary base 610, the auxiliary base 610 can be an independent component, and can be connected and fixed to the shell 100 by bonding, welding, etc. Of course, in other embodiments, the auxiliary base 610 can be a component integrally formed with the shell 100. The auxiliary base 610 is set to a cylindrical shape. Of course, in other embodiments, the auxiliary base 610 can also have other shapes. The proximal end of the auxiliary base 610 faces the accommodating cavity 101, and the proximal end wall of the auxiliary base 610 serves as the limiting wall 602.

[0331] Optionally, the housing 100 is provided with a mounting hole 103 at the distal end, 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 auxiliary base 610 is installed in the mounting hole 103. Specifically, the auxiliary base 610 and the distal sleeve 410 are both received in the mounting hole 103, and the auxiliary base 610 and the distal sleeve 410 are both fixedly connected to the housing 100. Specifically, the auxiliary base 610 and the distal sleeve 410 can be fixedly connected to the inner circumferential surface of the mounting hole 103.

[0332] A radial boss 104 is provided between the mounting hole 103 and the receiving cavity 101. The radial boss 104 has a supporting surface 104a facing away from the receiving cavity 101. The auxiliary base 610 is fixedly connected to the supporting surface 104a. The supporting surface 104a can support the auxiliary base 610 and share the axial force along the Y-direction with the auxiliary base 610, thereby improving the firmness of the installation of the auxiliary base 610.

[0333] The radial boss 104 protrudes radially inward relative to the inner circumference of the mounting hole 103. The radial boss 104 may be an annular boss extending along the inner circumference of the mounting hole 103; or may be composed of at least two bosses arranged at intervals along the inner circumference of the mounting hole 103.

[0334] The auxiliary accessory 620 is received in the mounting hole 103 of the housing 100. The auxiliary accessory 620 is located between the auxiliary base 610 and the distal accessory 420. The auxiliary accessory 620 is fixedly connected to the rotating shaft 210, and a gap is provided between the outer circumference of the auxiliary accessory 620 and the inner circumference of the mounting hole 103, and the gap allows the auxiliary accessory 620 to rotate in the mounting hole 103. Similarly, a gap is provided between the outer circumference of the distal accessory 420 and the inner circumference of the mounting hole 103, and the gap allows the distal accessory 420 to rotate in the mounting hole 103.

[0335] The auxiliary accessory 620 is set as a disc-shaped structure. The auxiliary accessory 620 can be integrally formed with the rotating shaft 210, which can improve the firmness of the connection between the auxiliary accessory 620 and the rotating shaft 210 and reduce the processing steps. Of course, in other embodiments, the auxiliary accessory 620 can be an independent component, that is, the auxiliary accessory 620 and the rotating shaft 210 are separately formed, and the auxiliary accessory 620 can be connected and fixed to the rotating shaft 210 by welding or bonding.

[0336] In this embodiment, the auxiliary accessory 620 and the distal accessory 420 are two independent parts. The auxiliary accessory 620 and the distal accessory 420 are respectively fixed to the rotating shaft 210. The auxiliary accessory 620 and the distal accessory 420 are arranged along the axial direction. The distal end face of the auxiliary accessory 620 is fixed to the proximal end face of the distal accessory 420. In this way, the firmness of the installation of both the auxiliary accessory 620 and the distal accessory 420 can be improved. In addition, the auxiliary accessory 620 and the distal accessory 420 are fixed, which is equivalent to the auxiliary bearing 600 and the distal bearing 400 being against each other in the axial direction, which can effectively prevent the rotating component 200 from moving in the axial direction.

[0337] Of course, in other embodiments, the auxiliary accessory 620 and the distal accessory 420 may also be integrally formed into one component. Fig.35 The driving device 10 has a rotating disk 700, which is fixedly connected to the rotating shaft 210. The rotating disk 700 is located between the distal sleeve 410 and the auxiliary base 610. The rotating disk 700 has a distal part and a proximal part; wherein the distal part of the rotating disk 700 serves as the distal accessory 420; and the proximal part of the rotating disk 700 serves as the auxiliary accessory 620.

[0338] See also Fig.33 and Fig.36As for the auxiliary spherical member 630, it can be understood that the auxiliary spherical member 630 can be a complete sphere or a part of a sphere. It is only necessary to form a spherical surface 601 with an appropriate area on the auxiliary spherical member 630. There can be multiple auxiliary spherical members 630, and multiple auxiliary spherical members 630 are arranged around the rotating shaft 210. Multiple auxiliary spherical members 630 jointly support the rotating assembly 200 from different directions around 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.

[0339] Optionally, a plurality of auxiliary spherical members 630 are arranged at intervals around the rotating shaft 210. In this way, a smaller number of auxiliary spherical members 630 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.

[0340] Of course, in other embodiments, the plurality of auxiliary spherical members 630 may also be arranged around the rotating shaft 210 and adjacent to each other in sequence, that is, two adjacent auxiliary spherical members 630 are in contact.

[0341] The plurality of auxiliary spherical members 630 may all be movable balls. Alternatively, in other embodiments, the plurality of auxiliary spherical members 630 may all be fixed spherical protrusions. Of course, in other embodiments, among the plurality of auxiliary spherical members 630, a portion of the auxiliary spherical members 630 may be movable balls, and another portion of the auxiliary spherical members 630 may be fixed spherical protrusions. In this embodiment, the plurality of auxiliary spherical members 630 may all be balls.

[0342] In this embodiment, the plurality of auxiliary spherical members 630 are all balls. Thus, the auxiliary bearing formed by the auxiliary base 610, the auxiliary accessory 620 and the auxiliary spherical member 630 is an axial ball bearing. The friction between the auxiliary spherical member 630 and the limiting wall 602 in the axial ball bearing is rolling friction, and the friction resistance is small, which can improve the efficiency of the driving device 10.

[0343] The auxiliary base 610 should be provided with an auxiliary shaft hole 612; the rotating shaft 210 can rotatably pass through the auxiliary shaft hole 612. The auxiliary base 610 slides with the outer surface of the rotating shaft 210 through the inner circumference of the auxiliary shaft hole 612, so the auxiliary base 610 and the outer surface 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. In other words, the auxiliary bearing 600 can form an axial ball bearing through the combination of the auxiliary base 610, the auxiliary accessory 620 and the auxiliary spherical part 630 to limit the axial movement of the rotating shaft 210; and the inner circumference of the auxiliary shaft hole 612 of the auxiliary base 610 and the outer circumference of the rotating shaft 210 are combined to form a radial sliding bearing to limit the radial movement of the rotating shaft 210. The axial ball bearing and the radial sliding bearing cooperate with each other to enable the rotating shaft 210 to 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 between the rotating shaft 210 and the housing 100 and other components, and effectively reducing the risk of failure of the driving device 10.

[0344] 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.

[0345] See also Fig.33 , Fig.36 and Fig.37 The auxiliary spherical component 630 can be movably mounted on the auxiliary base 610, and a portion of the auxiliary spherical component 630 protrudes from the distal end surface of the auxiliary base 610, so that a portion of the auxiliary spherical component 630 is located between the distal end surface of the auxiliary base 610 and the limiting wall 602 to abut against the limiting wall 602.

[0346] In order to facilitate the installation of the auxiliary spherical member 630, a mounting groove 603 is provided on the auxiliary base 610, and the mounting groove 603 has a notch 603c. The auxiliary spherical member 630 can be movably installed in the mounting groove 603; and a part of the auxiliary spherical member 630 extends outward from the notch 603c of the mounting groove 603, so that the auxiliary spherical member 630 has an inner portion 632 accommodated in the inner side of the mounting groove 603, and an outer protrusion 631 extending outward from the mounting groove 603. Among them, the spherical surface 601 located on the outer protrusion 631 abuts against the limiting wall 602.

[0347] It is understandable that the auxiliary spherical member 630 is a sphere. The entire outer peripheral surface of the auxiliary spherical member 630 is a spherical surface 601. Therefore, no matter the auxiliary spherical member 630 rolls in any direction or rolls to any position, the auxiliary spherical member 630 will have an outer protrusion 631 located outside the assembly groove 603, and the spherical surface 601 located on the outer protrusion 631 is used to abut against the limiting wall 602.

[0348] Optionally, the auxiliary accessory 620 is provided with a plurality of assembly grooves 603, and at least one auxiliary spherical member 630 is installed in each assembly groove 603. Since the plurality of auxiliary spherical members 630 are respectively installed in different assembly grooves 603, the auxiliary spherical members 630 in the assembly groove 603 do not interfere with the auxiliary spherical members 630 in other assembly grooves 603. When the driving device 10 is started, the starting power of the driving device 10 is small, and the rotation assembly 200 starts and runs more smoothly.

[0349] In addition, when the rotating assembly 200 rotates, the plurality of auxiliary spherical members 630 are driven by the rotating assembly 200 to roll in their corresponding assembly slots 603, and the auxiliary spherical members 630 in any adjacent assembly slots 603 will not push each other, so that each auxiliary spherical member 630 can roll freely. Therefore, the auxiliary spherical members 630 at different positions can perform adaptive activities according to the magnitude and direction of the force they are subjected to.

[0350] Continue to see Fig.33 , Fig.36 and Fig.37 The outer protrusion 631 of the auxiliary spherical member 630 has a contact point S1 for the limiting wall 602 to abut against. Here, the contact point S1 of the auxiliary spherical member 630 is tangent to the limiting wall 602. The auxiliary spherical member 630 has an axial height H protruding outward from the notch 603c of the assembly groove 603. s1 , the axial height H s1 It is the axial distance between the abutment point S1 and the notch 603 c , and also the axial distance between the distal end surface 611 and the limiting wall 602 .

[0351] If the axial height H s1 If the axial height H is too small, the distance between the distal end face 611 and the limiting wall 602 is small, and the two are easy to contact each other, and when the shaft 210 rotates, wear or collision will occur between the distal end face 611 and the limiting wall 602. s1 is set to be greater than or equal to 1 / 3 of the radius of the auxiliary spherical member 630. Therefore, H s1 ≥1 / 3R; wherein R represents the radius of the auxiliary spherical member 630; R=1 / 2D s , D sIndicates the diameter of the auxiliary spherical member 630. In this way, after the outer protrusion 631 abuts against the limiting wall 602, there is a sufficient distance between the distal end surface 611 and the limiting wall 602, so that the two are not easily contacted and interfered, and wear or collision between the two is avoided, thereby improving the stability of the rotation of the shaft 210.

[0352] Of course, the axial height H s1 It is also not suitable to design it too large, otherwise it will occupy a large axial space of the housing 100 and increase the risk of the auxiliary spherical member 630 falling out of the assembly groove 603. Therefore, optionally, the axial height H s1 is smaller than the radius of the auxiliary spherical member 630, that is, H s1 In this way, the volume of the inner portion 632 of the auxiliary spherical member 630 can account for at least half of the volume of the auxiliary spherical member 630 , so that the center of the auxiliary spherical member 630 will fall inside the assembly groove 603 , thereby reducing the risk of the auxiliary spherical member 630 falling out of the assembly groove 603 .

[0353] Continue to see Fig.33 , Fig.36 and Fig.37 The assembly groove 603 has a groove bottom wall 603a and a groove side wall 603b arranged along the circumference of the groove bottom wall 603a; the built-in portion 632 of the auxiliary spherical component 630 abuts against the groove bottom wall 603a, and the built-in portion 632 of the auxiliary spherical component 630 is also tangent to the groove side wall 603b.

[0354] The groove bottom wall 603a is a plane wall perpendicular to the central axis of the auxiliary accessory 620. At this time, the auxiliary spherical member 630 is tangent to the groove bottom wall 603a, and the tangent position is the abutment position. In other embodiments, the groove bottom wall 603a can be a spherical wall.

[0355] The groove side wall 603b is perpendicular to the groove bottom wall 603a. The groove side wall 603b can be a cylindrical surface, in which case the contact between the auxiliary spherical member 630 and the groove side wall 603b is a line contact. The groove side wall 603b can also be composed of multiple planes, in which case the contact between the auxiliary spherical member 630 and the groove side wall 603b is a point contact. In other embodiments, the groove side wall 603b can form an inclined angle with the groove bottom wall 603a.

[0356] The position where the inner portion 632 of the auxiliary spherical member 630 is tangent to the groove side wall 603b is defined as the cutting position S2. The cutting position S2 has a cutting depth H from the groove opening 603c of the assembly groove 603. S2 Obviously, the cutting depth H s2 It needs to be smaller than the radius R (ie H s2<R), so that a part of the auxiliary spherical member 630 protrudes outward from the notch 603c of the assembly groove 603 to form an outer protrusion 631. However, the cutting depth H s2 It should not be too small, otherwise the auxiliary spherical member 630 will easily fall out of the assembly groove 603.

[0357] Therefore, optionally, the cutting depth H s2 Greater than or equal to 1 / 2 times the radius of the auxiliary spherical member 630, that is, 1 / 2R≤H s2 <R. In this way, the volume of the inner portion 632 of the auxiliary spherical member 630 can be greater than or equal to half the volume of the auxiliary spherical member 630. In this way, the center of the auxiliary spherical member 630 will fall inside the assembly groove 603, thereby reducing the risk of the auxiliary spherical member 630 falling out of the assembly groove 603.

[0358] It can be understood that the cutting depth H s2 and axial height H s1 The sum is equal to the radius R of the auxiliary spherical member 630, that is, H s1 +H s2 = R. Further, the cutting depth H s2 Also greater than the axial height H s1 , so 1 / 3R≤H s1 <H s2 This arrangement can ensure that the auxiliary spherical member 630 is not easy to fall out of the assembly groove 603 , and can also ensure that the outer protrusion 631 of the auxiliary spherical member 630 has a sufficient height to abut against the limiting wall 602 .

[0359] See also Fig.33 , Fig.36 and Fig.37 , multiple auxiliary spherical parts 630 are arranged around the rotating shaft 210, which can be arranged at equal intervals or at non-equal intervals. There is an annular area around the rotating shaft 210, and the annular area 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, 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 auxiliary spherical parts 630 are all arranged in the annular area.

[0360] The plurality of auxiliary spherical members 630 may be arranged at equal intervals in the annular region, or at unequal intervals. Optionally, at least two of the auxiliary spherical members 630 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 the radial deflection of the rotating shaft 210 along the left and right sides.

[0361] The number of the auxiliary spherical members 630 may be 2 to 10, such as but not limited to 3, 5, 6, 8, etc.

[0362] See also Fig.11 , the diameter D of the auxiliary spherical member 630 s 0.4mm~0.7mm, that is, 0.4mm≤D s ≤0.7mm. The radius R of the auxiliary spherical member 630 is D s 1 / 2 times. For example, diameter D s The value can be but is not limited to 0.45mm, 0.5mm, 0.55mm, 0.6mm, 0.65mm, and 0.7mm.

[0363] Optionally, the diameter D of the auxiliary spherical member 630 is s and the diameter D of the distal ball 430 f In this way, the auxiliary spherical member 630 and the distal ball 430 can be mass-produced using the same casting mold. During assembly, the auxiliary spherical member 630 and the distal ball 430 can be used in place of each other to avoid the problem of mixed assembly and mismatch.

[0364] The outer surface of the auxiliary spherical member 630 can be set as a ceramic surface. Specifically, the auxiliary spherical member 630 is made of ceramic material as a whole, so that the outer surface of the auxiliary spherical member 630 becomes a ceramic surface. Of course, in other embodiments, the auxiliary spherical member 630 can be made of hard metal material, and a layer of ceramic material is added to the outer surface of the auxiliary spherical member 630 to form the ceramic surface. Ceramic materials have high processing accuracy, high biocompatibility, high mechanical strength, and good wear resistance and corrosion resistance.

[0365] See also Figure 4 and Fig.14 , for the limiting wall 602 that abuts against the auxiliary spherical member 630, the limiting wall 602 can be set as a flat wall without a concave-convex structure. The limiting wall 602 is perpendicular to the central axis of the rotating shaft 210, so that the limiting wall 602 is tangent to the auxiliary spherical member 630. In this way, during the rotation of the rotating assembly 200, the auxiliary spherical member 630 can maintain a stable contact and relative rolling with the limiting wall 602. In this way, each auxiliary spherical member 630 is tangent to the limiting wall 602, so that the contact between multiple auxiliary spherical members 630 and the limiting wall 602 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 auxiliary spherical member 630 can roll radially on the limiting wall 602, reducing the resistance to the movement of the auxiliary spherical member 630, 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.

[0366] The limiting wall 602 can also be set as a ceramic surface. Specifically, the auxiliary base 610 is made of ceramic material as a whole, so that the limiting wall 602 of the auxiliary base 610 becomes a ceramic surface accordingly. Of course, in other embodiments, the auxiliary base 610 can be made of hard metal material, and a layer of ceramic material is added on the surface of the auxiliary base 610 to form the ceramic surface.

[0367] Of course, in other embodiments, the limiting wall 602 may also be provided with an annular groove (such as the aforementioned annular groove 504 ), so that a portion of the auxiliary spherical member 630 is accommodated in the annular groove.

[0368] It can be understood that the distal bearing 400 is a distal bearing 400 with a distal ball 430 such as listed in any one of the first to third embodiments above, or a distal bearing 400 with a distal spherical protrusion 440 such as listed in any one of the fourth to sixth embodiments above.

[0369] See also Fig.33 It is understandable that the rotating shaft 210 is rotatably inserted into the distal shaft hole 411 of the distal shaft sleeve 410, so there is inevitably a gap 404 between the inner circumference of the distal shaft hole 411 and the circumference of the rotating shaft 210, and the gap 404 is small and narrow. In some related technologies, in order to prevent blood from penetrating into the housing 100 through the gap 404 to form a thrombus, it is usually necessary to provide a flushing channel inside the housing 100, the flushing channel is connected to the gap 404, and a flushing liquid is injected into the flushing channel so that the flushing liquid is discharged outward through the gap 404 to prevent blood from entering the housing 100 to form a thrombus.

[0370] In this embodiment, there is a gap 405 inside the distal bearing 400, and the gap 405 can be the gap between the distal sleeve 410 and the distal accessory 420, and the gap between the distal mounting groove 403 and the distal ball 430. These gaps 405 are connected with the pores 404. Therefore, anti-blood gel (not shown in the figure) can be filled into the distal bearing 400 from the pores 404, so that the anti-blood gel can enter the gap 405 inside the distal bearing 400 from the pores 404, so that the anti-blood gel fills the gap 405 and the pores 404. More anti-blood gel can be filled with these gaps 405 and pores 404. The anti-blood gel can prevent blood from entering the housing 100 and prevent blood from forming thrombus there. In this way, there is no need to set a flushing channel inside the housing 100, and the drive device 10 does not need to be connected to the flushing system. The blood pump 1 can cancel the flushing system and simplify the structure of the blood pump 1. It can be understood that the anti-blood gel does not affect the rotation of the rotating component 200 .

[0371] Similarly, there is a gap 604 inside the auxiliary bearing 600, which can be the gap between the auxiliary base 610 and the auxiliary accessory 620, the gap between the distal mounting groove 403 and the distal ball 430, and the gap between the inner circumference of the auxiliary shaft hole 612 and the circumference of the rotating shaft 210. These gaps 604 are connected to the gap 405 inside the distal bearing 400. Optionally, the auxiliary bearing 600 is also filled with anti-blood gel, so that the anti-blood gel fills the gap 604 of the auxiliary bearing 600. In this way, the amount of anti-blood gel can be further increased to enhance the anti-thrombotic effect.

[0372] See also Figure 32 to Figure 34 As described above, the proximal end of the rotating assembly 200 is suspended in the receiving cavity 101 inside the housing 100. In other words, the proximal end of the rotating assembly 200 is not connected to supporting components such as a sleeve or a bearing. The end surface of the proximal end of the rotating assembly 200 and the proximal end surface of the receiving cavity 101 are spaced apart by a distance K1 in the axial direction; the peripheral surface of the proximal end of the rotating assembly 200 and the inner peripheral surface of the receiving cavity 101 are also spaced apart by a distance K2 in the radial direction; K1>0, K2>0.

[0373] Specifically, the proximal end of the rotating assembly 200 is suspended at the proximal end of the receiving cavity 101 of the housing 100; the spacing K1 between the proximal end surface of the receiving cavity 101 and the proximal end of the rotating assembly 200 along the axial direction can be set to be not less than 1 mm. Optionally, 1 mm ≤ K1 ≤ 10 mm. K1 can be, but is not limited to, 1 mm, 2 mm, 5 mm, 7 mm, 8 mm, 9 mm, etc.

[0374] Specifically, a fixing pin 140 is provided at the proximal end of the housing 100, and the distal end surface of the fixing pin 140 is the proximal end surface of the receiving cavity 101. In other words, the proximal end of the rotating assembly 200 is not connected to the fixing pin 140 at all, and there is no need to set a sleeve or bearing on the fixing pin 140, so the volume of the fixing pin 140 can be reduced accordingly, or even the fixing pin 140 can be removed.

[0375] The rotating shaft 210 has a first shaft section 214 and a second shaft section 215 arranged along the axial direction, and the second shaft section 215 is located between the first shaft section 214 and the connecting end 211. The first shaft section 214 passes through the stator 300; the second shaft section 215 passes through the distal bearing 400 and the auxiliary bearing 600; and the connecting end 211 is located outside the housing 100.

[0376] It is understandable that the first shaft section 214 has a first length K3. The first shaft section 214 is equivalent to the cantilever arm of the rotating assembly 200. The shorter the axial length of the stator 300 is, the shorter the required first length K3 is, the smaller the cantilever arm length of the rotating assembly 200 is, and thus the proximal end of the rotating assembly 200 is less likely to deflect, and thus the suspended state of the proximal end of the rotating assembly 200 is more stable.

[0377] The second shaft section 215 has a second length K4. The longer the second length K4 is, the longer the effective length of the auxiliary bearing 600 and the distal bearing 400 supporting the rotating shaft 210 is, the stronger the supporting and positioning effect on the rotating shaft 210 is, the less likely the cantilever arm (i.e., the first shaft section 214) of the rotating assembly 200 is to shake, and thus the suspended state of the proximal end of the rotating assembly 200 is more stable.

[0378] In view of this, optionally, the second length K4 is at least equal to 0.25 times of the first length K3, that is, K4 ≥ 0.25K3. This can ensure that the effective length of the auxiliary bearing 600 and the distal bearing 400 supporting the rotating shaft 210 is longer and occupies less axial space, so that the axial length of the drive device 10 is not too large, making it easier to push the blood pump. K4 can be, but is not limited to, 0.25K3, 0.27K3, 0.29K3, 0.3K3, 0.32K3, 0.33K3, 0.35K3, etc.

[0379] Of course, the second length K4 should not be too long, otherwise it will increase the axial length of the driving device 10 and increase the difficulty of pushing the blood pump. Optionally, the second length K4 does not exceed 0.5 times the first length K3, that is, K4≤0.5K3. This can avoid the axial length of the driving device 10 being too long and reduce the difficulty of the driving device 10 entering the human body.

[0380] Optionally, the rotor 200 includes a second rotor 222 , which is mounted on the proximal end of the rotating shaft 210 , so that the second rotor 222 and the proximal end of the rotating shaft 210 are suspended together in the receiving cavity 101 .

[0381] See also Fig.32 and Fig.34 Optionally, the driving device 10 further includes a fixing member 216, which is located on the proximal side of the second rotor 222 and is fixedly connected to the proximal end of the rotating shaft 210. The fixing member 216 is also fixedly connected to the second rotor 222, so that the proximal end of the rotating shaft 210, the second rotor 222, and the fixing member 216 are fixed. When the second rotor 222 rotates, it is not easy to fly off from the proximal end of the rotating shaft 210.

[0382] The fixing member 216 can be a circular ring, a C-shaped ring or a strip-shaped baffle. Of course, the fixing member 216 is not necessary, as long as the second rotor 222 is firmly connected to the rotating shaft 210.

[0383] Fig.38The eighth embodiment of the driving device 10 of the present application is shown. The difference from the seventh embodiment is that, without considering the difficulty of assembly, or in other words, when the difficulty of assembly can be overcome, a movable groove 150 is provided at the proximal end of the housing 100, and the movable groove 150 has a bottom wall 151 and a side wall 152, and a ball head 213 is provided at the proximal end of the rotating shaft 210, and the ball head 213 is rotatably mounted on the movable groove 150, and the ball head 213 has a spherical crown surface 213a, and the spherical crown surface 213a is in sliding contact with the bottom wall 151 and is tangent to the side wall 152.

[0384] Specifically, the driving device 10 includes a fixed sleeve 160, which is mounted on the fixed pin 140. A movable groove 150 is provided on the fixed sleeve 160. The fixed sleeve 160, the distal bearing 400, and the auxiliary bearing 600 jointly support the rotation of the rotating shaft 210, which can greatly improve the stability of the rotating shaft 210 during rotation. As for the structure of the fixed sleeve 160 and its movable groove 150, it can be implemented with reference to the first embodiment or the fifth embodiment, and will not be described in detail here.

[0385] Fig.39 The ninth embodiment of the driving device 10 of the present application is shown. The driving device 10 in the ninth embodiment is different from the driving device 10 in the seventh embodiment in that the distal bearing 400 is a distal bearing 400 with a distal spherical protrusion 440 such as that listed in the fourth embodiment. The specific structure of the distal bearing 400 is referred to the fourth embodiment, and will not be repeated here.

[0386] Fig.40 The tenth embodiment of the driving device 10 of the present application is shown. The driving device 10 in the tenth embodiment is different from the driving device 10 in the seventh embodiment in that the auxiliary spherical member 630 of the distal bearing 400 is a movable ball, and the auxiliary spherical member 630 is movably mounted on the auxiliary accessory 620, and the auxiliary base 310 has a limiting wall 602 that abuts against the spherical surface 601 of the auxiliary spherical member 630.

[0387] Figure 41 to Figure 43 The eleventh embodiment of the driving device 10 of the present application is shown. The driving device 10 in the eleventh embodiment is different from the driving device 10 of the seventh embodiment in that the auxiliary spherical member 630 of the auxiliary bearing 600 is not a movable ball but a fixed spherical protrusion. Specifically, the auxiliary spherical member 630 is a spherical protrusion fixed on one of the auxiliary base 610 and the auxiliary accessory 620, and the other of the auxiliary base 610 and the auxiliary accessory 620 has a limiting wall 602, and the limiting wall 602 and the spherical surface 601 of the auxiliary spherical member 630 are axially opposed.

[0388] Specifically, the auxiliary spherical member 630 is fixed to the auxiliary base 610, and the spherical surface 601 of the auxiliary spherical member 630 abuts against the limiting wall 602. Since the auxiliary spherical member 630 is fixed to the auxiliary accessory 620, it is not necessary to provide the auxiliary accessory 620 with a distal mounting groove 403 such as that in the fifth embodiment. The auxiliary spherical member 630 can be integrally formed with the auxiliary accessory 620. Alternatively, the auxiliary spherical member 630 is fixed to the auxiliary accessory 620 by welding or bonding. The auxiliary base 610 has a distal end surface 611, and the auxiliary spherical member 630 is fixed to the distal end surface 611.

[0389] It can be understood that the auxiliary spherical member 630 is a part of a sphere. The axial height H of the auxiliary spherical member 630 protruding from the end surface (ie, the distal end surface 611) of the auxiliary fitting 620 is f1 The auxiliary spherical member 630 may be a hemisphere, that is, 1 / 2 of a sphere. Of course, in other embodiments, the auxiliary spherical member 630 may also be 1 / 3 or 1 / 4 of a sphere. The connection between the spherical surface 601 of the auxiliary spherical member 630 and the distal end surface 611 is an arc-shaped transition connection.

[0390] The size, position and arrangement of the auxiliary spherical member 630 can be implemented with reference to the convex part of the auxiliary spherical member 630 in the fifth embodiment described above when the auxiliary spherical member 630 is a ball, and can also achieve basically the same technical effect. For example:

[0391] The auxiliary spherical member 630 is spaced apart from the outer circumferential surface of the rotating shaft 210 in the radial direction.

[0392] The spherical surface 601 of the auxiliary spherical member 630 is a ceramic surface.

[0393] The diameter of the sphere where the auxiliary spherical part 630 is located is 0.4 mm to 0.7 mm.

[0394] The height of the auxiliary spherical member 630 protruding from the end surface of the auxiliary fitting 620 is 0.1 mm to 0.2 mm.

[0395] The plurality of auxiliary spherical members 630 are arranged at equal intervals along the outer circumference of the rotating shaft 210 .

[0396] At least two of the auxiliary spherical members 630 are located on opposite sides of the rotating shaft 210 .

[0397] 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.

[0398] 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 is rotatably mounted on the housing, and the rotating assembly includes a rotating shaft and a rotor fixedly connected to the rotating shaft; a stator, the stator being fixedly connected to the housing and capable of driving the rotor to rotate; and The distal bearing comprises a distal sleeve, a distal accessory and a distal ball; wherein, The distal end sleeve is fixed to the distal end of the housing, and the rotating shaft is rotatably passed through the distal end sleeve; The distal end fitting is accommodated in the interior of the housing, the distal end fitting is axially opposite to the distal end sleeve, and is fixedly connected to the rotating assembly; The distal ball is movably mounted on one of the distal sleeve and the distal accessory, and the other of the distal sleeve and the distal accessory has an abutment wall, which abuts against the spherical surface of the distal ball in the axial direction.

2. The driving device according to claim 1, characterized in that: The number of the distal balls is multiple, and the multiple distal balls are arranged around the rotating shaft.

3. The driving device according to claim 1, characterized in that: One of the distal sleeve and the distal accessory is provided with a distal mounting groove; the distal ball is movably mounted in the distal mounting groove, and a portion of the distal ball extends outward from the notch of the distal mounting groove to abut against the abutment wall.

4. The driving device according to claim 3, characterized in that: There are multiple distal mounting grooves, which are arranged at intervals around the rotating shaft, and each distal mounting groove is provided with at least one distal ball; Alternatively, the number of the distal mounting groove is one, the distal mounting groove is annularly surrounding the rotating shaft, a plurality of the distal balls are arranged in the distal mounting groove, and the plurality of the distal balls are arranged around the rotating shaft.

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

6. The driving device according to claim 1, characterized in that: The distal bearing also has at least one of the following characteristics: The spherical surface of the distal ball is a ceramic surface; The diameter of the distal ball is 0.4 mm to 0.7 mm; The distal end ball is spaced a distance apart from the rotating shaft in the radial direction; A plurality of distal balls are arranged around the rotating shaft at equal intervals; At least two of the distal balls are located on opposite sides of the rotating shaft.

7. The driving device according to claim 1, characterized in that: The abutment wall is provided with an annular groove surrounding the rotating shaft, and a part of the distal ball is accommodated in the annular groove; or, The abutting wall is a flat wall without a concave-convex structure, and the abutting wall has at least one of the following characteristics: The abutment wall is perpendicular to the central axis of the rotating shaft and is tangent to the spherical surface of the distal ball; The abutting wall is a ceramic surface.

8. The driving device according to any one of claims 1 to 7, characterized in that: The distal ball bearing is movably mounted on the distal accessory; a mounting platform is provided on the circumferential surface of the rotating shaft, the mounting platform is located on the side of the distal accessory facing away from the distal sleeve, the mounting platform has a distal mounting surface, and the distal accessory is fixedly connected to the distal mounting surface.

9. The driving device according to claim 8, characterized in that: The mounting platform also has a proximal mounting surface, which is opposite to the distal mounting surface; the rotor includes a first rotor, which is located between the distal fitting and the stator, and is fixedly connected to the proximal mounting surface.

10. The driving device according to any one of claims 1 to 7, characterized in that: The shell is provided with a receiving cavity, a proximal limit groove and a mounting hole arranged along the axial direction, and a step surface is provided between the proximal limit groove and the mounting hole; the distal sleeve is installed in the mounting hole; the distal accessory is at least partially received in the proximal limit groove, and the distal accessory is axially spaced a first distance from the step surface.

11. The driving device according to any one of claims 1 to 7, characterized in that: The distal ball bearing is movably mounted on the distal accessory, and the spherical surface of the distal ball bearing has a contact point abutting against the abutment wall; the distal shaft sleeve is provided with a distal shaft hole for the rotating shaft to pass through, and the minimum radial spacing between the distal shaft hole and the abutment point is a second distance, and the second distance is greater than or equal to 0.2 mm.

12. The driving device according to any one of claims 1 to 7, characterized in that: A movable groove is provided at the proximal end of the shell, and the movable groove has a bottom wall and a side wall; a ball head is provided at one end of the rotating shaft away from the connecting end, and the ball head is rotatably arranged in the movable groove, and the ball head has a spherical crown surface, and the spherical crown surface is in sliding contact with the bottom wall and is tangent to the side wall; There are multiple distal balls, which are arranged around the rotating shaft. The minimum radial distance from any one of the distal balls to the central axis of the rotating shaft is greater than or equal to 1.5 times the radius of the ball head.

13. The driving device according to any one of claims 1 to 7, characterized in that: The drive device further comprises a proximal bearing, wherein the proximal bearing comprises: A proximal sleeve, the proximal sleeve being fixed to the proximal end of the housing; A proximal accessory, the proximal accessory is between the proximal sleeve and the stator, the proximal accessory and the proximal sleeve are axially opposite to each other, and the proximal accessory is fixedly connected to the rotating assembly so as to be rotatable relative to the proximal sleeve; and A 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.

14. The driving device according to claim 13, characterized in that: The number of the proximal balls is multiple; A plurality of the proximal balls are arranged around the central axis of the rotating shaft; or, The proximal end of the proximal accessory is provided with a rotating column coaxial with the rotating shaft, the proximal end sleeve is rotatably passed through the rotating column, and a plurality of proximal end balls are arranged around the rotating column; The distal end of the proximal end accessory is also provided with a socket, and the proximal end of the rotating shaft is fixed in the socket.

15. A driving device, characterized in that: The driving device comprises: case; A rotating assembly, the rotating assembly is rotatably mounted on the housing, and the rotating assembly includes a rotating shaft and a rotor fixedly connected to the rotating shaft; a stator, the stator being fixedly connected to the housing and capable of driving the rotor to rotate; and A distal bearing, the distal bearing comprising a distal sleeve, a distal accessory and a distal spherical protrusion; wherein, The distal end sleeve is fixed to the distal end of the housing, and the rotating shaft is rotatably passed through the distal end sleeve; The distal end fitting is accommodated in the housing, the distal end fitting is axially opposite to the distal end sleeve, and is fixedly connected to the rotating assembly. A distal spherical protrusion is fixed to one of the distal sleeve and the distal accessory, and 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 protrusion along the axial direction.

16. The driving device according to claim 15, characterized in that: There are multiple distal spherical protrusions, and the multiple distal spherical protrusions are arranged at intervals around the rotating shaft.

17. The driving device according to claim 16, characterized in that: One of the distal sleeve and the distal accessory has an end face axially opposite to and spaced from the abutment wall, and the distal spherical protrusion is fixed on the end face; the distal spherical protrusion has an axial height protruding from the end face toward the abutment wall, and the axial height is greater than or equal to 1 / 3 of the radius of the sphere where the distal spherical protrusion is located, and less than the radius of the sphere where the distal spherical protrusion is located.

18. The driving device according to any one of claims 15 to 17, characterized in that: The driving device also has at least one of the following features: The spherical surface of the distal spherical protrusion is a ceramic surface; The distal spherical protrusion is a hemisphere; The diameter of the distal spherical protrusion is 0.4 mm to 0.7 mm; The distal spherical protrusion is radially spaced a distance from the rotating shaft; The number of the distal spherical protrusions is multiple, and the multiple distal spherical protrusions are arranged around the rotating shaft at equal intervals; At least two of the distal spherical protrusions are located on opposite sides of the rotating shaft.

19. The driving device according to any one of claims 15 to 17, characterized in that: The abutment wall is provided with an annular groove surrounding the rotating shaft, and the distal spherical protrusion is received in the annular groove; or, The abutting wall is a flat wall without a concave-convex structure, and the abutting wall has at least one of the following characteristics: The abutment wall is perpendicular to the central axis of the rotating shaft and is tangent to the distal spherical protrusion; The abutting wall is a ceramic surface.

20. The driving device according to any one of claims 15 to 17, characterized in that: The shell is provided with a receiving cavity, a proximal limit groove and a mounting hole arranged along the axial direction, and a step surface is provided between the proximal limit groove and the mounting hole; the distal sleeve is installed in the mounting hole; the distal accessory is at least partially received in the proximal limit groove, and the distal accessory is axially spaced a first distance from the step surface.

21. The driving device according to any one of claims 15 to 17, characterized in that: A movable groove is provided at the proximal end of the shell, and the movable groove has a bottom wall and a side wall; a ball head is provided at one end of the rotating shaft away from the connecting end, and the ball head is rotatably arranged in the movable groove, and the ball head has a spherical crown surface, and the spherical crown surface is in sliding contact with the bottom wall and is tangent to the side wall; There are multiple distal spherical protrusions, which are arranged around the rotating shaft. The minimum radial distance from any one of the distal spherical protrusions to the central axis of the rotating shaft is greater than or equal to 1.5 times the radius of the ball head.

22. The driving device according to any one of claims 15 to 17, characterized in that: The drive device further comprises a proximal bearing, wherein the proximal bearing comprises: A proximal sleeve, the proximal sleeve being fixed to the proximal end of the housing; A proximal accessory, the proximal accessory is located between the proximal sleeve and the stator, the proximal accessory is axially opposite to the proximal sleeve, and is fixedly connected to the proximal end of the rotating assembly; and A 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.

23. The driving device according to claim 22, characterized in that The number of the proximal balls is multiple; A plurality of the proximal balls are arranged around the central axis of the rotating shaft; or, The proximal end of the proximal accessory is provided with a rotating column coaxial with the rotating shaft, the proximal end sleeve is rotatably passed through the rotating column, and a plurality of proximal end balls are arranged around the rotating column; The distal end of the proximal end accessory is also provided with a socket, and the proximal end of the rotating shaft is fixed in the socket.

24. A driving device, characterized in that: The driving device comprises: case; A rotating assembly, the rotating assembly is rotatably mounted on the housing, and the rotating assembly has a connecting end located outside the housing; A stator, the stator is fixedly connected to the housing and can drive the rotating assembly to rotate; a distal bearing disposed at a distal end of the housing and adjacent to the connecting end; and An auxiliary bearing is provided between the distal bearing and the stator, the distal bearing and the auxiliary bearing are passed through the rotating assembly, and the auxiliary bearing and the distal bearing can jointly support the rotating assembly to rotate.

25. The driving device according to claim 24, characterized in that The auxiliary bearing comprises: An auxiliary base, the auxiliary base is fixedly connected to the shell, and the rotating assembly is rotatably arranged through the auxiliary base; an auxiliary accessory, the auxiliary accessory being located between the auxiliary base and the distal bearing, the auxiliary accessory being fixedly connected to the rotating assembly; and An auxiliary spherical component is arranged on one of the auxiliary base and the auxiliary accessory, and the other of the auxiliary base and the auxiliary accessory has a limiting wall, and the limiting wall is axially opposed to the spherical surface of the auxiliary spherical component.

26. The driving device according to claim 25, characterized in that There are multiple auxiliary spherical parts, and the multiple auxiliary spherical parts are arranged around the rotating shaft; The auxiliary spherical member is a ball movably mounted on one of the auxiliary base and the auxiliary accessory, or the auxiliary spherical member is a spherical protrusion fixed on one of the auxiliary base and the auxiliary accessory.

27. The driving device according to claim 25, characterized in that The auxiliary spherical member is a movable ball; One of the auxiliary base and the auxiliary accessory is provided with an assembly groove, and the auxiliary spherical member is movably mounted in the assembly groove; a portion of the auxiliary spherical member extends outward from the notch of the assembly groove to abut against the limiting wall; The assembly groove has a groove bottom wall and a groove side wall; the auxiliary spherical piece abuts against the groove bottom wall, the auxiliary spherical piece is tangent to the groove side wall of the assembly groove and has a tangent position, and the tangent position depth between the tangent position and the groove opening of the assembly groove is greater than or equal to 1 / 2 times the radius of the auxiliary spherical piece and less than the radius of the auxiliary spherical piece; Alternatively, the auxiliary spherical component has an axial height protruding outward from the notch of the assembly groove, and the axial height is greater than or equal to 1 / 3 of the radius of the auxiliary spherical component and less than the radius of the auxiliary spherical component.

28. The driving device according to any one of claims 25 to 27, characterized in that: The housing is provided with a receiving cavity and a mounting hole located at the far side of the receiving cavity; the distal end bearing is received in the mounting hole; the auxiliary bearing is received in the mounting hole, and the auxiliary bearing is located at the near side of the distal end bearing; A radial boss is provided between the mounting hole and the receiving cavity. The radial boss has a supporting surface facing away from the receiving cavity. The auxiliary base is fixedly connected to the supporting surface.

29. The driving device according to any one of claims 25 to 27, characterized in that: The housing is provided with a receiving cavity for receiving the stator, and the proximal end of the rotating assembly is suspended in the receiving cavity; or, A movable groove is provided at the proximal end of the shell, and the movable groove has a bottom wall and a side wall. A ball head is provided at the proximal end of the rotating assembly, and the ball head is rotatably installed in the movable groove. The ball head has a spherical crown surface, and the spherical crown surface is in sliding contact with the bottom wall and is tangent to the side wall.

30. The driving device according to any one of claims 25 to 27, characterized in that: The rotating shaft comprises a first shaft section and a second shaft section located between the first shaft section and the connecting end; wherein the first shaft section passes through the stator; and the second shaft section passes through the distal end bearing and the auxiliary bearing; The first shaft segment has a first length, and the second shaft segment has a second length, and the second length is at least equal to 0.25 times the first length.

31. The driving device according to any one of claims 25 to 27, characterized in that: The distal bearing comprises a distal sleeve, a distal accessory and a distal ball; wherein the distal sleeve is fixed to the distal end of the housing, and the rotating assembly is rotatably provided with the distal sleeve; the distal accessory is arranged between the distal sleeve and the auxiliary bearing, the distal accessory is axially opposite to the distal sleeve, and is fixedly connected to the rotating assembly; the distal ball is movably mounted on one of the distal sleeve and the distal accessory, and 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 ball in the axial direction; Alternatively, the distal bearing includes a distal sleeve, a distal accessory and a distal spherical protrusion; wherein, the distal sleeve is fixed to the distal end of the shell, and the rotating assembly is rotatably passed through the distal sleeve; the distal accessory is arranged between the distal sleeve and the auxiliary bearing, the distal accessory is axially opposite to the distal sleeve, and is fixedly connected to the rotating assembly; the distal spherical protrusion is fixed to one of the distal sleeve and the distal accessory, and 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 protrusion along the axial direction.

32. A blood pump, characterized in that: The blood pump comprises an impeller and a driving device as claimed in any one of claims 1 to 31, wherein the impeller is fixedly connected to a connecting end of a rotating shaft of the driving device.

33. The blood pump according to claim 32, 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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