Drive device and blood pump

Abstract

The application relates to a driving device and a blood pump. The driving device comprises a shell, a rotating assembly, a stator and a distal end bearing. The rotating assembly is rotatably installed 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; and the distal end bearing comprises a distal end sleeve, a distal end accessory and distal end balls. The distal end sleeve is fixed to the distal end of the shell, the rotating shaft can rotate through the distal end sleeve; the distal end accessory is accommodated in the interior of the shell, the distal end accessory is opposite to the distal end sleeve in the axial direction, and is fixedly connected with the rotating assembly; the distal end balls are movably installed on one of the distal end sleeve and the distal end accessory, and the other of the distal end sleeve and the distal end accessory has an abutting wall which is opposite to the spherical surface of the distal end balls in the axial direction.

Description

TECHNICAL FIELD

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

[0002] The interventional catheter pump, also known as a blood pump, is often used to push blood from a blood vessel into a patient's heart chamber to assist the patient's heart in pumping blood, thereby providing support for the patient's blood circulation. The blood pump generally comprises a driving device and an impeller. The rotating assembly of the driving device is fixedly connected with the impeller, so as to drive the impeller to rotate and drive the blood flow. However, the distal end of the rotating assembly is prone to shaking, which makes the driving device unstable and reduces the operating efficiency of the driving device. SUMMARY

[0003] Therefore, it is necessary to provide a driving device and a blood pump with better stability, so as to reduce the risk of shaking of the rotating assembly, improve the stability of the driving device, and further improve the operating efficiency of the driving device.

[0004] In some embodiments of the present application, the driving device comprises a housing, a rotating assembly, a stator and a distal end bearing. The rotating assembly is rotatably mounted on the housing, and the rotating assembly comprises a rotating shaft and a rotor fixedly connected with the rotating shaft; the stator is fixedly connected with the housing; and the distal end bearing comprises a distal end sleeve, a distal end fitting and a distal end ball. The distal end sleeve is fixed to the distal end of the housing, and the rotating shaft is rotatably arranged in the distal end sleeve; the distal end fitting is located between the stator and the distal end sleeve, and the distal end fitting and the distal end sleeve are axially opposite and fixedly connected with the rotating assembly; the distal end ball is movably arranged in one of the distal end sleeve and the distal end fitting, and the other of the distal end sleeve and the distal end fitting has an abutting wall which is axially abutted with the spherical surface of the distal end ball.

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

[0006] In some embodiments, one of the distal end sleeve and the distal end fitting is provided with multiple distal end mounting grooves, and each of the distal end mounting grooves is correspondingly provided with the distal end ball; and a part of the distal end balls protrude outward from the groove opening of the distal end mounting groove to abut against the abutting wall.

[0007] In some embodiments, the distal end mounting groove has a groove bottom wall and a groove side wall; the distal end ball is abutted with the groove bottom wall, and the distal end ball is tangent to the groove side wall and has a tangent position; the tangent position between the tangent position and the groove opening of the distal end mounting groove has a tangent depth which is greater than or equal to 1 / 2 times the radius of the distal end ball and less than the radius of the distal end ball.

[0008] Alternatively, the distal ball has an axial height protruding outward from the notch of the distal mounting groove, 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 0.4mm-0.7mm;

[0012] The distal ball is radially spaced apart from the rotating shaft by a distance;

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

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

[0015] In some embodiments, the abutting wall is provided with an annular groove around 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 concave-convex structure, and the abutting wall has at least one of the following features:

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

[0017] The abutting wall is a ceramic surface.

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

[0019] In some embodiments, the mounting platform further has a proximal mounting surface opposite to the distal mounting surface; the rotor comprises a first rotor located between the distal accessory and the stator, and the first rotor is fixedly connected with the proximal mounting surface.

[0020] In some embodiments, the housing is provided with an accommodation cavity arranged in the axial direction, a proximal limiting groove, and a mounting hole, a step surface is arranged between the proximal limiting groove and the mounting hole; the distal bearing is mounted in the mounting hole; the distal accessory is at least partially accommodated in the proximal limiting groove, and the distal accessory and the step surface are axially spaced apart by a first distance.

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

[0022] In some embodiments, a proximal end of the shell is provided with a movable slot, the movable slot has a bottom wall and a side wall; an end of the rotating shaft away from the connecting end is provided with a ball head, the ball head is rotatably arranged in the movable slot, the ball head has a spherical crown surface, the spherical crown surface is in sliding abutment with the bottom wall and is tangent to the side wall. The number of the distal end balls is a plurality, the plurality of distal end balls are arranged around the central axis of the rotating shaft, and the minimum radial distance from any one of the distal end 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 driving device further comprises a proximal end bearing, the proximal end bearing comprises:

[0024] a proximal end sleeve fixed to the proximal end of the shell;

[0025] a proximal end fitting between the proximal end sleeve and the stator, the proximal end fitting is axially opposite to the proximal end sleeve, the proximal end fitting is fixedly connected with the rotating assembly to be able to rotate relative to the proximal end sleeve; and

[0026] a proximal end ball movably mounted on one of the proximal end sleeve and the proximal end fitting, the other one of the proximal end sleeve and the proximal end fitting has a matching wall, the matching wall is in axial abutment with a spherical surface of the proximal end ball.

[0027] In some embodiments, the number of the proximal end balls is a plurality;

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

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

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

[0031] The application also provides a driving device, which comprises a housing, a rotating assembly, a stator and a distal end bearing. The rotating assembly is rotatably installed on the housing and comprises a rotating shaft and a rotor fixed to the rotating shaft; the stator is fixed to the housing and can drive the rotor to rotate; and the distal end bearing comprises a distal end sleeve, a distal end fitting and a distal end spherical protrusion. The distal end sleeve is fixed to the distal end of the housing, and the rotating shaft is rotatably arranged in the distal end sleeve; the distal end fitting is arranged in the housing, and the distal end fitting is axially opposite to the distal end sleeve and is fixed to the rotating assembly; and the distal end spherical protrusion is fixed to one of the distal end sleeve and the distal end fitting, and the other of the distal end sleeve and the distal end fitting has an abutting wall axially abutting the spherical surface of the distal end spherical protrusion.

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

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

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

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

[0036] The distal end spherical protrusion is a hemisphere;

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

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

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

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

[0041] In some embodiments, the abutting wall is provided with an annular groove around the rotating shaft, and a part of the distal end spherical protrusion is arranged in the annular groove; or the abutting wall is a flat wall without concave-convex structure, and the abutting wall has at least one of the following features:

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

[0043] The abutting wall is a ceramic surface.

[0044] In some embodiments, the housing is provided with an axially arranged accommodation cavity, a proximal limiting groove and a mounting hole, a step surface is arranged between the proximal limiting groove and the mounting hole; the distal end sleeve is mounted in the mounting hole; the distal end fitting is at least partially accommodated in the proximal limiting groove, and the distal end fitting and the step surface are axially spaced by a first distance.

[0045] In some embodiments, the proximal end of the housing is provided with a movable groove, the movable groove has a bottom wall and a side wall; the distal end of the rotating shaft away from the connecting end is provided with a ball head, the ball head is rotatably arranged in the movable groove, the ball head has a spherical crown surface, the spherical crown surface is in sliding abutment with the bottom wall and is tangent to the side wall; the number of the distal end spherical protrusions is multiple, multiple distal end spherical protrusions are arranged around the rotating shaft, and the minimum radial distance from any one of the distal end 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 driving device further comprises a proximal end bearing, the proximal end bearing comprises:

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

[0048] A proximal end fitting between the proximal end sleeve and the stator, the proximal end fitting is axially opposite to the proximal end sleeve and is fixed to the proximal end of the rotating assembly; and

[0049] A proximal end ball movably mounted in one of the proximal end sleeve and the proximal end fitting, the other one of the proximal end sleeve and the proximal end fitting has a matching wall, the matching wall is in axial abutment with the spherical surface of the proximal end ball.

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

[0051] Multiple proximal end balls are arranged around the central axis of the rotating shaft; or,

[0052] The proximal end of the proximal end fitting is provided with a rotating column coaxial with the rotating shaft, the rotating column rotatably penetrates the proximal end sleeve, and multiple proximal end balls are arranged around the rotating column;

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

[0054] The application also provides a driving device, which comprises a housing, a rotating assembly, a stator, a distal bearing and an auxiliary bearing. The rotating assembly is rotatably installed on the housing and has a connecting end outside the housing; the stator is fixed to the housing and can drive the rotor to rotate; the distal bearing is arranged at the distal end of the housing and is 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 rotating assembly to rotate.

[0055] In some embodiments, the auxiliary bearing comprises an auxiliary base, an auxiliary accessory and an auxiliary spherical member; the auxiliary base is fixed to the housing, and the rotating assembly rotatably passes through the auxiliary base; the auxiliary accessory is located between the auxiliary base and the distal bearing, and the auxiliary accessory is fixed to the rotating assembly; the auxiliary spherical member is arranged in one of the auxiliary base and the auxiliary accessory, and the other one of the auxiliary base and the auxiliary accessory has a limiting wall which axially abuts against the spherical surface of the auxiliary spherical member.

[0056] In some embodiments, the number of the auxiliary spherical members is multiple, and the multiple auxiliary spherical members are arranged around the rotating shaft. The auxiliary spherical member is a rolling ball movably installed 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.

[0057] In some embodiments, the auxiliary spherical member is a movable rolling ball; one of the auxiliary base and the auxiliary accessory is provided with an assembly groove, the auxiliary spherical member is movably installed in the assembly groove, and a part of the auxiliary spherical member protrudes outward from the groove opening 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 member abuts against the groove bottom wall, and the auxiliary spherical member has a tangent position tangential to the groove side wall of the assembly groove, 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 member and less than the radius of the auxiliary spherical member.

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

[0060] In some embodiments, the housing is provided with a receiving cavity and a mounting hole located distally to 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 proximally to the distal end bearing.

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

[0062] In some embodiments, the housing is internally provided with a receiving cavity for receiving the stator, and the proximal end of the rotating assembly is suspended in the receiving cavity; or, the proximal end of the housing is provided with a movable slot having a bottom wall and a side wall, the proximal end of the rotating assembly is provided with a ball head, the ball head is rotatably installed in the movable slot, and the ball head has a spherical crown surface which is in sliding abutment with the bottom wall and is tangent to the side wall.

[0063] In some embodiments, the rotating shaft further has a first shaft segment and a second shaft segment located between the first shaft segment and the connecting end; the first shaft segment penetrates the stator; and the second shaft segment penetrates 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, the second length being at least 0.25 times the first length.

[0064] In some embodiments, the distal end bearing includes a distal end sleeve, a distal end fitting, and distal end balls; the distal end sleeve is fixed to the distal end of the housing, and the rotating assembly rotatably penetrates the distal end sleeve; the distal end fitting is arranged between the distal end sleeve and the auxiliary bearing, the distal end fitting is axially opposite to the distal end sleeve and is fixedly connected to the rotating assembly; and the distal end balls are movably installed in one of the distal end sleeve and the distal end fitting, and the other of the distal end sleeve and the distal end fitting has an abutting wall which is axially abutted with a spherical surface of the distal end balls.

[0065] In some embodiments, the distal end bearing includes a distal end sleeve, a distal end fitting, and a distal end spherical protrusion; the distal end sleeve is fixed to the distal end of the housing, and the rotating assembly rotatably penetrates the distal end sleeve; the distal end fitting is arranged between the distal end sleeve and the auxiliary bearing, the distal end fitting is axially opposite to the distal end sleeve and is fixedly connected to the rotating assembly; and the distal end spherical protrusion is fixed to one of the distal end sleeve and the distal end fitting, and the other of the distal end sleeve and the distal end fitting has an abutting wall which is axially abutted with a spherical surface of the distal end spherical protrusion.

[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 application also provides a blood pump, which comprises an impeller and a driving device according to any one of the above embodiments, and the impeller is fixedly connected to the connecting end of the rotating shaft of the driving device.

[0068] In some embodiments, the blood pump further comprises a cannula assembly, which is fixedly connected to the housing of the driving device; a proximal end of the cannula assembly is provided with a proximal opening, and a distal end of the cannula assembly is provided with a distal opening; and the impeller is arranged in the cannula assembly.

[0069] The driving device described above is provided with a distal end bearing at the distal end of the housing, which comprises a distal accessory, a distal shaft sleeve and distal balls; wherein the distal shaft sleeve is fixed to the distal end of the housing and is rotatably matched with the rotating shaft, the distal accessory is accommodated in the interior of the housing and is fixedly connected to the rotating assembly; the distal balls are movably installed in one of the distal accessory and the distal shaft sleeve, and the other one of the distal accessory and the distal shaft sleeve is provided with an abutting wall, and the abutting wall and the spherical surface of the distal balls abut along the axial direction. In this way, the distal shaft sleeve, the distal accessory and the distal balls combine to form an axial ball bearing. During the start-stop and operation of the driving device, the axial ball bearing keeps abutting along the axial direction through the distal balls and the abutting wall, so that the rotating assembly is not prone to axial displacement, thereby reducing the risk of shaking of the driving device, improving the stability of the operation of the driving assembly, not only improving the operation efficiency of the driving device, but also preventing the collision of the fixed components at the distal end of the rotating assembly and the housing, and reducing the occurrence of faults. Moreover, the friction between the distal balls and the abutting wall in the axial ball bearing is rolling friction, and even if the distal balls and the abutting wall keep abutting, the friction resistance of the two is small, so that the power consumed by the driving device to overcome the friction resistance is reduced, thereby effectively improving the efficiency of the driving device. BRIEF DESCRIPTION OF DRAWINGS

[0070] FIG. 1 The structural schematic diagram of an embodiment of the blood pump provided by the application.

[0071] FIG. 2 The structural schematic diagram of an embodiment of the blood pump provided by the application. FIG. 1 The structural schematic diagram of an embodiment of the blood pump provided by the application.

[0072] FIG. 3 The structural schematic diagram of the first embodiment of the driving device provided by the application.

[0073] FIG. 4 The structural schematic diagram of the first embodiment of the driving device provided by the application. FIG. 3 The structural schematic diagram of the first embodiment of the driving device provided by the application.

[0074] FIG. 5 The structural schematic diagram of the first embodiment of the driving device provided by the application.FIG. 3 Structure diagram of the proximal end portion of the driving device.

[0075] FIG. 6 For FIG. 4 Enlarged view of P1.

[0076] FIG. 7 For FIG. 3 Structure diagram of the internal portion of the driving device.

[0077] FIG. 8 For FIG. 3 Structure diagram of the assembly of the rotating shaft and the distal end accessory.

[0078] FIG. 9 For FIG. 8 Structure diagram of one of the structural designs of the distal end accessory.

[0079] FIG. 10 For FIG. 9 Longitudinal sectional view of the distal end accessory.

[0080] FIG. 11 For FIG. 8 Plan view of the distal end accessory provided with three distal end balls.

[0081] FIG. 12 For FIG. 8 Plan view of the distal end accessory provided with four distal end balls.

[0082] FIG. 13 For FIG. 7 Structure diagram of the distal end shaft sleeve.

[0083] FIG. 14 For FIG. 3 Structure diagram of the relative arrangement positions of the plurality of distal end balls and the ball head.

[0084] FIG. 15 For FIG. 8 Structure diagram of another structural design of the distal end accessory.

[0085] FIG. 16 For FIG. 15 Longitudinal sectional view of the distal end accessory.

[0086] FIG. 17 Structure diagram of the second embodiment of the driving device provided in the present application.

[0087] FIG. 18 For FIG. 17 Structure diagram of the assembly of the rotating shaft and the distal end accessory.

[0088] FIG. 19 For FIG. 18 Structure diagram of the disassembly of the rotating shaft and the distal end accessory.

[0089] FIG. 20 Structure diagram of a third embodiment of the drive device provided for the present application.

[0090] FIG. 21 Structure diagram of a fourth embodiment of the drive device provided for the present application.

[0091] FIG. 22 Structure diagram of a fifth embodiment of the drive device provided for the present application. FIG. 21 Structure diagram of a distal fitting.

[0092] FIG. 23 Structure diagram of a distal fitting. FIG. 22 Longitudinal sectional view of a distal fitting.

[0093] FIG. 24 Structure diagram of a distal fitting and a shaft assembly. FIG. 23 Longitudinal sectional view of a distal fitting and a shaft assembly.

[0094] FIG. 25 Structure diagram of a fifth embodiment of the drive device provided for the present application. FIG. 24

[0095] Structure diagram of a fifth embodiment of the drive device provided for the present application. FIG. 26

[0096] Structure diagram of a fifth embodiment of the drive device provided for the present application. FIG. 27 FIG. 26 Structure diagram of a fifth embodiment of the drive device provided for the present application.

[0097] FIG. 28 FIG. 27 Structure diagram of a fifth embodiment of the drive device provided for the present application.

[0098] FIG. 29-A to FIG. 29-C Structure diagram of a fifth embodiment of the drive device provided for the present application. FIG. 26 Structure diagram of a proximal fitting.

[0099] FIG. 30-A Structure diagram of a proximal fitting. FIG. 30-B Structure diagram of a proximal fitting. FIG. 26 Structure diagram of a proximal fitting.

[0100] FIG. 31 Structure diagram of a sixth embodiment of the drive device provided for the present application.

[0101] FIG. 32 Structure diagram of a seventh embodiment of the drive device provided for the present application.

[0102] FIG. 33 Structure diagram of a distal portion of the drive device. FIG. 31

[0103] Structure diagram of a proximal portion of the drive device. FIG. 34 FIG. 31 Structure diagram of a proximal portion of the drive device.​​​

[0104] FIG. 35 For FIG. 33 Schematic view of the integrated remote accessory and auxiliary accessory.

[0105] FIG. 36 For FIG. 31 Schematic view of the auxiliary base.

[0106] FIG. 37 For FIG. 36 Longitudinal sectional view of the auxiliary base.

[0107] FIG. 38 Schematic view of the eighth embodiment of the driving device provided in the present application.

[0108] FIG. 39 Partial schematic view of the ninth embodiment of the driving device provided in the present application.

[0109] FIG. 40 Partial schematic view of the tenth embodiment of the driving device provided in the present application.

[0110] FIG. 41 Partial schematic view of the eleventh embodiment of the driving device provided in the present application.

[0111] FIG. 42 For FIG. 41 Schematic view of the auxiliary base.

[0112] FIG. 43 For FIG. 42 Longitudinal sectional view of the auxiliary base. DETAILED DESCRIPTION

[0113] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a variety of ways beyond the specific embodiments described herein without departing from the scope of the present application, and it is understood that similar modifications can be made by those skilled in the art in the light of the above teachings. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0114] In the description of the present application, if these terms "center", "longitudinal", "transverse", "length", "width", "film wall thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0115] In addition, if these terms "first", "second" appear, these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features referred to. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, if the term "multiple" appears, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0116] In the present application, unless otherwise explicitly specified and limited, if the terms "mounting", "connecting", "connecting", "fixing" and the like appear, these terms should be interpreted broadly. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0117] In the present application, unless otherwise explicitly specified and limited, if the first feature appears "on" or "under" the second feature and the like, the meaning can be 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 "above", "above" and "above" of the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" of the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0118] It is to be noted that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. In addition, it is to be understood that when an element such as a layer, film, region, or substrate is referred to as being "connected" to or "coupled" to another element, it can be directly connected to the other element or intervening elements can also be present. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. As used herein, the term "about" when used in reference to a particular recited numerical value, means that the value can vary from the recited value by no more than 1%, 2%, 5%, or 10%. As used herein, the terms "vertical", "horizontal", "upper", "lower", "left", "right", and similar terms are used for illustration only and not to limit the embodiments of the present application.

[0119] It is to be noted that "distal" and "proximal" in the entire text are only for indicating relative position relationship, the "distal" of a component means that the component is the end which firstly enters into the patient's body and / or is further away from the operator during normal operation, while the "proximal" means the end which is later into the patient's body and / or is closer to the operator. As FIG. 2 As shown, the direction indicated by arrow Y+ is the direction from proximal to distal; the direction indicated by arrow Y- is the direction from distal to proximal.

[0120] Referring to FIG. 1 The blood pump 1 mentioned in the present application is designed to be percutaneously inserted into a blood vessel for assisting the heart to pump 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 description will mainly take the left heart interventional blood pump as an example. The blood pump of the embodiments of the present application will be described below.

[0121] Referring to FIG. 1 and FIG. 2 The blood pump 1 comprises 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 so as to make blood flow. The blood pump 1 further comprises a cannula assembly 20, which is fixedly connected 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 serves as the blood inlet; and the distal opening 20b is located in the pulmonary artery and serves 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 serves as the blood outlet; and the distal opening 20b is located in the left ventricle and serves as the blood inlet.

[0124] The cannula assembly 20 can 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 is connected to the proximal end of the flexible cannula 21 and the distal end of the driving 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] Referring to FIG. 1 and FIG. 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 the wires of the driving device 10, the flushing pipeline and the like.

[0126] Referring to FIG. 1 and FIG. 2 , the blood pump 1 further comprises 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 be in contact with the tissue wall to position the blood pump 1. The non-invasive flexible member 30 is made of flexible material, so that the non-invasive flexible member 30 has flexibility, preventing the non-invasive flexible member 30 from damaging the tissue.

[0127] The following will describe the various embodiments of the driving device 10 in the present application in detail.

[0128] FIG. 3 to FIG. 13 A first embodiment of the driving device 10 of the present application is shown. In this first embodiment, the driving device 10 comprises a housing 100, a rotating assembly 200 and a stator 300. The rotating assembly 200 comprises a rotating shaft 210 and a rotor 220 fixedly connected to the rotating shaft 210. The rotating shaft 210 is rotatably mounted to the housing 100, and the rotating shaft 210 penetrates the distal end of the housing 100 and has a connecting end 211 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] Referring to FIG. 3 to FIG. 5 , the housing 100 is provided in a cylindrical shape. The distal end of the housing 100 is fixedly connected to the proximal end of the cannula assembly 20, and 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, and the stator 300 and the rotor 220 are both accommodated in the receiving cavity 101 and arranged in an axial direction of the housing 100.

[0130] Specifically, the housing 100 comprises a first housing 110 and a second housing 120, the second housing 120 is connected to a distal end of the first housing 110. The second housing 120 covers the distal end of the first housing 110. The housing 100 can further comprise a third housing 130, the third housing 130 is connected to a 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] Referring to FIG. 3 and FIG. 7 , the rotor 220 comprises a first rotor 221, the first rotor 221 is arranged axially with the stator 300. Specifically, the first rotor 221 is arranged at a distal end of the receiving cavity 101 of the housing 100, the first rotor 221 is located between the distal end bearing 400 and the stator 300, the stator 300 can drive the first rotor 221 to rotate.

[0132] Referring to FIG. 3 and FIG. 7 , the rotor 220 further comprises a second rotor 222, the second rotor 222 and the first rotor 221 are arranged on two sides of the stator 300 in the axial direction. 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] The first rotor 221 and the second rotor 222 can only have one of them. Any one of the rotors 220 comprises a plurality of magnets arranged in a ring shape along the outer periphery 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 can further comprise a flywheel, the flywheel is fixedly connected with the rotating shaft 210, and the plurality of magnets are mounted on the flywheel. It can be understood that the flywheel can be a disc-shaped bracket or a cylindrical bracket.

[0134] Referring to FIG. 3 and FIG. 7 , the stator 300 comprises a first stator 310, the rotating shaft 210 rotatably penetrates 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 further comprises a second stator 320, the second stator 320 and the first stator 310 are arranged axially; the rotating shaft 210 rotatably penetrates 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 optional. In other embodiments, there can only be 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, which is rotatably mounted inside the housing 100, and the rotating shaft 210 is not easily moved in the Y- direction. When the drive device 10 is started, the impeller 50 is under load, and the impeller 50 generates an axial force F0 in the Y+ direction on the rotating assembly 200. When the load on the impeller 50 is large, the axial force F0 is also large, and this axial force F0 easily causes the rotating assembly 200 to move in the Y+ direction.

[0136] In some other related technologies, a thrust ring (not shown in the figure) is typically provided on the rotating shaft 210 to reduce the axial displacement of the rotating assembly 200. When the impeller 50 is unloaded or under light load, there is an axial gap between the thrust ring and the fixed component (such as a bushing) located at the distal end of the housing 100, and the two do not contact each other, so the distal end of the rotating assembly 200 experiences little or no wear. When the impeller 50 is under load, the axial force F0 applied by the impeller 50 to the rotating assembly 200 is larger, and the thrust ring moves with the rotating assembly 200 in the Y+ direction until it abuts against the fixed component, thereby preventing the rotating assembly 200 from continuing to move in the Y+ direction, and thus limiting the axial movement of the rotating assembly 200.

[0137] Although the thrust ring can reduce the axial displacement of the rotating assembly 200, it still maintains a slight axial gap with the stationary component in its initial state. Therefore, at the instant the thrust ring displaces along the Y+ direction and comes into contact with the stationary component, a collision occurs. This collision becomes more pronounced when the load on the impeller 50 increases or changes frequently.

[0138] For example, at the moment the drive device 10 starts, the vibration of the rotating component 200 may cause it to move in the Y+ direction and collide with the fixed component. As another example, in some treatment protocols, it is necessary to adjust the rotational speed of the shaft 210 according to the normal heart rate so that the blood pump 1 can simulate the heart's pumping frequency to deliver blood. In this case, the rotational speed of the shaft 210 is often controlled to vary at a certain frequency. At this time, the axial force F0 applied by the impeller 50 to the rotating component 200 will change accordingly. Under the action of this axial force F0, the rotating component 200 will reciprocate in the Y+ and Y- directions, which may cause the rotating component 200 to intermittently collide with the fixed component, thereby causing the drive device 10 to malfunction and affecting its service life.

[0139] Therefore, in the first embodiment of this application, the difference from the conventional method using a thrust ring is as follows: See FIG. 3 , FIG. 4 and FIG. 6The driving device 10 in the embodiment further comprises a distal end bearing 400 arranged at the distal end of the housing 100, and the rotating shaft 210 passes through the distal end bearing 400 and has a connecting end 211 outside the housing 100. The distal end bearing 400 comprises a distal end sleeve 410, a distal end fitting 420 and distal end balls 430. The distal end sleeve 410 is fixed to the distal end of the housing 100, and the rotating shaft 210 rotatably passes through the distal end sleeve 410. The distal end fitting 420 is accommodated inside the housing 100, and the distal end fitting 420 and the distal end sleeve 410 are axially opposite to each other. The distal end fitting 420 is fixedly connected with the rotating assembly 200. The distal end balls 430 are movably arranged in one of the distal end sleeve 410 and the distal end fitting 420, and the other one of the distal end sleeve 410 and the distal end fitting 420 has an abutting wall 402 abutting with the spherical surface 401 of the distal end ball 430 in the axial direction. The axial abutting means that the abutting wall 402 and the spherical surface 401 of the distal end ball 430 are axially opposite to each other and abut against each other.

[0140] Specifically, one of the distal end sleeve 410 and the distal end fitting 420, in which the distal end ball 430 is arranged, has an installation end face opposite to the abutting wall 402. At least a part of the distal end ball 430 protrudes towards the abutting wall 402 relative to the installation end face, so as to abut against the abutting wall 402. When the rotating assembly 200 has a tendency to move in the Y+ direction, the distal end ball 430 of the distal end bearing 400 and the abutting wall 402 keep abutting, so that the rotating assembly 200 cannot move in the Y+ direction, and the risk of axial displacement of the rotating assembly 200 is reduced.

[0141] The driving device 10 described above is provided with a distal end bearing 400 at the distal end of the housing 100, the distal end bearing 400 comprising a distal end fitting 420, a distal end sleeve 410 and distal end balls 430; wherein the distal end sleeve 410 is fixed to the distal end of the housing 100, and the rotating shaft 210 is rotatably arranged through the distal end sleeve 410; the distal end fitting 420 is accommodated in the interior of the housing 100 and is fixedly connected with the rotating assembly 200; the distal end balls 430 are movably arranged in one of the distal end fitting 420 and the distal end sleeve 410, and the other one of the distal end fitting 420 and the distal end sleeve 410 is provided with an abutting wall 402, the abutting wall 402 and the spherical surface 401 of the distal end balls 430 abutting in the axial direction. In this way, the distal end sleeve 410, the distal end fitting 420 and the distal end balls 430 combine to form an axial ball bearing. During the start-stop and operation of the driving device 10, the axial ball bearing keeps the distal end balls 430 and the abutting wall 402 abutting in the axial direction, so that the rotating assembly 200 is not prone to axial displacement, thereby reducing the risk of shaking of the driving device, improving the stability of the operation of the driving assembly, not only improving the operation efficiency of the driving device, but also preventing the collision of the fixed components at the distal end of the rotating assembly and the housing, and reducing the occurrence of faults. Moreover, the friction between the distal end balls 430 and the abutting wall 402 in the axial ball bearing is rolling friction, even if the distal end balls and the abutting wall keep abutting, the frictional resistance of the two is small, so that the power consumed by the driving device to overcome the frictional resistance is reduced, thereby effectively improving the efficiency of the driving device 10.

[0142] It can be understood that, since the rotating shaft 210 is rotatably arranged through the distal end sleeve 410, the distal end sleeve 410 should be provided with a shaft hole for the rotating shaft 210 to pass through. Specifically, the distal end sleeve 410 is provided with a distal end shaft hole 411, and the rotating shaft 210 is rotatably arranged through the distal end shaft hole 411. Moreover, the rotating shaft 210 passes through the distal end shaft hole 411 to have a connecting end 211 extending to the outside of the housing 210. The distal end sleeve 410 is in sliding fit with the peripheral surface of the rotating shaft 210 through the inner peripheral surface of the distal end shaft hole 411, so the distal end sleeve 410 and the peripheral surface of the rotating shaft 210 combine to form a radial sliding bearing, which can limit the radial movement of the rotating shaft 210 and reduce the situation that the rotating shaft 210 is radially deflected. That is to say, the distal end sleeve 410 of the distal end bearing 400, in combination with the distal end fitting 420 and the distal end balls 430, can form an axial ball bearing to limit the axial movement of the rotating shaft 210; and the inner peripheral surface of the distal end sleeve 410 and the peripheral surface of the rotating shaft 210 also combine to 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 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, and thereby reduce the collision of the rotating shaft 210 and the housing 100 and other components, effectively reducing the risk of failure of the driving device 10.

[0143] It should be noted that when the rotating shaft 210 rotates stably, the central axis of the rotating shaft 210 coincides with the central axis 11 of the housing 100. If the rotating shaft 210 has a small radial deflection, the central axis of the rotating shaft 210 intersects the central axis 11 of the housing 100.

[0144] The number of the distal end balls 430 can be multiple. In the present application, multiple means two or more than two. The multiple distal end balls 430 are arranged around the rotating shaft 210. The multiple distal end balls 430 at different positions around the rotating shaft 210 collectively support the rotating assembly 200, which can reduce the radial deflection of the rotating assembly 200 and improve the stability of the rotating assembly 200.

[0145] Optionally, the multiple distal end balls 430 are arranged at intervals around the rotating shaft 210. In this way, a smaller number of distal end balls 430 can be used. In this way, not only can the weight of the driving device 10 be reduced, so that the blood pump 1 has a lighter weight, but also the power required to start the driving device 10 can be reduced, so that the rotating assembly 200 can be started smoothly.

[0146] Generally, an aperture is reserved between the circumferential surface of the rotating shaft 210 and the inner circumferential surface of the distal end shaft hole 411, which 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 backflow of blood into the interior of the housing 100. Due to the existence of the aperture, the rotating shaft 210 may have a tendency to have a radial deflection when rotating. However, since the multiple distal end balls 430 at different positions around the rotating shaft 210 collectively support the rotating assembly 200, the risk of radial deflection of the rotating assembly 200 can be reduced, thereby reducing the radial deflection.

[0147] It can be understood that even if the rotating assembly 200 has a small radial deflection, the rotating assembly 200 will be deflected with one side of the distal end ball 430 as the fulcrum, and the distal end ball 430 on the opposite side will be slightly loose with the abutting wall 402 for a short time, thereby reducing the number of distal end balls 430 in contact with the abutting wall 402, reducing the contact points between the distal end fitting 420 and the distal end shaft sleeve 410, and further reducing the resistance of the rotating shaft 210 during deflection, avoiding the jamming of the rotating shaft 210, so that the rotating shaft 210 can be easily restored to the original stable state.

[0148] For example, when the rotating shaft 210 is deflected radially to the right, the distal fitting 420 is pivoted at the distal ball 430 on the left side of the distal fitting 420 to support the deflection of the rotating shaft 210; the distal ball 430 on the right side of the distal fitting 420 is slightly released from the abutting wall 402 temporarily, and only the distal ball 430 on the left side of the distal fitting 420 keeps abutting the abutting wall 402. Conversely, when the rotating shaft 210 is deflected radially to the left, the distal fitting 420 is pivoted at the distal ball 430 on the right side of the distal fitting 420 to support the deflection of the rotating shaft 210; the distal ball 430 on the left side of the distal fitting 420 is released from the abutting wall 402, and only the distal ball 430 on the right side of the distal fitting 420 keeps abutting the abutting wall 402.

[0149] Therefore, if the rotating assembly 200 is deflected radially slightly, the distal fitting 420 is in contact with the abutting wall 402 at one side of the distal ball 430, and the other side of the distal ball 430 is slightly released from the abutting wall 402 temporarily, thereby reducing the number of contacts between the distal shaft sleeve 410 and the distal ball 430, reducing the contact points between the distal fitting 420 and the distal shaft sleeve 410, and further reducing the resistance of the rotating shaft 210 during deflection, thereby avoiding the rotating shaft 210 from being stuck.

[0150] Of course, in other embodiments, the plurality of distal balls 430 can be arranged in sequence around the rotating shaft 210, i.e., two adjacent distal balls 430 are in contact.

[0151] It can be understood that the number of distal balls 430 can also be one. For example, in some other embodiments, the distal bearing 400 can include only one distal ball 430; and the distal bearing 400 further includes at least one distal spherical protrusion 440 (see the embodiment shown in FIG. 4B), the distal spherical protrusion 440 and the one distal ball 430 are arranged in sequence around the rotating shaft 210, and the distal spherical protrusion 440 and the distal ball 430 both have a spherical surface 401 abutting the abutting wall 402 axially. FIG. 21 to FIG. 22

[0152] In the embodiment, the distal bearing 400 is located between the connecting end 211 and the stator 300 or the rotor 220. In other words, the distal bearing 400 is arranged between the connecting end 211 and the stator 300; or the distal bearing 400 is arranged between the connecting end 211 and the rotor 220. The distal fitting 420 of the distal bearing 400 can be fixed to the rotating shaft 210 or the rotor 220.

[0153] ​Specifically, the distal bearing 400 is arranged between the connecting end 211 and the first rotor 221. The distal fitting 420 of the distal bearing 400 is fixedly connected with 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 together 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 the embodiment, the distal sleeve 410 has the abutting wall 402; the distal fitting 420 is arranged between the stator 300 and the distal sleeve 410, and the distal fitting 420 has a mounting end face (i.e., the first end face 421) opposite to the abutting wall 402. The distal ball 430 is movably arranged on the distal fitting 420, and the distal ball 430 protrudes towards the abutting wall 402 (i.e., in the Y+ direction) relative to the mounting end face and abuts against the abutting wall 402.

[0155] Referring to FIG. 3 , FIG. 4 and FIG. 9 , for the distal sleeve 410, the distal sleeve 410 is an independent component, which can be connected and fixed with the shell 100 by means of bonding, welding or the like. Alternatively, the distal end of the shell 100 is provided with a mounting hole 103, and the mounting hole 103 and the receiving cavity 101 are arranged in the axial direction; the mounting hole 103 is located at the distal side of the receiving cavity 101, and the distal sleeve 410 is arranged in the mounting hole 103. Of course, in other embodiments, the distal sleeve 410 can be a component integrally formed with the shell 100.

[0156] The distal sleeve 410 is arranged in a cylindrical shape. Of course, in other embodiments, the distal sleeve 410 can also have other shapes. The proximal end of the distal sleeve 410 is towards the receiving cavity 101, and the proximal end wall of the distal sleeve 410 serves as the abutting wall 402.

[0157] Referring to FIG. 3 , FIG. 7 to FIG. 9 , the distal fitting 420 is arranged in the receiving cavity 101 of the shell 100. The distal end face of the distal fitting 420 is the first end face 421 (i.e., the mounting end face opposite to the distal fitting 420); the distal ball 430 is movably arranged on the distal fitting 420 and protrudes towards the distal sleeve 410 relative to the first end face 421 of the distal fitting 420 to abut against the abutting wall 402. The distal fitting 420 is fixedly connected with at least one of the rotating shaft 210 and the rotor 220.

[0158] The distal accessory 420 is provided in a disc-shaped structure. The distal accessory 420 can be integrally formed with the rotating shaft 210, which can improve the connection stability of the distal accessory 420 and the rotating shaft 210, and can reduce the processing procedures. Of course, in other embodiments, the distal accessory 420 can be a separate component, i.e., the distal accessory 420 is separately formed with the rotating shaft 210, and the distal accessory 420 can be connected and fixed with the rotating shaft 210 by welding or bonding.

[0159] Since the first rotor 221 is adjacent to the distal accessory 420, the first rotor 221 has a distal end surface facing the distal accessory 420, so the distal accessory 420 can also be connected and fixed with the distal end surface of the first rotor 221.

[0160] Referring to FIG. 4 Optionally, the outer diameter of the distal accessory 420 is smaller than the outer diameter of the first rotor 221. Defining the outer diameter of the distal accessory 420 as a first outer diameter D1, and the outer diameter of the first rotor 221 as a second outer diameter D2, then the first outer diameter D1 is smaller than the second outer diameter D2, i.e., D1 < D2. The larger the outer diameter of the rotor 220 is, the larger the volume of the magnet that the rotor 220 can accommodate is, and the larger the magnetic force of the rotor 220 is. Therefore, the outer diameter of the first rotor 221 (i.e., the second outer diameter D2) is designed to be larger, so as to increase the magnetic force of the first rotor 221, and thus improve the efficiency of the driving device 10. The outer diameter of the distal accessory 420 is smaller, which can make the volume of the distal accessory 420 smaller, effectively reducing the weight and the 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 end surface of the first rotor 221 is larger than the area of the proximal end surface of the distal accessory 420, so that the distal end 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] Referring to FIG. 3 , FIG. 4 and FIG. 6 The proximal limiting groove 102 is located between the accommodation cavity 101 and the mounting hole 103. The diameter of the proximal limiting groove 102 is smaller than the diameter of the accommodation 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 can be understood that, since the distal accessory 420 is fixedly connected with the rotating shaft 210, the distal accessory 420 can rotate with the rotating shaft 210, and therefore the diameter of the proximal limiting groove 102 should be greater than the outer diameter (i.e. the first outer diameter D1) of the distal accessory 420, so as to ensure 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, i.e. limit the deflection amplitude of the rotating shaft 210, so as to avoid large radial deflection of both.

[0164] The distal end of the distal accessory 420 extends into the proximal limiting groove 102, i.e. the first end surface 421 of the distal accessory 420 extends into the proximal limiting groove 102. Since the diameter of the proximal limiting groove 102 is greater than the diameter of the mounting hole 103, a stepped surface 102a is formed between the proximal limiting groove 102 and the mounting hole 103. During assembly, if the distal accessory 420 (specifically the first end surface 421) contacts the stepped surface 102a earlier than the distal ball 430 contacts the abutting wall 402, the stepped 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 subsequently.

[0165] In view of the above, in this embodiment, the distal accessory 420 is axially spaced from the stepped surface 102a by a first distance L1 when the distal ball 430 abuts against the abutting wall 402. Specifically, the first end surface 421 of the distal accessory 420 is spaced from the stepped surface 102a by the first distance L1. The first distance L1 is greater than zero. In this way, it can be prevented that the distal accessory 420 contacts the stepped surface 102a earlier than the distal ball 430 contacts the abutting wall 402, and it can be ensured 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 to 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, so as to abut against the abutting wall 402.

[0167] Specifically, the distal accessory 420 is provided with a distal mounting groove 403 having a groove opening 403c. The distal ball 430 is movably mounted in the distal mounting groove 403. A portion of the distal ball 430 protrudes outward from the groove opening 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 protruding portion 431 protruding outside the distal mounting groove 403. The spherical surface 401 on the outer protruding portion 431 abuts against the abutting wall 402.

[0168] It can be understood that the distal ball 430 is a sphere. The entire outer circumferential surface of the distal ball 430 is a spherical surface. Therefore, no matter in which direction or to which position the distal ball 430 rolls, the distal ball 430 will have an outer convex portion 431 outside the distal mounting groove 403, so that the spherical surface 401 on the outer convex portion 431 can abut against the abutting wall 402.

[0169] In one installation mode of the distal ball 430, the distal accessory 420 is provided with a plurality of distal mounting grooves 403, which are arranged in sequence and spaced around the rotating shaft 210. One distal ball 430 is correspondingly installed in each distal mounting groove 403. Alternatively, in other embodiments, at least two distal balls 430 are correspondingly installed in each distal mounting groove 403.

[0170] Since the plurality of distal balls 430 are respectively installed in different distal mounting grooves 403, the distal ball 430 in each distal mounting groove 403 does not interfere with the distal balls 430 in other distal mounting grooves 403. When the rotating assembly 200 rotates, the plurality of distal balls 430 are driven by the rotating assembly 200 to respectively roll in their corresponding distal mounting grooves 403, and any two adjacent distal balls 430 do not appear to be pressed and crowded with each other, so that each distal ball 430 can freely roll. Therefore, the distal balls 430 at different positions can adaptively move according to the size and direction of the force they receive. Moreover, the power when the driving device 10 starts can be reduced, so that the rotating assembly 200 can start smoothly.

[0171] Referring to FIG. 15 and FIG. 16 In another installation mode of the distal ball 430, the distal accessory 420 can be provided with only one distal mounting groove 403, which is annular and surrounds the rotating shaft 210. A plurality of distal balls 430 are arranged in the distal mounting groove 403, and the plurality of distal balls 430 are arranged in sequence and abut around the rotating shaft 210. The 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 mounting groove 403 has a groove bottom wall 403a and a groove side wall 403b arranged along the outer circumferential edge of the groove bottom wall 403a, that is, the distal mounting groove 403 has only one groove side wall 403b, the groove side wall 403b and the circumferential surface of the rotating shaft 210 are radially opposite and spaced, and the distal ball 430 is tangent to the groove side wall 403b and the circumferential surface of the rotating shaft 210.

[0172] Referring to FIG. 4 , FIG. 9 and FIG. 10Regardless of the mounting method used, the protruding portion 431 of the distal ball 430 always has an abutment point F1 for abutting against the abutment wall 402. Here, the abutment point F1 is the tangent point where the spherical surface 401 of the distal ball 430 and the abutment wall 402 are tangent. The distal ball 430 has an axial height H protruding outward from the slot 403c of the distal mounting groove 403. f1 The axial height H f1 It is the axial distance between the contact point F1 and the slot 403c, and also the axial distance between the first end face 421 and the contact wall 402.

[0173] If the axial height H f1 If the distance is too small, the gap between the first end face 421 and the abutment wall 402 will be small, making them prone to contact. When the shaft 210 rotates, wear or collision may occur between the first end face 421 and the abutment wall 402. Therefore, optionally, the axial height H... f1 Set to be greater than or equal to 1 / 3 of the radius of the distal ball bearing 430, i.e., H f1 ≥1 / 3R; where R represents the radius of the distal ball 430. This ensures that after the protrusion 431 abuts against the abutment wall 402, there is a sufficient gap between the first end face 421 and the abutment wall 402, making it less likely for them to interfere with each other, avoiding wear or collision, and improving the stability of the rotation of the shaft 210.

[0174] Of course, the axial height H f1 It should not be designed to be too large, otherwise it will occupy a large amount of axial space in the housing 100, and may increase the risk that the distal ball bearing 430 will fall out of the distal mounting slot 403. Therefore, optionally, the axial height H f1 The radius of the distal ball is smaller than 430, i.e., H. f1 <R. This ensures that the volume of the built-in portion 432 of the distal ball 430 is at least half 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 FIG. 10 The distal mounting groove 403 has a groove bottom wall 403a and a groove side wall 403b arranged circumferentially along 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 bottom wall 403a is a planar wall perpendicular to the central axis of the distal fitting 420. At this time, the distal ball 430 is tangent to the bottom wall 403a, and the tangent position is the abutment position. In other embodiments, the bottom wall 403a may be a spherical wall.

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

[0178] The position where the inner portion 432 of the distal ball 430 is tangent to the slot side wall 403b is defined as the tangent position F2, and the tangent position F2 to the slot opening 403c of the distal mounting slot 403 has a tangent depth H f2 . Obviously, the tangent depth H f2 needs to be smaller than the radius R of the distal ball 430 (i.e. H f2 < R, R = 1 / 2 D f ) so that a portion of the distal ball 430 protrudes outward from the slot opening 403c of the distal mounting slot 403 to form the protruding portion 431. However, the tangent depth H f2 cannot be too small, otherwise the distal ball 430 is prone to fall out of the distal mounting slot 403.

[0179] Therefore, optionally, the tangent depth H f2 is greater than or equal to 1 / 2 times the radius of the distal ball 430, i.e. 1 / 2 R ≤ H f2 < R. In this way, the volume of the inner portion 432 of the distal ball 430 is greater than or equal to half the volume of the distal ball 430. With this arrangement, the center of the distal ball 430 falls inside the distal mounting slot 403, thereby reducing the risk of the distal ball 430 falling out of the distal mounting slot 403.

[0180] It can be understood that the sum of the tangent depth H f2 and the axial height H f1 is equal to the radius R of the distal ball 430, i.e. H f1 + H f2 = R. Further, the tangent depth H f2 is also greater than the axial height H f1 , so that 1 / 3 R ≤ H f1 < H f2 < R. With this arrangement, it is possible to ensure that the distal ball 430 is not prone to falling out of the distal mounting slot 403, and also to ensure that the protruding portion 431 of the distal ball 430 has sufficient height to abut against the abutment wall 402.

[0181] Referring to FIG. 9 , FIG. 11 and FIG. 12Multiple distal balls 430 are arranged at intervals around the shaft 210. For example, the shaft 210 has a circumferential annular region 102. The annular region 102 can be defined by an inner ring 102a and an outer ring 102b. The inner ring 102a and outer ring 102b are virtual boundaries defining the annular region 102, with the inner ring 102a located between the outer ring 102b and the outer circumferential surface of the shaft 210. The centers of the inner ring 102a and outer ring 102b are located on the central axis of the shaft 210. The inner ring 102a and the circumferential surface of the shaft 210 are radially spaced apart. Multiple distal balls 430 are arranged at intervals around the shaft 210 within the annular region 102.

[0182] Optionally, the plurality of distal balls 430 may be arranged at equal intervals around the rotating shaft 210 to form multiple uniformly distributed fulcrums in the circumference of the rotating shaft 210, making the installation of the rotating shaft 210 more stable. Of course, in other embodiments, the plurality of distal balls 430 may also be arranged at non-equal intervals around the rotating shaft 210.

[0183] Optionally, at least two of the distal balls 430 are located on opposite sides of the shaft 210. This allows for at least one fulcrum on each opposite side of the shaft 210 (e.g., left and right sides or front and back sides), which reduces radial sway of the shaft 210 along the left and right sides.

[0184] The number of distal ball bearings 430 can be 2 to 10. For example, but not limited to 3, 4, 5, 8, etc.

[0185] like FIG. 11 As shown, there are three distal balls 430. These three distal balls 430a~400c are arranged at equal intervals around the rotating shaft 210, and the perpendicular connection line between the center of the three distal balls 430a~400c and the central axis of the rotating shaft 210 forms a Y shape.

[0186] like FIG. 12 As shown, there are four distal balls 430. These four distal balls 430a~400d are arranged at equal intervals around the rotating shaft 210, and the perpendicular connection line between the center of the four distal balls 430a~400d and the central axis of the rotating shaft 210 forms a cross shape.

[0187] See FIG. 10 The diameter D of the distal ball bearing is 430. f The value is 0.4mm to 0.7mm, that is, 0.4mm ≤ D. f ≤0.7mm. The radius R of the distal ball bearing 430 is D. f Half of. For example, diameter D f The values ​​can be, but are 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 provided as a ceramic surface. Specifically, the distal ball 430 is made of ceramic material as a whole, so that the spherical surface 401 of the distal ball 430 is 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. The ceramic material has high machining precision, high biocompatibility, high mechanical strength, good wear resistance and corrosion resistance.

[0189] Referring to FIG. 4 and FIG. 13 For the abutting wall 402 abutting against the distal ball 430, the abutting wall 402 can be provided with an annular groove surrounding the rotation 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 abutting wall 402 is provided as a flat wall without concave-convex structure (such as the annular groove); the abutting wall 402 is perpendicular to the central axis of the rotation shaft 210 and tangent to the distal ball 430. In this way, each distal ball 430 is tangent to the abutting wall 402, so that the contact between the plurality of distal balls 430 and the abutting wall 402 is point contact of a plurality of scattered points, the contact area is small, and the frictional resistance is small. Moreover, if the rotation shaft 210 occurs radial deflection, the distal ball 430 can roll radially on the abutting wall 402, reduce the resistance to the movement of the distal ball 430, avoid the rotation shaft 210 from being jammed, and make the rotation shaft 210 easier to restore to the original stable state.

[0191] In the present embodiment, since the distal sleeve 410 is provided with the abutting wall 402, the distal shaft hole 411 on the distal sleeve 410 penetrates the abutting wall 402. The connection between the inner circumferential surface of the distal shaft hole 411 and the abutting wall 402 is the inner end hole rim of the distal shaft hole 411. The abutting point F1 of any distal ball 430 and the distal shaft hole 411 are radially spaced. The minimum radial distance between the abutting point F1 and the distal shaft hole 411 is defined as the second distance L2. When the rotation shaft 210 occurs small amplitude radial deflection, the second distance L2 of the distal ball 430 on one side will decrease, and the distal ball 430 on this side can contact the inner end hole rim of the distal shaft hole 411, and a large friction will occur when the two contact.

[0192] Therefore, in the embodiment, the second distance L2 is set to be greater than or equal to 0.2 mm, i.e., L2≥0.2 mm. In this way, when the rotating shaft 210 has a small radial deviation, the possibility of the distal end ball 430 contacting the inner end hole edge of the distal end shaft hole 411 can be reduced, and in turn, the wear of the distal end ball 430 can be reduced. The maximum value of the second distance L2 is not limited, and can be designed according to the diameter of the distal end shaft sleeve 410.

[0193] The surface of the abutting wall 402 in contact with the distal end ball 430 is provided with a ceramic surface. For example, the distal end shaft sleeve 410 is entirely made of ceramic material, so that the abutting wall 402 of the distal end shaft sleeve 410 is correspondingly a ceramic surface. For another example, the distal end shaft sleeve 410 is made of metal material, and a layer of ceramic material is additionally provided on the surface of the distal end shaft sleeve 410 to form the ceramic surface.

[0194] FIG. 17 to FIG. 19 A second embodiment of the driving device 10 of the application is shown. The driving device 10 in the second embodiment is different from the driving device 10 in the first embodiment described above in that the distal end fitting 420 is separately formed from the rotating shaft 210. The distal end fitting 420 has a connecting hole 422, and the rotating shaft 210 passes through the connecting hole 422, and the inner wall surface of the connecting hole 422 is connected and fixed with the peripheral surface of the rotating shaft 210. The distal end fitting 420 can be connected and fixed with the rotating shaft 210 by means of bonding, welding or the like. In this way, the distal end fitting 420 and the rotating shaft 210 can be separately manufactured and formed, and the forming mold of the rotating shaft 210 does not need to be adjusted, thereby reducing the complexity of manufacturing the rotating shaft 210.

[0195] Optionally, the peripheral surface of the rotating shaft 210 is further provided with a mounting table 214, which is located on the side of the distal end fitting 420 away from the distal end shaft sleeve 410, and the mounting table 214 has a distal mounting surface 214a, and the distal end fitting 420 is fixedly connected with the distal mounting surface 214a. The mounting table 214 is a disc-shaped structure, and the distal mounting surface 214a is a plane on the distal side of the mounting table 214. In other embodiments, the mounting table 214 can also be composed of a plurality of mounting arms arranged at intervals. The mounting table 214 is used to support and fix the distal end fitting 420, and can further improve the firmness of the mounting of the distal end fitting 420.

[0196] Compared with the distal end fitting 420, the mounting table 214 does not need to be provided with a slot hole structure for mounting the distal end ball 430, so the structure of the mounting table 214 is simpler than that of the distal end fitting 420, and it is easier to be integrally formed with the rotating shaft 210. Therefore, the mounting table 214 can be integrally formed with the rotating shaft 210, so that the perpendicularity of the mounting table 214 to the rotating shaft 210 is higher, and the distal mounting surface 214a is perpendicular to the central axis of the rotating shaft 210. When the proximal end surface of the distal end fitting 420 is flush with the distal mounting surface 214a of the mounting table 214, the central axis of the distal end fitting 420 coincides with the central axis of the rotating shaft 210, and the central axes of the two do not need to be repeatedly calibrated during assembly.

[0197] Also refer to FIG. 17 to FIG. 19 Further, the mounting table 214 also has a proximal mounting surface 214b, which is opposite to the distal mounting surface 214a. The first rotor 221 is fixedly connected to the proximal mounting surface 214b. In this way, the mounting table 214 can carry both the first rotor 221 and the distal end fitting 420, and the number of mounting structures on the rotating shaft 210 can be reduced. By supporting and fixing the first rotor 221 by the mounting table 214, the firmness of the first rotor 221 can be further improved.

[0198] The proximal mounting surface 214b is a plane on the proximal side of the mounting table 214 and is parallel to the distal mounting surface 214a. That is, both the proximal mounting surface 214b and the distal mounting surface 214a are 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 table 214, the central axis of the first rotor 221 coincides with the central axis of the rotating shaft 210, and the central axes of the two do not need to be repeatedly calibrated during assembly.

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

[0200] FIG. 20A 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 of the aforementioned first embodiment in that the distal end ball 430 is movably mounted on the distal end sleeve 410; the distal end fitting 420 has an abutting wall 402 abutting against the spherical surface 401 of the distal end ball 430. Specifically, the distal end sleeve 410 has a mounting end surface opposite to the abutting wall 402; the distal end ball 430 is movably mounted on the distal end sleeve 410 and protrudes towards the abutting wall 402 (i.e. along the Y-direction) relative to the mounting end surface of the distal end sleeve 410 and abuts against the abutting wall 402.

[0201] Referring to FIG. 20 , the distal end sleeve 410 is also fixed in the mounting hole 103 of the housing 100. The distal end fitting 420 is also accommodated in the accommodation cavity 101 of the housing 100, and the distal end wall of the distal end fitting 420 faces the distal end sleeve 410, so that the distal end wall of the distal end fitting 420 forms the abutting wall 402.

[0202] Correspondingly, the distal end sleeve 410 is provided with a plurality of distal end mounting grooves 403 surrounding the outer periphery of the distal end shaft hole 411. At least one distal end ball 430 is arranged in each distal end mounting groove 403, and a part of the distal end ball 430 protrudes from the slot of the distal end mounting groove 403 to abut against the abutting wall 402 on the distal end fitting 420. The shape and structure of the distal end mounting groove 403 can be implemented as in the aforementioned first embodiment, and substantially the same technical effects can be achieved, which will not be described here.

[0203] Similarly, the structure, position and fixing manner of the distal end fitting 420 and the distal end sleeve 410 can be implemented as in the aforementioned first embodiment, and substantially the same technical effects can be achieved, which will not be described here.

[0204] FIG. 21 to FIG. 25A fourth embodiment of the driving device 10 of the present application is shown. In the fourth embodiment, the driving device 10 comprises a housing 100, a rotating assembly 200, a stator 300, and a distal bearing 400. The rotating assembly 200 is rotatably mounted to the housing 100, and is fixedly connected to a distal fitting 420. The rotating assembly 200 comprises 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 is capable of driving the rotor 220 to rotate. The distal bearing 400 comprises a distal bearing sleeve 410, the distal fitting 420, and a distal spherical protrusion 440. The distal bearing sleeve 410 is fixed to a distal end of the housing 100, and the rotating shaft 210 is rotatably arranged through the distal bearing sleeve 410. The distal fitting 420 is accommodated inside the housing 100, and is fixedly connected to the rotating shaft 210. The distal spherical protrusion 440 is fixed to one of the distal bearing sleeve 410 and the distal fitting 420, and the other one of the distal bearing sleeve 410 and the distal fitting 420 has an abutting wall 402 abutting with a spherical surface 401 of the distal spherical protrusion 440 in an axial direction. The axial abutting means that the abutting 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, 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 bearing sleeve 410 and the distal fitting 420, which is provided with the distal spherical protrusion 440, has a mounting end face opposite to the abutting wall 402. The distal spherical protrusion 440 is fixed to the mounting end face, and protrudes towards the abutting wall 402, so as to abut against the abutting wall 402. It can be understood that the distal spherical protrusion 440 is at least a part of a sphere, and thus the distal spherical protrusion 440 has the spherical surface 401. When the rotating assembly 200 has a tendency to move in the Y+ direction, the distal spherical protrusion 440 of the distal bearing 400 and the abutting wall 402 keep abutting, so as to prevent the rotating assembly 200 from moving in the Y+ direction, and reduce the risk of axial displacement of the rotating assembly 200.

[0206] The driving device 10 described above is provided with a distal end bearing 400 at the distal end of the housing 100, the distal end bearing 400 comprising a distal end fitting 420, a distal end sleeve 410 and a distal end spherical protrusion 440; wherein the distal end sleeve 410 is fixed to the distal end of the housing 100 and rotatably coupled with the rotating shaft 210, the distal end fitting 420 is accommodated inside the housing 100 and fixedly connected with the rotating assembly 200; the distal end spherical protrusion 440 is fixed to one of the distal end fitting 420 and the distal end sleeve 410, and the other one of the distal end fitting 420 and the distal end sleeve 410 is provided with an abutting wall 402, the abutting wall 402 and the spherical surface 401 of the distal end spherical protrusion 440 abut along the axial direction. In this way, during the start, stop and operation of the driving device 10, the distal end spherical protrusion 440 of the distal end bearing 400 keeps abutting with the abutting wall 402 along the axial direction, so that the rotating assembly 200 is not prone to axial displacement, thereby preventing the collision between the rotating assembly 200 and the fixed components at the distal end of the housing 100, reducing the risk of failure of the driving device 10 and prolonging the service life. On the other hand, the contact area between the spherical surface 401 of the distal end spherical protrusion 440 and the abutting wall 402 is small, when the rotating shaft 210 rotates normally, the friction between the spherical surface 401 of the distal end spherical protrusion 440 and the abutting wall 402 is sliding friction, and the contact area between them is small, so the frictional resistance is small, which can reduce the power loss of the driving device 10 and further improve the efficiency of the driving device 10.

[0207] In addition, if the rotating shaft 210 occurs radial deflection, the spherical surface 401 of the distal end spherical protrusion 440 in the distal end bearing 400 will roll along the radial direction relative to the abutting wall 402, so that the distal end sleeve 410, the distal end fitting 420 and the distal end spherical protrusion 440 combine to form an axial bearing, at this time the friction between the distal end spherical protrusion 440 and the abutting wall 402 is approximately rolling friction, the frictional resistance is small, which is more conducive to reducing the power loss of the driving device 10 and further improving the efficiency of the driving device 10.

[0208] It can be understood that, since the rotating shaft 210 is rotatably arranged through the distal end sleeve 410, the distal end sleeve 410 should be provided with a shaft hole for the rotating shaft 210 to pass through. Specifically, the distal end sleeve 410 is provided with a distal end shaft hole 411, and the rotating shaft 210 is rotatably arranged through the distal end shaft hole 411. Moreover, the rotating shaft 210 passes through the distal end shaft hole 411 and has a connecting end 211 extending to the outside of the housing 210. The distal end sleeve 410 is in sliding fit with the outer periphery of the rotating shaft 210 through the inner periphery of the distal end shaft hole 411, so that the distal end sleeve 410 and the outer periphery of the rotating shaft 210 combine to form a radial sliding bearing, which can limit the radial movement of the rotating shaft 210 and reduce the situation that the rotating shaft 210 occurs radial deflection. That is to say, the distal end bearing 400 can form an axial bearing by combining the distal end sleeve 410, the distal end accessory 420 and the distal end spherical protrusion 440 to limit the axial movement of the rotating shaft 210; and also form a radial sliding bearing by combining the inner periphery of the distal end sleeve 410 and the periphery of the rotating shaft 210 to limit the radial movement of the rotating shaft 210. The axial ball bearing and the radial sliding bearing cooperate with each other to enable the rotating shaft 210 to rotate stably, 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, and further reduce the collision between the rotating shaft 210 and the housing 100 and other components, thereby effectively reducing the risk of failure of the driving device 10.

[0209] It should be noted that, when the rotating shaft 210 rotates stably, the central axis of the rotating shaft 210 coincides with the central axis 11 of the housing 100. If the rotating shaft 210 occurs small-amplitude radial deflection, the central axis of the rotating shaft 210 intersects the central axis 11 of the housing 100.

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

[0211] Optionally, the multiple distal end spherical protrusions 440 are arranged at intervals around the rotating shaft 210. In this way, a smaller number of distal end 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 starts can be reduced, so that the rotating assembly 200 can be started stably.

[0212] For example, a gap is usually reserved between the outer circumferential surface of the rotating shaft 210 and the inner circumferential surface of the distal shaft hole 411, which 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 swing radially when rotating. However, since the plurality of distal spherical protrusions 440 collectively support the rotating assembly 200 from different directions, the risk of the rotating assembly 200 swinging radially can be reduced, thereby reducing the situation of radial swing.

[0213] It can be understood that even if the rotating assembly 200 swings radially to a small extent, the distal bearing 400 will contact the abutment wall 402 with one of the distal spherical protrusions 440 as a fulcrum, and the distal spherical protrusion 440 on the opposite side will temporarily loosen from the abutment wall 402, thereby reducing the number of distal spherical protrusions 440 in contact with the abutment wall 402, reducing the contact points of the distal fitting 420 and the distal shaft sleeve 410, and further reducing the resistance of the rotating shaft 210 during the swing process, avoiding the rotating shaft 210 from being stuck, and making the rotating shaft 210 easier to return to the original stable state.

[0214] Of course, in other embodiments, the plurality of distal spherical protrusions 440 can also be arranged in sequence around the rotating shaft 210.

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

[0216] In the present embodiment, the distal bearing 400 is located between the connecting end 211 and the stator 300 or the rotor 220. In other words, the distal bearing 400 is arranged between the connecting end 211 and the stator 300; or the distal bearing 400 is arranged between the connecting end 211 and the rotor 220. The distal fitting 420 of the distal bearing 400 can be fixedly connected with the rotating shaft 210, or can be fixedly connected with the rotor 220.

[0217] Specifically, the distal bearing 400 is arranged between the connecting end 211 and the first rotor 221. The distal fitting 420 of the distal bearing 400 is fixedly connected with 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 the present embodiment, the distal spherical protrusion 440 of the distal bearing 400 is fixed to the distal fitting 420; the distal sleeve 410 has the abutting wall 402, and the abutting wall 402 abuts against the distal spherical protrusion 440 on the distal fitting 420.

[0219] Since the distal spherical protrusion 440 is fixed to the distal fitting 420, it is not necessary to arrange the distal mounting groove 403 on the distal fitting 420 as in the first embodiment. Specifically, the distal spherical protrusion 440 is fixed to the first end face 421 of the distal fitting 420. The other structures, positions and fixing modes of the distal fitting 420, and the structures, positions and fixing modes of the distal sleeve 410 can be implemented by referring to the first to third embodiments described above, and basically the same technical effects can be obtained, which will not be described herein. For example, the shell 100 is also provided with the mounting hole 103 arranged along the axial direction of the accommodation cavity 101. The distal sleeve 410 is fixed in the mounting hole 103, and the distal fitting 420 is accommodated in the accommodation cavity 101 of the shell 100. The shell 100 is also provided with the proximal limiting groove 102 between the accommodation cavity 101 and the mounting hole 103, and there is a stepped surface 102a between the proximal limiting groove 102 and the mounting hole 103; the distal end of the distal fitting 420 extends into the proximal limiting groove 102 and is spaced apart from the stepped surface 102a by a first distance L1.

[0220] It can be understood that the distal spherical protrusion 440 at least has a part of a sphere, so as to form a spherical surface on the outer peripheral surface of the distal spherical protrusion 440. For example, the distal spherical protrusion 440 can be a hemisphere, i.e. 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 with the first end face 421, and the connection between the spherical surface 401 of the distal spherical protrusion 440 and the first end face 421 is arc-shaped transition connection.

[0221] Of course, in other embodiments, the distal spherical protrusion 440 can also be fixed to the first end surface 421 by a cylinder. Specifically, the cylinder is upright, the bottom end of the cylinder is fixed to the end surface (i.e. the first end surface 421) of the distal fitting 420, 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 in which 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 outward protruding portion 432 of the distal ball 430 in the first to third embodiments described above, and basically the same technical effects can be achieved. For example:

[0223] The distal spherical protrusion 440 is radially spaced apart from the circumferential surface of the shaft 210.

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

[0225] The diameter of the sphere in which the distal spherical protrusion 440 is located is 0.4mm-0.7mm.

[0226] The height of the distal spherical protrusion 440 protruding from the end surface (i.e. the first end surface 421) of the distal fitting 420 is 0.1mm-0.2mm.

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

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

[0229] The plurality of distal spherical protrusions 440 are arranged at intervals around the shaft 210. For example, the shaft 210 has an annular region 102 (such as FIG. 11 and FIG. 12 shown in the annular region 102). The annular region 102 can be bounded by an inner circle 102a and an outer circle 102b. The inner circle 102a and the outer circle 102b are virtual boundaries for defining the annular region 102, and the inner circle 102a is located between the outer circle 102b and the circumferential surface of the shaft 210. The centers of the inner circle 102a and the outer circle 102b are located on the central axis of the shaft 210. The inner circle 102a is radially spaced apart from the circumferential surface of the shaft 210. The plurality of distal spherical protrusions 440 are arranged at intervals around the shaft 210 within the annular region 102.

[0230] Optionally, the plurality of distal spherical protrusions 440 may be arranged at equal intervals around the rotating shaft 210 to form a plurality of uniformly distributed fulcrums in the circumference of the rotating shaft 210, making the rotating shaft 210 more stable in installation. Of course, in other embodiments, the plurality of distal balls 430 may also be arranged at non-equal intervals around the rotating shaft 210.

[0231] Optionally, at least two of the distal spherical protrusions 440 are located on opposite sides of the rotating shaft 210. This allows for at least one fulcrum on each opposite side of the rotating shaft 210 (such as the left and right sides or the front and rear sides), thereby reducing radial sway of the rotating shaft 210 between opposite sides.

[0232] The number of distal spherical protrusions 440 can be 2 to 10. For example, but not limited to 3, 4, 5, 8, etc.

[0233] like FIG. 11 As shown, there are three distal spherical protrusions 440. These three distal spherical protrusions 440 are arranged at equal intervals around the rotating shaft 210, and the perpendicular connection line between the center of the three distal spherical protrusions 440 and the central axis of the rotating shaft 210 forms a Y shape.

[0234] like FIG. 12 As shown, there are four distal spherical protrusions 440. These four distal spherical protrusions 440 are arranged at equal intervals around the rotating shaft 210, and the perpendicular connection line between the center of the four distal spherical protrusions 440 and the central axis of the rotating shaft 210 forms a cross shape.

[0235] See FIG. 10 The diameter D of the sphere containing the distal spherical protrusion 440 f The diameter is 0.4mm to 0.7mm. For example, the diameter of the sphere containing the distal spherical protrusion 440 can be, but is not limited to, 0.45mm, 0.5mm, 0.55mm, 0.6mm, 0.65mm, or 0.7mm.

[0236] The spherical surface 401 of the distal spherical protrusion 440 can be configured as a ceramic surface. Specifically, the distal spherical protrusion 440 is entirely made of ceramic material, thus making the spherical surface 401 of the distal spherical protrusion 440 a ceramic surface. Alternatively, in other embodiments, the distal spherical protrusion 440 can be made of a hard metal material, with an additional layer of ceramic material added to the spherical surface 401 to form the ceramic surface. Ceramic materials have high processing precision, high biocompatibility, high mechanical strength, and good wear and corrosion resistance.

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

[0238] Of course, the annular groove is not necessary. In the present embodiment, the abutting wall 402 is provided as a flat wall without concave-convex structure, the abutting wall 402 is perpendicular to the central axis of the rotation shaft 210, and the abutting wall 402 is tangent to the distal spherical protrusion 440. In this way, each distal spherical protrusion 440 is tangent to the abutting wall 402, so that the contact between the plurality of distal spherical protrusions 440 and the abutting wall 402 is point contact of a plurality of scattered points, the contact area is small, and the frictional resistance is small. Moreover, if the rotation shaft 210 occurs radial deflection, the distal spherical protrusion 440 will be able to slide radially on the abutting wall 402, reduce the resistance to the movement of the distal spherical protrusion 440, avoid the rotation shaft 210 from being stuck, and make the rotation shaft 210 easier to restore to the original stable state.

[0239] In the present embodiment, since the distal shaft sleeve 410 is provided with the abutting wall 402, the distal shaft hole 411 on the distal shaft sleeve 410 penetrates through the abutting wall 402. The connection between the inner circumferential surface of the distal shaft hole 411 and the abutting wall 402 is the inner end hole rim of the distal shaft hole 411. The abutting point F1 of any one distal spherical protrusion 440 and the distal shaft hole 411 are radially spaced. The minimum radial distance between the abutting point F1 and the distal shaft hole 411 is the second distance L2. When the rotation shaft 210 occurs small-amplitude radial deflection, the second distance L2 of the distal spherical protrusion 440 on one side will decrease, and the distal spherical protrusion 440 can contact the inner end hole rim of the distal shaft hole 411, and a large friction will occur when the two are in contact.

[0240] Therefore, in the present embodiment, the second distance L2 is set to be greater than or equal to 0.2 mm, i.e. L2≥0.2 mm. In this way, when the rotation shaft 210 occurs small-amplitude radial deflection, the possibility of the distal spherical protrusion 440 contacting the inner end hole rim of the distal shaft hole 411 can be reduced, and in turn the abrasion of the distal spherical protrusion 440 can be reduced. There is no limitation on the maximum value of the second distance L2, and the specific value can be designed according to the diameter of the distal shaft sleeve 410.

[0241] The surface of the abutting wall 402 in contact with the distal spherical protrusion 440 can also be provided as a ceramic surface. Specifically, the distal shaft sleeve 410 is made of ceramic material as a whole, so that the abutting wall 402 is correspondingly a ceramic surface. Of course, in other embodiments, the distal shaft sleeve 410 can be made of hard metal material, and a layer of ceramic material is additionally provided on the abutting wall 402 of the distal shaft sleeve 410, so that the abutting wall 402 forms the ceramic surface.

[0242] Of course, in other embodiments, the distal spherical protrusion 440 can be fixed to the proximal end face of the distal shaft sleeve 410; the distal end face of the distal fitting 420 is the abutting wall 402, which abuts the spherical surface 401 of the distal spherical protrusion 440.

[0243] In the above first embodiment to the fourth embodiment, the end of the rotation shaft 210 distal to the connecting end 211 is the mounting end 212, which is rotatably mounted to the proximal end of the housing 100. Optionally, the proximal end of the housing 100 is provided with a movable slot 150; the mounting end 212 is provided with a spherical head 213, which is rotatably mounted to the movable slot 150. The spherical head 213 has a spherical crown surface 213a, which slidably abuts the inner wall of the movable slot 150. The following is introduced by taking the structure shown in FIG. 3 to FIG. 8

[0244] Referring to FIG. 3 to FIG. 5 , the spherical head 213 abuts the inner wall of the movable slot 150, which can limit the movement of the rotation shaft 210 along the Y-direction; the distal fitting 420 of the distal bearing 400 abuts the distal shaft sleeve 410 through the distal ball 430, which can limit the movement of the rotation shaft 210 along the Y+ direction, so that the entire axial movement of the rotation shaft 210 is limited, and the rotation shaft 210 is not prone to axial movement. When the rotation shaft 210 occurs radial deflection, the spherical head 213 can roll in the movable slot 150, so that the resistance of the rotation shaft 210 in the movable slot 150 can be reduced. Of course, in other embodiments, the mounting end 212 of the rotation shaft 210 can abut the proximal end face of the receiving cavity 101 of the housing 100 to limit the movement of the rotation shaft 210 along the Y- direction.

[0245] Referring to FIG. 3 to FIG. 5 , the movable slot 150 has a bottom wall 151 and a side wall 152, and the spherical crown surface 213a of the spherical head 213 slidably abuts the bottom wall 151 and is tangent to the side wall 152. The spherical crown surface 213a of the spherical head 213 keeps sliding abutment with the bottom wall 151, which can limit the movement of the rotation shaft 210 along the Y- direction; the spherical crown surface 213a of the spherical head 213 is also tangent to the side wall 152, which can reduce the resistance of the radial swing of the rotation shaft 210 and avoid the rotation shaft 210 from being stuck when it swings radially.

[0246] The side wall 152 of the movable slot 150 is provided as a cylindrical surface. In this case, the contact between the spherical crown surface 213a of the spherical head 213 and the side wall 152 can be regarded as 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 spherical head 213 and the side wall 152 can be regarded as 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 is tangent to the bottom wall 151, and the tangent point of the spherical crown surface 213a and the bottom wall 151 is the abutting position.

[0248] It can be understood that when the rotating shaft 210 is radially deflected, if the resistance on both ends of the rotating shaft 210 is greatly different, the angles of the rotating shaft 210 deflected on both ends are different, and the middle part of the rotating shaft 210 is easy to be bent and broken. In the present application, when the rotating shaft 210 is deflected to the right with a small amplitude, the ball head 213 of the rotating shaft 210 rolls in the clockwise direction in the movable groove 150; the end of the rotating shaft 210 away from the ball head 213 swings with the left end ball 430 of the distal end fitting 420 as the fulcrum, and in this process, the left end ball 430 can also roll in the same direction; vice versa.

[0249] In summary, when the rotating shaft 210 is deflected radially with a small amplitude, part of the distal end balls 430 of the distal end fitting 420 can roll synchronously with the ball head 213, and the contact positions are all point contacts, so that both ends of the rotating shaft 210 can swing through approximately the same angle synchronously, which can avoid the middle part of the rotating shaft 210 from being subjected to a large bending force and avoid the rotating shaft 210 from being bent and broken.

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

[0251] Referring to FIG. 3 to FIG. 5 , the ball 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 a large strength, so that the ball head 213 can stably support the rotating shaft 210, the ball head 213 is not easy to break off from the rotating shaft 210, and the stability of the ball head 213 installed in the movable groove 150 is improved.

[0252] Referring to FIG. 3 to FIG. 5 , compared with the ball head 213, the plurality of distal end balls 430 (or FIG. 21 to FIG. 25 the plurality of distal end spherical protrusions 440 in the embodiment shown) collectively support the rotating shaft 210, so the diameter of each distal end ball 430 can be set to be smaller than the diameter of the ball head 213, so that the volume of the distal end ball 430 is small, and the volume of the entire distal end fitting 420 is reduced.

[0253] Referring to FIG. 3 to FIG. 5 , the plurality of distal end balls 430 (or FIG. 21 to FIG. 25The annular region 102 where the plurality of distal spherical protrusions 440 in the illustrated embodiment is defined by an inner ring 102a and an outer ring 102b, the center of the inner ring 102a and the outer ring 102b and the center of the spherical head 213 are located on the central axis of the rotating shaft 210. The minimum radial distance of the plurality of distal spherical balls 430 to the central axis of the rotating shaft 210 (i.e. the diameter of the inner ring 102a) is greater than or equal to 1.5 times the radius of the spherical head 213. In this way, the plurality of distal spherical balls 430 and the spherical head 213 can be approximately arranged on the conical tower configuration M (see FIG. 14 ); wherein the plurality of distal spherical balls 430 are located at the bottom of the conical tower configuration M, and the spherical head 213 is located at the top of the conical tower configuration M. This arrangement can make the rotating shaft 210 more stable and less likely to occur radial deflection, reducing the occurrence of radial deflection of the rotating shaft 210.

[0254] Of course, the minimum radial distance can also be less than 2.5 times the radius of the spherical head 213, so as to avoid the diameter of the distal bearing 400 being too large, and to avoid the distal bearing 400 occupying a large radial space.

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

[0256] FIG. 26 to FIG. 30-B The fifth embodiment of the driving device 10 of the present application is shown. Different from any one of the first to fourth embodiments described above, the mounting end 212 of the rotating shaft 210 of the driving device 10 of the fifth embodiment is not provided with a spherical head 213, and the driving device 10 comprises a proximal bearing 500 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 in the proximal bearing 500. It can also be understood that the proximal bearing 500 is used instead of the above-mentioned fixed shaft sleeve 160.

[0257] Referring to FIG. 26 to FIG. 28The proximal bearing 500 comprises a proximal sleeve 510, a proximal fitting 520 and proximal balls 530. The proximal sleeve 510 is fixedly connected to the proximal end of the housing 100. The proximal fitting 520 is located between the proximal sleeve 510 and the stator 300. The proximal fitting 520 is axially opposite to the proximal sleeve 510 and can rotate relative to the proximal sleeve 510. The rotating assembly 200 and the proximal fitting 520 are fixedly connected so as to drive the proximal fitting 520 to rotate. The proximal balls 530 are movably installed in one of the proximal sleeve 510 and the proximal fitting 520. The other one of the proximal sleeve 510 and the proximal fitting 520 has a matching wall 502 which is axially opposite to the spherical surface 501 of the proximal balls 530 and abuts against the spherical surface 501 of the proximal balls 530.

[0258] Specifically, one of the proximal sleeve 510 and the proximal fitting 520 in which the proximal balls 530 are installed has an installation end face which is opposite to the abutting wall 402. At least a part of the distal balls 430 protrudes towards the matching wall 502 relative to the installation end face, so as to abut against the matching wall 502. When the rotating assembly 200 has a tendency to move along the Y-direction, the proximal balls 530 of the proximal bearing 500 and the matching wall 502 keep abutting against each other, so as to prevent the rotating assembly 200 from moving along the Y-direction and reduce the risk of axial displacement of the rotating assembly 200.

[0259] The driving device 10 is provided with a proximal end bearing 500 at the distal end of the housing 100. The proximal end bearing 500 comprises a proximal end sleeve 510, a proximal end fitting 520 and proximal end balls 530. The proximal end sleeve 510 is fixedly connected to the proximal end of the housing 100. The proximal end fitting 520 is located between the proximal end sleeve 510 and the stator 300. The proximal end fitting 520 is axially opposite to the proximal end sleeve 510 and is fixedly connected to the rotating assembly 200. The proximal end balls 530 are movably installed in one of the proximal end sleeve 510 and the proximal end fitting 520. The other one of the proximal end sleeve 510 and the proximal end fitting 520 is provided with a matching wall 502 which is axially abutted with the spherical surface 501 of the proximal end ball 530. In this way, the proximal end sleeve 510, the proximal end fitting 520 and the proximal end balls 530 combine to form an axial ball bearing. During the start-stop and operation of the driving device 10, the axial ball bearing is kept in axial abutment with the abutment wall 402 through the proximal end balls 530, so that the rotating assembly 200 is not easily axially displaced, thereby preventing the fixed components at the proximal end of the rotating assembly 200 and the housing 100 from colliding, reducing the risk of failure of the driving device 10 and prolonging the service life. Moreover, during the operation of the rotating assembly 200, the proximal end balls 530 of the axial ball bearing can be driven to roll by the rotating assembly 200. The friction between the proximal end balls 530 and the matching wall 502 is rolling friction, which has small resistance, effectively reducing the resistance received by the rotating assembly 200 during rotation, reducing the power consumed by the driving device 10 to overcome the resistance and improving the working efficiency of the driving device 10.

[0260] The number of the proximal end balls 530 can be multiple. In the present application, multiple means two or more than two. The multiple proximal end balls 530 are arranged around the central axis of the rotating assembly 200. The multiple proximal end balls 530 of the axial ball bearing collectively support the rotating assembly 200 from different directions of the outer periphery of the central axis of the rotating assembly 200, effectively preventing the rotating shaft 210 from radially yawing, so that the rotating assembly 200 can run smoothly.

[0261] Optionally, the multiple proximal end balls 530 are arranged at intervals around the central axis of the rotating assembly 200. In this way, a smaller number of proximal end balls 530 can be used. In this way, not only can the weight of the driving device 10 be reduced, so that the blood pump 1 has a lighter weight, but also the power required for starting the driving device 10 can be reduced, so that the rotating assembly 200 can be started smoothly.

[0262] Generally, the distal end of the housing 100 (specifically, the distal end sleeve 410) is provided with a distal end shaft hole 411, the rotating shaft 210 of the rotating assembly 200 passes through the distal end shaft hole 411, and a gap is reserved between the rotating shaft 210 and the inner circumferential surface of the distal end shaft hole 411, which is used for discharging the flushing liquid in the housing 100 into the cannula assembly 20 of the blood pump 1 to prevent the blood from flowing back into the inside of the housing 100. Due to the existence of the gap, the rotating shaft 210 may have a tendency to occur radial deflection when rotating. However, in the present application, since the plurality of proximal balls 530 of the proximal bearing 500 jointly support the rotating assembly 200 along the different directions of the circumferential direction of 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 situation of radial deflection.

[0263] In addition, in combination with the aforementioned distal bearing 400, the plurality of distal balls 430 (or the distal spherical protrusions 440) of the distal bearing 400 form a plurality of support points for the distal outer circumference of the rotating shaft 210, and the plurality of proximal balls 530 of the proximal bearing 500 form a plurality of support points for the proximal outer circumference of the rotating shaft 210, so that both ends of the rotating shaft 210 are supported by a plurality of support points, so that the rotating assembly 200 is not easy to occur radial deflection. And, in theory, even if the rotating assembly 200 has a tendency to occur radial deflection, the plurality of proximal balls 530 and the plurality of distal balls 430 (or the distal spherical protrusions 440) relatively roll (or slide) in the same direction, so that both ends of the rotating shaft 210 can simultaneously move radially (that is, the central axis of the rotating shaft 210 moves radially), without deflection, reducing the situation of the rotating shaft 210 being stuck and the like.

[0264] Further, even if the rotating assembly 200 occurs small-amplitude radial deflection, at this time the distal bearing 400 will contact the matching wall 502 with the proximal ball 530 on one side as a fulcrum, and the proximal ball 530 on the other side will temporarily loosen from the matching wall 502, thereby reducing the number of proximal balls 530 in contact with the matching wall 502, reducing the contact points of the proximal fitting 520 and the proximal sleeve 510, and further reducing the resistance of the rotating shaft 210 during deflection, avoiding the rotating shaft 210 being stuck, so that the rotating shaft 210 is easier to restore to the original stable state.

[0265] It can be understood that the number of proximal balls 530 can also be one. For example, in other embodiments, the proximal bearing 500 only includes one proximal ball 530 and at least one fixed proximal spherical protrusion (not shown in the figure, and the specific design can refer to the aforementioned distal spherical protrusion 440), the proximal spherical protrusion and the proximal ball 530 are jointly arranged 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 the two are axially abutted with the abutting wall 402 of the proximal fitting 520.

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

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

[0268] Referring to FIG. 27 and FIG. 29-A to FIG. 29-C , the proximal end fitting 520 is provided in a disc-shaped structure. The proximal end fitting 520 is accommodated in the accommodation cavity 101 of the housing 100. Since the proximal end ball 530 is movably mounted to the proximal end sleeve 510; the proximal end portion of the proximal end fitting 520 facing the proximal end sleeve 510 is the mating wall 502, which is located distally of the proximal end ball 530 and abuts the proximal end ball 530.

[0269] Optionally, the distal end of the proximal end fitting 520 is fixed to the proximal end of the rotating shaft 210. The proximal end of the proximal end fitting 520 is provided with a rotating column 522, which is coaxial with the rotating shaft 210 and rotatably penetrates the proximal end sleeve 510. Specifically, the proximal end sleeve 510 is provided with a proximal end shaft hole 512, which is in rotational cooperation with the rotating column 522. Correspondingly, the plurality of proximal end balls 530 are arranged around the rotating column 522.

[0270] The proximal end fitting 520 can be an independent component, i.e. the proximal end fitting 520 is formed separately from the rotating shaft 210, and the proximal end fitting 520 can be connected and fixed to the rotating shaft 210 by welding or adhesion. In some embodiments, the proximal end fitting 520 can also be integrally formed with the rotating shaft 210. In the present embodiment, the proximal end fitting 520 is formed separately from the rotating shaft 210. Specifically, the distal end of the proximal end fitting 520 is further provided with a plug hole 521, and the proximal end of the rotating shaft 210 is fixed in the plug hole 521. The proximal end of the rotating shaft 210 and the plug hole 521 are connected by welding or filled with adhesive.

[0271] Optionally, the plug hole 521 is a blind hole having a bottom wall 521a; the proximal end of the rotating shaft 210 is the mounting end 212, which is fixed in the plug hole 521 and abuts the end face of the mounting end 212 with the bottom wall 521a.

[0272] Generally, in some conventional technologies, the proximal end of the rotating shaft 210 is usually provided with a ball head, and the proximal end of the shell 100 is provided with a movable recess, so that the ball head of the rotating shaft 210 is installed in the movable recess, and the ball head abuts against the inner wall of the movable recess and can move in the movable recess. Since the distal end of the rotating shaft 210 passes through the shaft hole at the distal end of the shell 100, when the ball head of the rotating shaft 210 is installed in the movable recess, the rotating shaft 210 and the movable recess need to be kept in high coaxiality, so that the ball head of the rotating shaft 210 can be smoothly installed in the movable recess. That is, the rotating shaft 210 of the driving device 10 in the conventional technology is assembled by the ball head and the movable recess, and the coaxiality of the rotating shaft 210 and the movable recess is required to be high, which increases the manufacturing difficulty of the driving device 10.

[0273] In comparison, in the embodiment of the present application, the proximal end of the rotating shaft 210 of the driving device 10 does not need to be provided with a ball head, and the proximal end of the rotating shaft 210 can be directly fixed to the insertion hole 521 of the proximal accessory 520. The proximal end of the rotating shaft 210 does not need to abut against the inner wall of the insertion hole 521, so the coaxiality requirement of the rotating shaft 210 and the insertion hole 521 is relatively low. In the assembly process, the plurality of proximal balls 530 between the proximal accessory 520 and the proximal shaft sleeve 510 roll relative to the fitting wall 502, which can fine-tune the position of the proximal accessory 520 (i.e. the position of the rotating column 522) to make the rotating column 522 and the proximal shaft sleeve 510 tend to be coaxial, so that the assembly difficulty of the proximal accessory 520 and the proximal shaft sleeve 510 can be reduced. As can be seen, the proximal bearing 500 can reduce the coaxiality requirement of the rotating shaft 210 and the proximal bearing 500 when the rotating shaft 210 is installed, 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 accessory 520, so that the proximal end of the rotating shaft 210 is rotatably arranged in the proximal shaft hole 512 of the proximal shaft sleeve 510; in this case, the plurality of proximal balls 530 are arranged around the rotating shaft 210 at intervals.

[0275] Referring to FIG. 27 The proximal end of the shell 100 is also provided with a proximal limiting groove 143, which is located distally of the fixing groove 141; the diameter of the proximal limiting groove 143 is greater than that of the fixing groove 141, and the proximal accessory 520 is at least partially accommodated in the proximal limiting 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 limiting groove 143.

[0276] Due to the existence of the gap, when the rotating assembly 200 drives the proximal end fitting 520 to rotate, the outer circumferential surface of the proximal end fitting 520 is not easy to contact the inner circumferential surface of the proximal limiting groove 143, and friction between the proximal end fitting 520 and the inner circumferential surface of the proximal limiting groove 143 can be avoided. Since the proximal end fitting 520 is limited to rotate in the proximal limiting groove 143, the rotating assembly 200 is not easy to have a large amplitude of deflection.

[0277] Referring to FIG. 27 and FIG. 30-A and FIG. 30-B For the proximal end sleeve 510, the proximal end sleeve 510 is an independent component, which can be connected and fixed with the shell 100 by bonding, welding or the like. Alternatively, the proximal end of the shell 100 is provided with a fixing pin 140, and the fixing pin 140 is provided with a fixing groove 141; the proximal end sleeve 510 is installed in the fixing groove 141. Of course, in other embodiments, the proximal end sleeve 510 can be a component integrally formed with the shell 100.

[0278] The proximal end sleeve 510 has a second end surface 511, and the second end surface 511 and the matching wall 502 of the proximal end fitting 520 are axially opposite and spaced apart. A plurality of proximal end balls 530 are movably installed in the proximal end sleeve 510, and a part of each proximal end ball 530 protrudes from the first end surface 421, that is, a part of the proximal end ball 530 is located between the second end surface 511 and the matching wall 502 to abut against the matching wall 502.

[0279] Referring to FIG. 27 and FIG. 30-A and FIG. 30-B The proximal end sleeve 510 is provided with a proximal end mounting groove 503, the proximal end mounting groove 503 has a slot 503c, and the proximal end mounting groove 503 correspondingly installs the proximal end ball 530 therein. A part of the outer circumferential surface of the proximal end ball 530 extends outward from the slot 503c of the proximal end mounting groove 503, so that the proximal end ball 530 has a built-in part 532 accommodated inside the proximal end mounting groove 503, and an outward protruding part 531 extending outside the proximal end mounting groove 503. Among them, the spherical surface 501 located on the outward protruding part 531 abuts against the matching wall 502.

[0280] It can be understood that the proximal end ball 530 is a sphere. The entire outer circumferential wall of the proximal end ball 530 is a spherical surface. Therefore, no matter in which direction the proximal end ball 530 rolls or rolls to any position, the proximal end ball 530 will have an outward protruding part 531 outside the proximal end mounting groove 503, and the spherical surface 501 located on the outward protruding part 531 can abut against the matching wall 502.

[0281] In this embodiment, the proximal bushing 510 is provided with multiple proximal mounting slots 503, which are arranged at intervals around the rotating shaft. At least one proximal ball bearing 530 is installed in each proximal mounting slot 503. Since the multiple proximal balls 530 are installed in different proximal mounting slots 503, the proximal balls 530 in each proximal mounting slot 503 do not interfere with each other. When the rotating assembly 200 rotates, the multiple proximal balls 530 are driven by the rotating assembly 200 to roll in their respective proximal mounting slots 503. The proximal balls 530 in any two adjacent proximal mounting slots 503 will not squeeze or pile up against each other, allowing each proximal ball 530 to roll freely. Therefore, the proximal balls 530 in different positions can adapt their movement according to the magnitude and direction of the force they receive. Furthermore, this reduces the power required to start the drive device 10, allowing the rotating assembly 200 to start smoothly.

[0282] Of course, in other embodiments, the proximal bushing 510 may also have 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, and the plurality of proximal balls 530 surround the central axis of the rotating assembly 200.

[0283] See FIG. 28 and FIG. 30-A and FIG. 30-B The protruding portion 531 of the proximal ball 530 has an abutment point N1 for abutting against the mating wall 502. The axial distance between the abutment point N1 and the groove 503c is also the axial height H of the proximal ball 530 protruding outward from the groove 503c of the proximal mounting groove 503. n1 If the axial height H n1 If the distance is too small, the gap between the second end face 511 and the mating wall 502 will be small, and the two are prone to interference, affecting the smoothness of the rotation of the shaft 210.

[0284] Therefore, optionally, the axial height H n1 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 bearing 530, D n This indicates the diameter of the proximal ball 530. This ensures that after the protrusion 531 abuts against the mating wall 502, there is a sufficient gap between the second end face 511 and the mating wall 502, making it less likely for them to interfere with each other and improving the rotational stability of the shaft 210.

[0285] Of course, the axial height H n1It is also not appropriate to design too large, otherwise it will occupy the shell 100 larger axial space; and, when the proximal end of the ball 530 activity, the proximal end of the ball 530 can fall out of the proximal mounting groove 503. Therefore, optionally, the axial height H n1 less than the radius of the proximal end of the ball 530, that is, H n1 R. This can make the proximal end of the ball 530 built-in part 532 of the volume of at least half the volume of the proximal end of the ball 530, so that the proximal end of the ball 530 ball center will fall inside the proximal mounting groove 503, thereby reducing the risk of the proximal end of the ball 530 from the proximal mounting groove 503 fall out.

[0286] Referring to FIG. 28 and FIG. 30-A and FIG. 30-B , the proximal mounting groove 503 has a groove bottom wall 503a and a groove side wall 503b disposed along the circumference of the groove bottom wall 503a; the built-in part 532 of the proximal end of the ball 530 abuts the groove bottom wall 503a, and the built-in part 532 of the proximal end of the ball 530 also tangential to the groove side wall 503b.

[0287] The groove bottom wall 503a is a vertical wall perpendicular to the central axis of the proximal end of the sleeve 510. The proximal end of the ball 530 is tangent to the groove bottom wall 503a, and the tangent position is the abutting position. In other embodiments, the groove bottom wall 503a can be a spherical wall.

[0288] The groove side wall 503b is perpendicular to the groove bottom wall 503a. The groove side wall 503b can be a cylindrical surface, and the contact between the proximal end of the ball 530 and the groove side wall 503b is a line contact. The groove side wall 503b can also be composed of multiple planes, and the contact between the proximal end of the ball 530 and the groove side wall 503b is a point contact. In other embodiments, the groove side wall 503b can form an inclined angle with the groove bottom wall 503a.

[0289] The position where the built-in part 532 of the proximal end of the ball 530 is tangent to the groove side wall 503b is defined as the tangent position N2, and the tangent position N2 to the groove opening 503c of the proximal mounting groove 503 has a tangent depth H n2 . Obviously, the tangent depth H n2 needs to be less than the radius R of the proximal end of the ball 530 (that is, H n2 R, R = 1 / 2D n , D n is the diameter of the proximal end of the ball 530) to make a part of the proximal end of the ball 530 protrude outward from the groove opening 503c of the proximal mounting groove 503 to form an outward protruding part 531. However, the tangent depth H n2 should not be too small, otherwise the proximal end of the ball 530 is easy to fall out of the proximal mounting groove 503.

[0290] Therefore, optionally, the tangent depth H n2greater than or equal to 1 / 2 of the radius of the proximal ball 530, i.e., 1 / 2R≤H n2 In this way, the volume of the built-in part 532 of the proximal ball 530 is greater than half of the volume of the proximal ball 530. In this way, the center of the proximal ball 530 falls 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 the axial height H n1 are equal to the radius R of the proximal ball 530, i.e., H n1 +H n2 =R. Further, the cutting depth H n2 is also greater than the axial height H n1 , so that 1 / 3R≤H n1 <H n2 <R. In this way, the proximal ball 530 can be prevented from falling out of the proximal mounting groove 503, and the outer convex part 531 of the proximal ball 530 has sufficient height to abut against the abutment wall 502.

[0292] Referring to FIG. 28 and FIG. 30-A and FIG. 30-B , the plurality of proximal balls 530 are arranged along an annular region of the outer periphery of the rotating column 522. The plurality of proximal balls 530 can be arranged at equal intervals or non-equal intervals in the annular region. Alternatively, at least two of the proximal balls 530 are located on opposite sides of the rotating shaft 210. In this way, at least one fulcrum is provided on each of the opposite sides (e.g., left and right sides or front and back sides) of the rotating column 522, thereby reducing the risk of radial deflection of the rotating column 522 along the left and right sides.

[0293] The number of proximal balls 530 can be 2-10. For example, but not limited to, 3, 4, 5, 8, etc.

[0294] When the number of proximal balls 530 is 3, the three proximal balls 530 are arranged at equal intervals around the central axis of the rotating assembly 200 (which can be the rotating column 522 or the rotating shaft 210), and the centers of the three proximal balls 530 and the vertical connecting line of the central axis of the rotating assembly 200 form a Y shape. The three proximal balls 530 have good positioning effect on the rotating assembly 200, and the power required for starting the rotating assembly 200 is very small, and the rotating assembly 200 starts more stably.

[0295] When the number of proximal balls 530 is 4, the 4 proximal balls 530 are arranged equidistantly around the central axis of the rotating assembly 200 (which can be around the rotating column 522 or the rotating shaft 210), and the perpendicular connecting lines between the centers of the 4 proximal balls 530 and the central axis of the rotating shaft 210 form a cross shape.

[0296] The diameter D of the proximal ball 530 n may be 0.4mm~0.7mm, i.e. 0.4mm≤D≤0.7mm. n For example, the diameter D of the proximal ball 530 may be but is not limited to 0.45mm, 0.5mm, 0.55mm, 0.6mm, 0.65mm or 0.7mm. n

[0297] The outer circumferential surface (i.e. the spherical surface 401) of the proximal ball 530 can be provided with a ceramic surface. Specifically, the proximal ball 530 is made of ceramic material as a whole, so that the spherical surface 401 of the proximal ball 530 is 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. The ceramic material has high processing precision, high biocompatibility, high mechanical strength, good wear resistance and corrosion resistance.

[0298] Referring to FIG. 28 and FIG. 30-A and FIG. 30-B , the mating wall 502 that abuts against the proximal ball 530 can be provided with an annular groove 504 that surrounds the central axis of the rotating assembly 200. A part of the proximal ball 530 is accommodated 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 once. The part (i.e. the outer convex part 531) of the plurality of proximal balls 530 that protrudes from the proximal sleeve 510 is accommodated in the annular groove 504. When the rotating assembly 200 rotates, the plurality of proximal balls 530 are confined in the annular groove 504 to move, so that the rotating assembly 200 is less likely to deviate radially.

[0300] Referring to 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 tangent to the outer convex part 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, and the frictional resistance can be reduced. ​

[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 side wall 504b is concavely curved. The annular side wall 504b is concavely curved towards the direction away from the outer convex part 531. In this way, the area of the spherical surface 501 of the proximal ball 530 in contact with the annular side wall 504b is reduced, and the resistance of the proximal ball 530 moving in the annular groove 504 is reduced.

[0302] Optionally, a rounded wall 504c is arranged at the slot of the annular groove 504 to avoid sharp corners at the slot of the annular groove 504, so that the proximal ball 530 does not abrade too much when it contacts the slot.

[0303] The annular groove 504 is not necessary. In other embodiments, the fitting wall 502 is a flat wall without the concave-convex structure (e.g. the annular groove 504), and the fitting wall 502 is perpendicular to the central axis of the rotating shaft 210, so that the fitting wall 502 is tangent to the proximal ball 530. In this way, the contact between the proximal ball 530 and the fitting wall 502 is point contact at multiple scattered points, and the contact area is small, so the frictional resistance is small. Moreover, if the rotating shaft 210 is radially deflected, the proximal ball 530 can roll radially on the fitting wall 502, so that the resistance of the proximal ball 530 moving is reduced, the rotating shaft 210 is not jammed, and the rotating shaft 210 is easier to return to the original stable state.

[0304] The surface of the fitting wall 502 in contact with the proximal ball 530 can also be a ceramic surface. Specifically, the proximal fitting 520 is made of ceramic material as a whole, so that the fitting wall 502 is a ceramic surface. Of course, in other embodiments, the proximal fitting 520 can be made of hard metal material, and a layer of ceramic material is added to the surface of the fitting wall 502 of the proximal fitting 520 to form the ceramic surface.

[0305] Referring to FIG. 27 and FIG. 28 Since the proximal ball 530 is installed in the proximal mounting groove 503, and a part of the proximal ball 530 protrudes from the slot 503c of the proximal mounting groove 503, in order to avoid the proximal ball 530 from falling out of the proximal mounting groove 503, in the embodiment, the rotating column 522 is rotatably arranged 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 fitting 520; the proximal bearing 500 further comprises a limiting piece 523 arranged on the outer circumferential surface of the rotating column 522, and the limiting piece 523 is abuttable with the proximal sleeve 510.

[0306] Specifically, the limiting member 523 has a limiting surface 523a capable of abutting against the proximal shaft sleeve 510. During assembly, the proximal ball 530 can be first installed into the proximal installation groove 503 of the proximal shaft sleeve 510; then the rotating column 522 of the proximal accessory 520 is inserted into the proximal shaft hole 512 of the proximal shaft sleeve 510; and then the limiting member 523 and the rotating column 522 are fixedly connected, so that the proximal accessory 520, the proximal shaft sleeve 510, the proximal ball 530 and the limiting member 523 are assembled into an integrated proximal bearing 500. In this way, the proximal shaft sleeve 510 is equivalent to being clamped between the proximal end surface of the proximal accessory 520 and the limiting surface 523a of the limiting member 523, and the proximal ball 530 is less likely to fall out of the proximal installation groove 503 during installation of the proximal bearing 500, thereby reducing the difficulty of installing the proximal bearing 500 and improving assembly efficiency.

[0307] In addition, when the rotating shaft 210 is offset in the Y+ direction, the limiting surface 523a of the limiting member 523 abuts against the proximal shaft sleeve 510 to limit the rotating shaft 210 from continuing to offset in the Y+ direction, so that the offset amount of the rotating shaft 210 is smaller and the rotating shaft 210 operates more stably; and the distance between the proximal accessory 520 and the proximal shaft sleeve 510 can be prevented from increasing, effectively preventing the proximal ball 530 from falling out of the proximal installation groove 503.

[0308] The limiting member 523 is preferably made of a hard material. The hard material can be a metal material or a ceramic material. The limiting member 523 can be ring-shaped. In other embodiments, the limiting member 523 can also be a C-shaped split ring, such as an E-Ring ring. Alternatively, the limiting member 523 can also be a radial protrusion on the outer circumferential surface of the rotating column 522.

[0309] Referring to FIG. 27 and FIG. 28 The bottom of the fixing groove 141 is provided with a sink groove 142 in communication with the flushing pipeline of the catheter 40. The side wall of the fixing groove 141 is provided with a fluid passage in communication with the flushing flow channel inside the housing 100. The limiting member 523 is accommodated in the sink groove 142.

[0310] Preferably, at least one of the proximal end of the limiting member 523 and the proximal end of the rotating column 522 abuts against the bottom of the sink groove 142, so as to limit the movement of the rotating column 522 in the Y- direction, thereby reducing the axial displacement of the rotating shaft 210. The outer diameter of the limiting member 523 can be smaller than the inner diameter of the sink groove 142, so as to leave a space between the outer circumferential surface of the limiting member 523 and the inner wall surface of the sink groove 142 for the flushing liquid to flow. The bottom of the sink groove 142 is provided with a liquid inlet hole (not shown in the figure) in communication with the flushing pipeline. The limiting member 523 does not block the liquid inlet hole.

[0311] FIG. 31A 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 aforementioned fifth embodiment in that the proximal end ball 530 is movably mounted on the proximal end fitting 520; the proximal end sleeve 510 has a mating wall 502, which abuts against the spherical surface 501 of the proximal end ball 530. Specifically, the proximal end fitting 520 has a mounting end surface opposite to the mating wall 502; the proximal end ball 530 is movably mounted on the proximal end fitting 520, and the proximal end ball 530 protrudes towards the mating wall 502 (i.e. along the Y-direction) relative to the mounting end surface and abuts against the mating wall 502.

[0312] The proximal end fitting 520 is also accommodated inside the housing 100. Since the proximal end ball 530 is movably mounted on the proximal end fitting 520; accordingly, the proximal end fitting 520 is provided with a plurality of proximal end mounting grooves 503, which are arranged in intervals around the rotation column 522. Each proximal end mounting groove 503 is provided with at least one proximal end ball 530, and a portion of the proximal end ball 530 protrudes from the slot of the proximal end mounting groove 503 to abut against the abutting wall 402 on the proximal end fitting 520. The shape and structure of the proximal end mounting groove 503 can be implemented with reference to the aforementioned first embodiment, and substantially the same technical effects can be achieved, which will not be described herein.

[0313] The proximal end sleeve 510 is fixed in the fixing groove 141 of the housing 100. The distal end wall of the proximal end sleeve 510 faces the proximal end fitting 520, so that the distal end wall of the proximal end sleeve 510 forms the mating wall 502. Similarly, the structure, position and fixing manner of the distal end sleeve 410 and the distal end fitting 420 can be implemented with reference to the aforementioned first embodiment, and substantially the same technical effects can be achieved, which will not be described herein. For example, the proximal end fitting 520 is provided with the rotation column 522 and the insertion hole 521 as in the aforementioned fifth embodiment; the proximal end (i.e. the mounting end 212) of the rotating shaft 210 is fixed in the insertion hole 521; and the rotation column 522 is rotationally fitted with the proximal end shaft hole 512 provided on the proximal end sleeve 510. The structure, position and fitting manner of the rotation column 522, the insertion hole 521 and the proximal end shaft hole 512 can be implemented with reference to the aforementioned first embodiment, which will not be described herein.

[0314] FIG. 32 to FIG. 37 A seventh embodiment of the driving device 10 of the present application is shown. Referring to FIG. 32 and FIG. 33The driving device 10 comprises a housing 100, a rotating assembly 200, a stator 300, a distal end bearing 400 and an auxiliary bearing 600. The rotating assembly 200 is rotatably mounted on the housing 100; the stator 300 is fixedly connected with the housing 100 and capable of driving the rotor 220 to rotate. The distal end bearing 400 is arranged at the distal end of the housing 100 and adjacent to the connecting end 211 of the rotating assembly 200; the auxiliary bearing 600 is located between the distal end bearing 400 and the stator 300; the rotating assembly 200 penetrates through the distal end bearing 400 and the auxiliary bearing 600, so that the auxiliary bearing 600 and the distal end bearing 400 can jointly support the rotating assembly 200 to rotate.

[0315] When the rotating assembly 200 rotates, the connecting end 211 of the rotating assembly 200 outputs torque to the impeller 50, so that the part of the rotating assembly 200 adjacent to the connecting end 211 is more likely to have radial deflection. Therefore, in the seventh embodiment of the present application, the auxiliary bearing 600 is added between the distal end bearing 400 and the stator 300, so as to jointly support the rotating assembly 200 to rotate by the auxiliary bearing 600 and the distal end bearing 400, which can improve the strength of supporting the rotating assembly 200, thereby reducing the risk of radial deflection of the rotating assembly 200, improving the stability of the rotating assembly 200 in operation, and further improving the operation efficiency of the driving device 10.

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

[0317] As introduced above, the distal end bearing 400 can limit the movement of the rotating assembly 200 in the direction from the proximal end of the housing 100 to the distal end thereof (i.e. 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 member located at the proximal end of the housing 100, which can be a fixed shaft sleeve 160 (see FIG. 3 ) or a proximal end bearing 500 (see FIG. 26 ), which can limit the movement of the rotating assembly 200 in the direction from the distal end of the housing 100 to the proximal end thereof (i.e. Y- direction), so that the support member and the distal end bearing 400 cooperate to keep the rotating assembly 200 stable in the axial direction.

[0318] In this case, in the manufacturing or assembling of the driving device 10, it is required to require the support member and the distal end bearing 400 to maintain a high coaxiality (i.e. the central axis of the support member and the central axis of the distal end bearing 400 are on the same straight line), so that the two ends of the rotating assembly 200 can be accurately connected to the corresponding support member and distal end bearing 400 during assembly. Moreover, the axial distance between the support member and the distal end bearing 400 is far apart and is separated by the stator 300. Therefore, in the manufacturing process, the accuracy requirements of the structure of the support member and the distal end bearing 400 and their installation 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 member and the distal end bearing 400, thereby causing the manufacturing difficulty of the driving device 10 to be relatively large, which reduces the manufacturing efficiency of the driving device 10.

[0319] Referring to FIG. 32 to FIG. 34 , in view of the above, in the present embodiment, the auxiliary bearing 600 is arranged to at least limit the movement of the rotating assembly 200 in the direction from the distal end of the housing 100 to the proximal end thereof (i.e. the Y-direction). When the rotating assembly 200 has a tendency to move in the Y+ direction, the distal end ball 430 (or the distal end spherical protrusion 440) of the distal end bearing 400 and the abutting wall 402 abut 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 easy to displace 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 easy to displace in the Y- direction.

[0320] Therefore, through the cooperation of the auxiliary bearing 600 and the distal end bearing 400, the movement of the rotating assembly 200 in the Y+ and Y- directions can be limited, so that the rotating assembly 200 cannot easily displace axially. Therefore, the proximal end of the rotating assembly 200 can not need to be mounted to any support member (such as a shaft sleeve or a bearing), so that the support member can be removed, and the proximal end of the rotating assembly 200 can be suspended in the interior of the housing 100 (see FIG. 32 and FIG. 34 ). In the manufacturing or assembling of the driving device 10, the coaxiality of the support member and the distal end bearing 400 does not need to be considered.

[0321] Further, 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 small, and both are located on the same side of the stator 300 and are not separated by the stator 300. In manufacturing and assembly, it is easier to adjust the coaxiality of the auxiliary bearing 600 and the distal bearing 400, which reduces the requirement for the coaxiality of the auxiliary bearing 600 and the distal bearing 400, thereby effectively improving the manufacturing efficiency of the driving device 10.

[0322] As for the auxiliary bearing 600, the auxiliary bearing 600 can 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 (i.e. along the direction from the distal bearing 400 to the stator 300).

[0323] Referring to FIG. 32 and FIG. 33 In the present embodiment, the auxiliary bearing 600 includes an auxiliary base 610, an auxiliary fitting 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 arranged through the auxiliary base 610. The auxiliary fitting 620 is located between the auxiliary base 610 and the distal bearing 400, and the auxiliary fitting 620 is fixedly connected to the rotating assembly 200. The auxiliary spherical member 630 is arranged in one of the auxiliary base 610 and the auxiliary fitting 620, and the other one of the auxiliary base 610 and the auxiliary fitting 620 has a limiting wall 602 which axially abuts against the spherical surface 601 of the auxiliary spherical member 630. 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 along the axial direction and abut against each other.

[0324] Specifically, one of the auxiliary base 610 and the auxiliary fitting 620 in which the auxiliary spherical member 630 is arranged has a mounting end face opposite to the limiting wall 602. At least a part of the auxiliary spherical member 630 protrudes towards the limiting wall 602 relative to the mounting end face, so as to abut against the limiting wall 602.

[0325] When the rotating assembly 200 has a tendency to move along the Y-direction, the auxiliary bearing 600 abuts against the limiting wall 602 along the axial direction through the auxiliary spherical part 630, so that the rotation shaft 210 can be limited to move along the Y-direction, so that the rotating assembly 200 is not prone to displacement along the Y-direction. During the start-stop and operation of the driving device 10, the auxiliary bearing 600 abuts against the limiting wall 602 along the axial direction through the auxiliary spherical part 630, so that the rotating assembly 200 is not prone to axial displacement, so that the rotating assembly 200 and the fixed part at the distal end of the housing 100 can be prevented from colliding, the risk of failure of the driving device 10 is reduced, and the service life is prolonged. On the other hand, the friction between the auxiliary spherical part 630 and the limiting wall 602 in the axial ball bearing is rolling friction, the friction resistance is small, and the efficiency of the driving device 10 can be improved.

[0326] Further, the inner wall surface of the distal end shaft hole 411 of the distal end shaft sleeve of the distal end bearing 400 cooperates with the peripheral surface of the rotation shaft 210 to form a radial sliding bearing, which is referred to as a first radial sliding bearing. The rotation shaft 210 is rotatably arranged through the auxiliary base 610 of the auxiliary bearing 600, so the auxiliary base 610 should be provided with an auxiliary shaft hole 612 through which the rotation shaft 210 passes. The inner wall surface of the auxiliary shaft hole 612 cooperates with the peripheral surface of the rotation shaft 210 to also form a radial sliding bearing, which is referred to as a 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 supporting the rotation shaft 210 can be effectively increased, and the rotation shaft 210 can be better positioned, so that the radial movement of the rotation shaft 210 can be more effectively limited, so that the rotation shaft 210 is difficult to occur radial deflection, and the stability of the rotation of the rotation shaft 210 is improved.

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

[0328] In this embodiment, the auxiliary accessory 620 has a limiting wall 602; the auxiliary base 610 has a mounting end surface opposite the limiting wall 602. The auxiliary spherical part 630 is arranged on the auxiliary base 610, and the auxiliary spherical part 630 protrudes towards 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 can have the limiting wall 602; the auxiliary fitting 620 has a mounting end face opposite to the limiting wall 602. The auxiliary spherical member 630 is arranged on the auxiliary fitting 620, and the auxiliary spherical member 630 protrudes towards the limiting wall 602 relative to the mounting end face and abuts against the limiting wall 602.

[0330] Referring to 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 or the like. Of course, in other embodiments, the auxiliary base 610 can be a component integrally formed with the shell 100. The auxiliary base 610 is arranged in 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 accommodation cavity 101, and the proximal end wall of the auxiliary base 610 serves as the limiting wall 602.

[0331] Optionally, the distal end of the shell 100 is provided with a mounting hole 103, and the mounting hole 103 and the accommodation cavity 101 are arranged along the axial direction; the mounting hole 103 is located distally of the accommodation cavity 101, and the auxiliary base 610 is mounted in the mounting hole 103. Specifically, the auxiliary base 610 and the distal end shaft sleeve 410 are both accommodated in the mounting hole 103, and the auxiliary base 610 and the distal end shaft sleeve 410 are both fixedly connected with the shell 100. Specifically, the auxiliary base 610 and the distal end shaft sleeve 410 can be fixedly connected with the inner circumferential surface of the mounting hole 103.

[0332] A radial boss 104 is arranged between the mounting hole 103 and the accommodation cavity 101, and the radial boss 104 has a support surface 104a facing away from the accommodation cavity 101, and the auxiliary base 610 is fixedly connected with the support surface 104a. The support surface 104a can support the auxiliary base 610 and share the axial force in 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 inwardly relative to the inner circumferential surface of the mounting hole 103. The radial boss 104 can be an annular boss extending along the inner circumferential surface of the mounting hole 103; or can be composed of at least two protrusions arranged at intervals along the inner circumferential surface 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 with the rotating shaft 210, and a gap is provided between the outer circumferential surface of the auxiliary accessory 620 and the inner circumferential surface of the mounting hole 103, which allows the auxiliary accessory 620 to rotate in the mounting hole 103. Similarly, a gap is also provided between the outer circumferential surface of the distal accessory 420 and the inner circumferential surface of the mounting hole 103, which allows the distal accessory 420 to rotate in the mounting hole 103.

[0335] The auxiliary accessory 620 is provided in a disc structure. The auxiliary accessory 620 can be integrally formed with the rotating shaft 210, which can improve the connection firmness of the auxiliary accessory 620 and the rotating shaft 210 and reduce the processing procedures. Of course, in other embodiments, the auxiliary accessory 620 can be a separate component, i.e., the auxiliary accessory 620 is separately formed with the rotating shaft 210, and the auxiliary accessory 620 can be connected and fixed with the rotating shaft 210 by welding or bonding.

[0336] In the embodiment, the auxiliary accessory 620 and the distal accessory 420 are two independent components. The auxiliary accessory 620 and the distal accessory 420 are respectively fixedly connected with the rotating shaft 210. The auxiliary accessory 620 and the distal accessory 420 are arranged in the axial direction. The distal end surface of the auxiliary accessory 620 and the proximal end surface of the distal accessory 420 are fixedly connected. This can improve the installation firmness of the auxiliary accessory 620 and the distal accessory 420. Moreover, the auxiliary accessory 620 and the distal accessory 420 are fixedly connected, which is equivalent to that the auxiliary bearing 600 and the distal bearing 400 abut in the axial direction, which can effectively prevent the rotating assembly 200 from moving in the axial direction.

[0337] Of course, in other embodiments, the auxiliary accessory 620 and the distal accessory 420 can also be integrally formed as one component. For example, referring to FIG. 35 The driving device 10 has a rotating disc 700, which is fixedly connected with the rotating shaft 210 and located between the distal shaft sleeve 410 and the auxiliary base 610. The rotating disc 700 has a distal portion and a proximal portion. The distal portion of the rotating disc 700 serves as the distal accessory 420, and the proximal portion of the rotating disc 700 serves as the auxiliary accessory 620.

[0338] Referring to FIG. 33 and FIG. 36For the auxiliary spherical members 630, it can be understood that the auxiliary spherical members 630 can be complete spheres or can be a part of a sphere. It is only required that the auxiliary spherical members 630 can form a spherical surface 601 with a proper area. The number of the auxiliary spherical members 630 can be multiple, and the multiple auxiliary spherical members 630 are arranged around the rotation shaft 210. The multiple auxiliary spherical members 630 from different directions around the rotation shaft 210 jointly support the rotating assembly 200, which can reduce the radial deflection of the rotating assembly 200 and improve the stability of the rotating assembly 200.

[0339] Optionally, the multiple auxiliary spherical members 630 are arranged at intervals around the rotation 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 when the driving device 10 starts can be reduced, so that the rotating assembly 200 can be started smoothly.

[0340] Of course, in other embodiments, the multiple auxiliary spherical members 630 can also be arranged around the rotation shaft 210 and sequentially abut, that is, the adjacent two auxiliary spherical members 630 are in contact.

[0341] The multiple auxiliary spherical members 630 can all be movable balls. Alternatively, in other embodiments, the multiple auxiliary spherical members 630 all are fixed spherical protrusions. Of course, in still other embodiments, part of the multiple auxiliary spherical members 630 are movable balls, and part of the multiple auxiliary spherical members 630 are fixed spherical protrusions. In the present embodiment, the multiple auxiliary spherical members 630 are all balls.

[0342] In the present embodiment, the multiple auxiliary spherical members 630 are all balls. In this way, the auxiliary bearing formed by the combination of the auxiliary base 610, the auxiliary fitting 620 and the auxiliary spherical members 630 is an axial ball bearing. The friction between the auxiliary spherical members 630 and the limiting wall 602 in the axial ball bearing is rolling friction, and the frictional 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 rotate through the auxiliary shaft hole 612. The auxiliary base 610 is in sliding fit with the outer periphery of the rotating shaft 210 through the inner periphery of the auxiliary shaft hole 612, so that the auxiliary base 610 and the outer periphery of the rotating shaft 210 combine to form a radial sliding bearing, which can limit the radial movement of the rotating shaft 210 and reduce the situation of radial deflection of the rotating shaft 210. That is, the auxiliary bearing 600 can form an axial ball bearing by combining the auxiliary base 610 with the auxiliary accessory 620 and the auxiliary spherical part 630 to limit the axial movement of the rotating shaft 210; and also form a radial sliding bearing by combining the inner periphery of the auxiliary shaft hole 612 of the auxiliary base 610 with the outer periphery of the rotating shaft 210 to limit the radial movement of the rotating shaft 210. The axial ball bearing and the radial sliding bearing cooperate with each other to enable the rotating shaft 210 to rotate stably, improve the coaxiality of the central axis of the rotating shaft 210 and the central axis 11 of the shell 100 during the operation of the rotating shaft 210, and thus reduce the collision between the rotating shaft 210 and the shell 100 and other components, effectively reducing the risk of failure of the driving device 10.

[0344] It should be noted that when the rotating shaft 210 rotates stably, the central axis of the rotating shaft 210 coincides with the central axis 11 of the shell 100. If the rotating shaft 210 has a small radial deflection, the central axis of the rotating shaft 210 intersects the central axis 11 of the shell 100.

[0345] Referring to FIG. 33 , FIG. 36 and FIG. 37 , the auxiliary spherical part 630 is movably mounted on the auxiliary base 610, and a part of the auxiliary spherical part 630 protrudes from the distal end face of the auxiliary base 610, so that a part of the auxiliary spherical part 630 is located between the distal end face of the auxiliary base 610 and the limiting wall 602 to abut against the limiting wall 602.

[0346] To facilitate the installation of the auxiliary spherical part 630, the auxiliary base 610 is provided with a mounting groove 603 having a slot 603c. The auxiliary spherical part 630 is movably mounted in the mounting groove 603; and a part of the auxiliary spherical part 630 extends outward from the slot 603c of the mounting groove 603, so that the auxiliary spherical part 630 has an embedded part 632 accommodated inside the mounting groove 603 and an outward protruding part 631 extending outside the mounting groove 603. Among them, the spherical surface 601 on the outward protruding part 631 abuts against the limiting wall 602.

[0347] It can be understood 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 in which direction the auxiliary spherical member 630 rolls or rolls to which position, the auxiliary spherical member 630 will have an outer convex portion 631 outside the assembly groove 603, and the spherical surface 601 on the outer convex portion 631 is used to abut against the limiting wall 602.

[0348] Optionally, the auxiliary assembly 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 grooves 603 do not interfere with the auxiliary spherical members 630 in other assembly grooves 603. When the driving device 10 starts, the starting power of the driving device 10 is small, and the starting operation of the rotating assembly 200 is more stable.

[0349] In addition, when the rotating assembly 200 rotates, the plurality of auxiliary spherical members 630 are driven by the rotating assembly 200 to respectively roll in their corresponding assembly grooves 603, and the auxiliary spherical members 630 in any adjacent assembly grooves 603 will not push each other, so that each auxiliary spherical member 630 can freely roll. Therefore, the auxiliary spherical members 630 at different positions can adaptively move according to the size and direction of the force received.

[0350] Continuing to refer to FIG. 33 , FIG. 36 and FIG. 37 , the outer convex portion 631 of the auxiliary spherical member 630 has an abutting point S1 for the limiting wall 602 to abut against. Here, the abutting point S1 of the auxiliary spherical member 630 and the limiting wall 602 are tangent. The auxiliary spherical member 630 has an axial height H s1 of the outer convex portion 631 protruding outward from the slot opening 603c of the assembly groove 603. The axial height H s1 is the axial distance between the abutting point S1 and the slot opening 603c, and is also the axial distance between the distal end face 611 and the limiting wall 602.

[0351] If the axial height H s1 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, and when the rotating shaft 210 rotates, wear or collision will occur between the distal end face 611 and the limiting wall 602. Therefore, the axial height H s1 is optionally greater than or equal to 1 / 3 times 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 sThe diameter of the auxiliary spherical part 630 is represented. In this way, after the outer convex part 631 abuts against the limiting wall 602, the distal end face 611 and the limiting wall 602 are spaced apart by a sufficient distance, and the two are not likely to interfere with each other, thereby avoiding wear or collision between the two, and improving the stability of the rotation of the rotating shaft 210.

[0352] Of course, the axial height H s1 should not be designed to be too large, otherwise it will occupy a large axial space of the shell 100, and it is easy to increase the risk of the auxiliary spherical part 630 falling out of the assembly groove 603. Therefore, optionally, the axial height H s1 is less than the radius of the auxiliary spherical part 630, that is, H s1 <R. In this way, the volume of the built-in part 632 of the auxiliary spherical part 630 accounts for at least half of the volume of the auxiliary spherical part 630, so that the center of the auxiliary spherical part 630 falls inside the assembly groove 603, thereby reducing the risk of the auxiliary spherical part 630 falling out of the assembly groove 603.

[0353] Continuing to refer to 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 part 632 of the auxiliary spherical part 630 abuts against the groove bottom wall 603a, and the built-in part 632 of the auxiliary spherical part 630 also tangentially abuts against the groove side wall 603b.

[0354] The groove bottom wall 603a is a plane wall perpendicular to the central axis of the auxiliary spherical part 620. At this time, the auxiliary spherical part 630 tangentially abuts against the groove bottom wall 603a, and the tangential position is the abutting 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, and the contact between the auxiliary spherical part 630 and the groove side wall 603b is a line contact. The groove side wall 603b can also be composed of multiple planes, and the contact between the auxiliary spherical part 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 built-in part 632 of the auxiliary spherical part 630 tangentially abuts against the groove side wall 603b is defined as a tangent position S2, and the tangent position S2 and the groove opening 603c of the assembly groove 603 have a tangent depth H S2 . Obviously, the tangent depth H s2 needs to be less than the radius R of the auxiliary spherical part 630 (that is, H s2only when the cut-in depth H s2 is not too small, otherwise the auxiliary spherical member 630 is easy to fall out of the assembly groove 603.

[0357] Therefore, optionally, the cut-in depth H s2 is greater than or equal to 1 / 2 of the radius of the auxiliary spherical member 630, i.e. 1 / 2R≤H s2 <R. In this way, the volume of the built-in part 632 of the auxiliary spherical member 630 is greater than or equal to half of the volume of the auxiliary spherical member 630. In this way, the center of the auxiliary spherical member 630 falls 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 cut-in depth H s2 and the axial height H s1 are equal to the radius R of the auxiliary spherical member 630, i.e. H s1 +H s2 =R. Further, the cut-in depth H s2 is also greater than the axial height H s1 , so that 1 / 3R≤H s1 <H s2 <R. In this way, it can not only ensure that the auxiliary spherical member 630 is not easy to fall out of the assembly groove 603, but also make the outward protruding part 631 of the auxiliary spherical member 630 have sufficient height to abut against the limiting wall 602.

[0359] Also referring to FIG. 33 , FIG. 36 and FIG. 37 , the plurality of auxiliary spherical members 630 are arranged around the rotating shaft 210, which can be equidistantly arranged or non-equidistantly arranged. The rotating shaft 210 has an annular region, which is defined by an inner circle and an outer circle. It should be noted that the inner circle and the outer circle are virtual boundaries for defining the annular region, and the inner circle is located between the outer circle and the outer circumferential surface of the rotating shaft 210. The centers of the inner circle and the outer circle are located on the central axis of the rotating shaft 210. The inner circle and the outer circumferential surface of the rotating shaft 210 are radially spaced apart by a distance. The plurality of auxiliary spherical members 630 are arranged in the annular region.

[0360] The plurality of auxiliary spherical members 630 can be equidistantly arranged or non-equidistantly arranged in the annular region. Optionally, at least two of the auxiliary spherical members 630 are located on opposite sides of the rotating shaft 210. In this way, there are at least one fulcrum on each of the opposite sides (such as left and right sides or front and back sides) of the rotating shaft 210, which can reduce the radial deflection of the rotating shaft 210 along the left and right sides.

[0361] The number of auxiliary spherical parts 630 can be 2 to 10. For example, but not limited to 3, 5, 6, 8, etc.

[0362] See FIG. 11 The diameter D of the auxiliary spherical component 630 s The value is 0.4mm to 0.7mm, that is, 0.4mm ≤ D. s ≤0.7mm. The radius R of the auxiliary spherical component 630 is D. s Half of. For example, diameter D s The values ​​can be, but are 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 component 630 s The diameter D of the distal ball 430 f They are equal. This allows for the batch production of the auxiliary spherical part 630 and the distal ball bearing 430 using the same casting mold. During assembly, the auxiliary spherical part 630 and the distal ball bearing 430 can be used interchangeably, avoiding problems of mismatched assembly.

[0364] The outer surface of the auxiliary spherical component 630 can be a ceramic surface. Specifically, the entire auxiliary spherical component 630 is made of ceramic material, thus making its outer surface a ceramic surface. Alternatively, in other embodiments, the auxiliary spherical component 630 can be made of a hard metal material, with an additional layer of ceramic material added to its outer surface to form the ceramic surface. Ceramic materials offer high processing precision, high biocompatibility, high mechanical strength, and good wear and corrosion resistance.

[0365] See FIG. 4 and FIG. 14 The limiting wall 602 that abuts against the auxiliary spherical component 630 can be configured as a flat wall without any concave or convex structures. The limiting wall 602 is perpendicular to the central axis of the rotating shaft 210, making it tangent to the auxiliary spherical component 630. This ensures that during rotation of the rotating assembly 200, the auxiliary spherical component 630 maintains stable contact and relative rolling with the limiting wall 602. This ensures that each auxiliary spherical component 630 is tangent to the limiting wall 602, resulting in multiple scattered point contacts between the auxiliary spherical components 630 and the limiting wall 602, with a small contact area and low frictional resistance. Furthermore, if the rotating shaft 210 experiences radial wobble, the auxiliary spherical component 630 can roll radially on the limiting wall 602, reducing the resistance to its movement, preventing the rotating shaft 210 from jamming, and making it easier for the rotating shaft 210 to return to its original stable state.

[0366] The limiting wall 602 can also be provided 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 is correspondingly a ceramic surface. Of course, in other embodiments, the auxiliary base 610 can be made of hard metal material, and a layer of ceramic material is added to the surface of the auxiliary base 610 to form the ceramic surface.

[0367] Of course, in other embodiments, the limiting wall 602 can also be provided with an annular groove (such as the annular groove 504 described above), so that a part of the auxiliary spherical part 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 as listed in any of the first to third embodiments described above, or a distal bearing 400 with a distal spherical protrusion 440 as listed in any of the fourth to sixth embodiments described above.

[0369] Referring to FIG. 33 It can be understood that the rotating shaft 210 is rotatably arranged in the distal shaft hole 411 of the distal shaft sleeve 410, so that there is an inevitable gap 404 between the inner circumferential surface of the distal shaft hole 411 and the circumferential surface of the rotating shaft 210, which is small and narrow. In some related technologies, in order to avoid blood from the gap 404 into the inside of the housing 100 to form a blood clot, a flushing flow channel is usually arranged inside the housing 100, which is in communication with the gap 404, and flushing liquid is injected into the flushing flow channel, so that the flushing liquid is discharged outwardly through the gap 404 to prevent blood from entering the housing 100 to form a blood clot.

[0370] In the present embodiment, there are gaps 405 inside the distal bearing 400, which can be the gap between the distal shaft sleeve 410 and the distal fitting 420, or the gap between the distal mounting groove 403 and the distal ball 430. These gaps 405 are in communication with the gap 404. Therefore, an anti-coagulation gel (not shown in the figure) can be filled from the gap 404 into the gaps 405 inside the distal bearing 400, so that the anti-coagulation gel fills the gaps 405 and the gap 404. More anti-coagulation gel can be filled by using these gaps 405 and the gap 404. The anti-coagulation gel can prevent blood from entering the housing 100 and can prevent blood from forming a blood clot there. In this way, it is not necessary to arrange a flushing flow channel inside the housing 100, and the driving device 10 does not need to be connected to a flushing system, and the blood pump 1 can cancel the flushing system, simplifying the structure of the blood pump 1. It can be understood that the anti-coagulation gel does not affect the rotation of the rotating assembly 200.

[0371] Similarly, there are gaps 604 in the auxiliary bearing 600, which can be the gap between the auxiliary base 610 and the auxiliary fitting 620, the gap between the distal end mounting groove 403 and the distal end ball 430, and the gap between the inner circumferential surface of the auxiliary shaft hole 612 and the circumferential surface of the rotating shaft 210. These gaps 604 are in communication with the gaps 405 in the distal end bearing 400. Optionally, the anti-blood clotting gel is also filled in the auxiliary bearing 600, so that the anti-blood clotting gel fills the gaps 604 of the auxiliary bearing 600. In this way, the amount of anti-blood clotting gel can be further increased, and the anti-thrombosis effect can be enhanced.

[0372] Referring to FIG. 32 to FIG. 34 As described above, the proximal end of the rotating assembly 200 is suspended in the receiving cavity 101 inside the shell 100. In other words, the proximal end of the rotating assembly 200 is not connected to a support component such as a shaft 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 circumferential surface of the proximal end of the rotating assembly 200 and the inner circumferential 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 shell 100; the distance K1 between the proximal end surface of the receiving cavity 101 and the proximal end of the rotating assembly 200 in 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, the proximal end of the shell 100 is provided with a fixed pin 140, and the distal end surface of the fixed pin 140 is the proximal end surface of the receiving cavity 101. That is, the proximal end of the rotating assembly 200 is not connected to the fixed pin 140 at all, and there is no need to provide a shaft sleeve or a bearing on the fixed pin 140, so the volume of the fixed pin 140 can be correspondingly reduced, or even the fixed pin 140 can be removed.

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

[0376] It can be understood that the first shaft segment 214 has a first length K3. The first shaft segment 214 corresponds to the cantilever arm of the rotating assembly 200. The shorter the axial length of the stator 300, the shorter the required first length K3, and the smaller the length of the cantilever arm of the rotating assembly 200, so that the proximal end of the rotating assembly 200 is less likely to be deflected, and the suspended state of the proximal end of the rotating assembly 200 is more stable.

[0377] The second length K4 is longer, the effective length of the auxiliary bearing 600 and the distal bearing 400 supporting the rotating shaft 210 is longer, the support and positioning effect of the rotating shaft 210 is stronger, the cantilever arm (i.e. the first shaft segment 214) of the rotating assembly 200 is less likely to sway, and the cantilevered state of the proximal end of the rotating assembly 200 is more stable.

[0378] Therefore, optionally, the second length K4 is at least equal to 0.25 times the first length K3, i.e. K4≥0.25K3. In this way, the effective length of the auxiliary bearing 600 and the distal bearing 400 supporting the rotating shaft 210 is longer, and the axial space occupied is smaller, so that the axial length of the driving device 10 is not too large, and the blood pump is easier to push. 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 is not more than 0.5 times the first length K3, i.e. K4≤0.5K3. In this way, the axial length of the driving device 10 can be avoided to be too long, and the difficulty of the driving device 10 entering the human body is reduced.

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

[0381] Referring to FIG. 32 and FIG. 34 Optionally, the driving device 10 further includes a fixing member 216, and the fixing member 216 is located on the proximal side of the second rotor 222. The fixing member 216 is fixedly connected with the proximal end of the rotating shaft 210. The fixing member 216 is also fixedly connected with the second rotor 222, so that the proximal end of the rotating shaft 210 is fixed with the second rotor 222 and the fixing member 216. The second rotor 222 is less likely to fly off from the proximal end of the rotating shaft 210 when rotating.

[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 with the rotating shaft 210.

[0383] FIG. 38An eighth embodiment of the driving device 10 of the present application is shown. The difference between the eighth embodiment and the seventh embodiment described above is that the proximal end of the housing 100 is provided with a movable slot 150 having a bottom wall 151 and a side wall 152, and the proximal end of the rotating shaft 210 is provided with a ball head 213 rotatably mounted in the movable slot 150, the ball head 213 having a spherical crown surface 213a in sliding abutment with the bottom wall 151 and tangent to the side wall 152.

[0384] Specifically, the driving device 10 comprises a fixed sleeve 160 mounted on the fixed pin 140. The movable slot 150 is provided on the fixed sleeve 160. The rotating shaft 210 is rotatably supported by the fixed sleeve 160 together with the distal end bearing 400 and the auxiliary bearing 600, which can greatly improve the stability of the rotating shaft 210 during rotation. The structure of the fixed sleeve 160 and the movable slot 150 thereof can be implemented with reference to the first embodiment or the fifth embodiment described above, and will not be described again here.

[0385] FIG. 39 A ninth embodiment of the driving device 10 of the present application is shown. The difference between the driving device 10 of the ninth embodiment and the driving device 10 of the seventh embodiment described above is that the distal end bearing 400 is a distal end bearing 400 having a distal end spherical protrusion 440 as listed in the fourth embodiment described above. The specific structure of the distal end bearing 400 is described in the fourth embodiment described above, and will not be described again here.

[0386] FIG. 40 A tenth embodiment of the driving device 10 of the present application is shown. The difference between the driving device 10 of the tenth embodiment and the driving device 10 of the seventh embodiment described above is that the auxiliary spherical member 630 of the distal end bearing 400 is a movable ball, and the auxiliary spherical member 630 is movably mounted in the auxiliary fitting 620, and the auxiliary base 310 has a limiting wall 602 abutting against the spherical surface 601 of the auxiliary spherical member 630.

[0387] FIG. 41 to FIG. 43 An eleventh embodiment of the driving device 10 of the present application is shown. The difference between the driving device 10 of the eleventh embodiment and the driving device 10 of the seventh embodiment described above is 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 fitting 620, and the other of the auxiliary base 610 and the auxiliary fitting 620 has a limiting wall 602 abutting against the spherical surface 601 of the auxiliary spherical member 630 in the axial direction.

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

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

[0390] The size, position and arrangement of the auxiliary spherical member 630 can refer to the protruding portion when the auxiliary spherical member 630 is a ball in the fifth embodiment, and substantially the same technical effects can be achieved. For example:

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

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

[0393] The diameter of the sphere in which the auxiliary spherical member 630 is located is 0.4mm-0.7mm.

[0394] The height by which the auxiliary spherical member 630 protrudes from the end face of the auxiliary fitting 620 is 0.1mm-0.2mm.

[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 can be combined in any manner. In order to make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, however, as long as the combinations of the technical features do not contradict each other, they should be considered to be within the scope of the present disclosure.

[0398] The above embodiments only express several implementation ways of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation to the patent scope of the application. It should be pointed out that for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A driving device, characterized in that, The driving device includes: case; A rotating assembly, rotatably mounted on the housing, the rotating assembly including a rotating shaft and a rotor fixedly connected to the rotating shaft; A stator, fixedly connected to the housing and capable of driving the rotor to rotate; and The distal bearing includes a distal bushing, a distal fitting, and distal balls; wherein, The distal bushing is fixed to the distal end of the housing, and the rotating shaft rotatably passes through the distal bushing. The distal fitting is housed inside the housing, the distal fitting is axially opposite to the distal bushing, and is fixedly connected to the rotating assembly; The distal ball is movably mounted on one of the distal bushing and the distal fitting, the other of the distal bushing and the distal fitting having an abutment wall that abuts against the spherical surface of the distal ball in the axial direction. One of the distal bushing and the distal fitting 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 opening of the distal mounting groove to abut against the abutment wall. The distal mounting groove has a bottom wall and a side wall; the distal ball abuts against the bottom wall and is tangent to the side wall, with a tangent depth between the tangent and the opening of the distal mounting groove being greater than or equal to 1 / 2 times the radius of the distal ball and less than the radius of the distal ball; or, the distal ball has an axial height protruding outward from the opening of the distal mounting groove, the axial height being greater than or equal to 1 / 3 times the radius of the distal ball and less than the radius of the distal ball.

2. The driving device according to claim 1, characterized in that, The number of 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, The number of distal balls is multiple; the multiple distal balls are arranged adjacent to each other around the rotating shaft, with two adjacent distal balls in contact, or the multiple distal balls are arranged at intervals around the rotating shaft.

4. The driving device according to claim 1, characterized in that, The number of the distal mounting slots is multiple, and the multiple distal mounting slots are arranged at intervals around the rotating shaft. Each distal mounting slot is provided with at least one distal ball. Alternatively, the number of the distal mounting slots is one, the distal mounting slot is arranged in a ring around the rotating shaft, and a plurality of distal balls are provided in the distal mounting slot, the plurality of distal balls being arranged around the rotating shaft.

5. The driving device according to claim 1, characterized in that, The distal bearing further includes at least one distal spherical protrusion, the distal spherical protrusion and the distal ball are arranged at intervals around the shaft, the distal spherical protrusion and the distal ball both have spherical surfaces, and the spherical surfaces of both abut against the abutment wall axially.

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 0.4mm~0.7mm; The distal ball bearing is radially spaced from the rotating shaft by a certain distance; Multiple distal balls are arranged at equal intervals around the rotating shaft; At least two of the distal balls are located on opposite sides of the shaft.

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

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 fitting; the circumferential surface of the shaft is provided with a mounting platform, the mounting platform is located on the side of the distal fitting opposite to the distal bushing, the mounting platform has a distal mounting surface, and the distal fitting 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 faces away from the distal mounting surface; the rotor includes a first rotor, which is located between the distal fitting and the stator, and the first rotor 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 housing has an axially arranged receiving cavity, a proximal limiting groove, and a mounting hole, with a stepped surface between the proximal limiting groove and the mounting hole; the distal bushing is installed in the mounting hole; the distal accessory is at least partially received in the proximal limiting groove, and the distal accessory is axially spaced from the stepped surface by a first distance.

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 fitting, and the spherical surface of the distal ball bearing has an abutment point that abuts against the abutment wall; the distal bushing is provided with a distal shaft hole through which the rotating shaft passes, and the minimum radial distance between the distal shaft hole and the abutment point is a second distance, which 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, The near end of the housing is provided with a movable groove, the movable groove having a bottom wall and a side wall; the rotating shaft has a connecting end located outside the housing, and the end of the rotating shaft away from the connecting end is provided with a ball head, the ball head being rotatably disposed in the movable groove, the ball head having a spherical crown surface, the spherical crown surface slidingly abutting against the bottom wall and tangent to the side wall; The number of distal balls is multiple, and the multiple distal balls 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 unit further includes a proximal bearing, the proximal bearing comprising: A proximal bushing, the proximal bushing being fixed to the proximal end of the housing; A proximal fitting, between the proximal fitting and the proximal bushing and the stator, the proximal fitting and the proximal bushing being axially opposite each other, the proximal fitting being fixedly connected to the rotating assembly to be rotatable relative to the proximal bushing; and A proximal ball, movably mounted on one of the proximal bushing and the proximal fitting, the other of the proximal bushing and the proximal fitting having a mating wall that abuts axially against the spherical surface of the proximal ball.

14. The driving device according to claim 13, characterized in that, The number of proximal balls is multiple; The plurality of the proximal balls are arranged around the central axis of the shaft; or, The proximal end of the proximal fitting is provided with a rotating column coaxial with the rotating shaft. The rotating column rotatably passes through the proximal bushing, and a plurality of proximal balls are arranged around the rotating column. The distal end of the proximal 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 includes: case; A rotating assembly, rotatably mounted on the housing, the rotating assembly including a rotating shaft and a rotor fixedly connected to the rotating shaft; A stator, fixedly connected to the housing and capable of driving the rotor to rotate; and The distal bearing includes a distal bushing, a distal fitting, and a distal spherical protrusion; wherein, The distal bushing is fixed to the distal end of the housing, and the rotating shaft rotatably passes through the distal bushing. The distal fitting is housed inside the housing, and the distal fitting is axially opposed to the distal bushing and fixedly connected to the rotating assembly. A distal spherical protrusion is fixed to one of the distal bushing and the distal fitting, the other of the distal bushing and the distal fitting having an abutment wall that abuts against the spherical surface of the distal spherical protrusion axially. One of the distal bushing and the distal fitting has an end face that is axially opposite and spaced from the abutment wall, and the distal spherical protrusion is fixed to the end face; the distal spherical protrusion has an axial height protruding from the end face toward the abutment wall, the axial height being greater than or equal to 1 / 3 times the radius of the sphere on which the distal spherical protrusion is located, and less than the radius of the sphere on which the distal spherical protrusion is located.

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

17. The driving device according to claim 15, characterized in that, The distal spherical protrusion has at least a portion of a sphere to form a spherical surface on the outer peripheral surface of the distal spherical protrusion.

18. The driving device according to any one of claims 15 to 17, characterized in that, The drive 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 0.4mm~0.7mm; The distal spherical protrusion is radially spaced from the rotating shaft by a certain distance; The number of distal spherical protrusions is multiple, and the multiple distal spherical protrusions are arranged at equal intervals around the rotating shaft; At least two of the distal spherical protrusions are located on opposite sides of the pivot.

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

20. The driving device according to any one of claims 15 to 17, characterized in that, The housing has an axially arranged receiving cavity, a proximal limiting groove, and a mounting hole, with a stepped surface between the proximal limiting groove and the mounting hole; the distal bushing is installed in the mounting hole; the distal accessory is at least partially received in the proximal limiting groove, and the distal accessory is axially spaced from the stepped surface by a first distance.

21. The driving device according to any one of claims 15 to 17, characterized in that, The near end of the housing is provided with a movable groove, the movable groove having a bottom wall and a side wall; the rotating shaft has a connecting end located outside the housing, and the end of the rotating shaft away from the connecting end is provided with a ball head, the ball head being rotatably disposed in the movable groove, the ball head having a spherical crown surface, the spherical crown surface slidingly abutting against the bottom wall and tangent to the side wall; The number of distal spherical protrusions is multiple, and the multiple distal spherical protrusions 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 spherical head.

22. The driving device according to any one of claims 15 to 17, characterized in that, The drive unit further includes a proximal bearing, the proximal bearing comprising: A proximal bushing, the proximal bushing being fixed to the proximal end of the housing; A proximal fitting, located between the proximal bushing and the stator, the proximal fitting being axially opposite to the proximal bushing and fixedly connected to the proximal end of the rotating assembly; and A proximal ball, movably mounted on one of the proximal bushing and the proximal fitting, the other of the proximal bushing and the proximal fitting having a mating wall that abuts axially against the spherical surface of the proximal ball.

23. The driving device according to claim 22, characterized in that, The number of proximal balls is multiple; The plurality of the proximal balls are arranged around the central axis of the shaft; or, The proximal end of the proximal fitting is provided with a rotating column coaxial with the rotating shaft. The rotating column rotatably passes through the proximal bushing, and a plurality of proximal balls are arranged around the rotating column. The distal end of the proximal 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 includes: case; A rotating assembly, rotatably mounted to the housing, the rotating assembly having a connecting end located outside the housing; The stator is fixedly connected to the housing and is capable of driving the rotating assembly to rotate; A distal bearing, wherein the distal bearing is disposed at the distal end of the housing and adjacent to the connecting end; and An auxiliary bearing is provided between the distal bearing and the stator, and the rotating assembly passes through the distal bearing and the auxiliary bearing. The auxiliary bearing and the distal bearing can jointly support the rotation of the rotating assembly. The auxiliary bearing includes: An auxiliary base is fixedly connected to the housing, and the rotating assembly is rotatably inserted through the auxiliary base; Auxiliary components, located between the auxiliary base and the distal bearing, and fixedly connected to the rotating assembly; and An auxiliary spherical component is disposed in one of the auxiliary base and the auxiliary accessory, and the other of the auxiliary base and the auxiliary accessory has a limiting wall that abuts against the spherical surface of the auxiliary spherical component along the axial direction; the auxiliary spherical component is a movable ball. One of the auxiliary base and the auxiliary accessory is provided with an assembly groove, and the auxiliary spherical component is movably installed in the assembly groove; a portion of the auxiliary spherical component extends outward from the opening of the assembly groove to abut against the limiting wall; The assembly groove has a bottom wall and a side wall; the auxiliary spherical component abuts against the bottom wall and is tangent to the side wall of the assembly groove, with a cutting depth between the cutting depth and the groove opening of the assembly groove being greater than or equal to 1 / 2 times the radius of the auxiliary spherical component and less than the radius of the auxiliary spherical component. Alternatively, the auxiliary spherical component may have an axial height protruding outward from the opening of the mounting groove, wherein the axial height is greater than or equal to 1 / 3 times the radius of the auxiliary spherical component and less than the radius of the auxiliary spherical component.

25. The driving device according to claim 24, characterized in that, The distal bearing includes a distal bushing, a distal fitting, and a distal ball; wherein the distal bushing is fixed to the distal end of the housing, and the rotating assembly rotatably passes through the distal bushing; the distal fitting is disposed between the distal bushing and the auxiliary bearing, the distal fitting and the distal bushing are axially opposite to each other, and the distal fitting is fixedly connected to the rotating assembly; the distal ball is movably mounted on one of the distal bushing and the distal fitting, the other of the distal bushing and the distal fitting having an abutment wall, the abutment wall abutting the spherical surface of the distal ball axially; the distal fitting is fixedly connected to the auxiliary fitting, or the distal fitting and the auxiliary fitting are integrally formed as a single component.

26. The driving device according to claim 24, characterized in that, The rotating assembly includes a rotating shaft and a rotor fixedly connected to the rotating shaft, the rotating shaft being rotatably mounted on the housing; the stator is capable of driving the rotor to rotate; there are multiple auxiliary spherical components, and the multiple auxiliary spherical components are arranged around the rotating shaft.

27. The driving device according to claim 24, characterized in that, The distal bearing includes a distal bushing, a distal fitting, and a distal spherical protrusion; wherein, the distal bushing is fixed to the distal end of the housing, and the rotating assembly rotatably passes through the distal bushing; the distal fitting is disposed between the distal bushing and the auxiliary bearing, the distal fitting and the distal bushing are axially opposite to each other, and the distal spherical protrusion is fixed to the rotating assembly; the distal spherical protrusion is fixed to one of the distal bushing and the distal fitting, the other of the distal bushing and the distal fitting has an abutment wall, the abutment wall abutting axially against the spherical surface of the distal spherical protrusion; the distal fitting is fixed to the auxiliary fitting, or the distal fitting and the auxiliary fitting are integrally formed as a single component.

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

29. The driving device according to any one of claims 25 to 27, characterized in that, The housing has an internal cavity for accommodating the stator, and the proximal end of the rotating assembly is suspended within the cavity; or, The near end of the housing is provided with a movable groove, the movable groove having a bottom wall and a side wall, the near end of the rotating assembly is provided with a ball head, the ball head is rotatably mounted in the movable groove, the ball head has a spherical crown surface, the spherical crown surface slides against the bottom wall and is tangent to the side wall.

30. The driving device according to claim 25 or 27, characterized in that, The rotating assembly includes a rotating shaft and a rotor fixedly connected to the rotating shaft, the rotating shaft being rotatably mounted on the housing; the stator is capable of driving the rotor to rotate; the rotating shaft has 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; the second shaft section 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, the second length being at least 0.25 times the first length.

31. The driving device according to claim 24, characterized in that, The distal bearing includes a distal bushing, a distal fitting, and a distal ball; wherein, the distal bushing is fixed to the distal end of the housing, and the rotating assembly rotatably passes through the distal bushing; the distal fitting is disposed between the distal bushing and the auxiliary bearing, the distal fitting and the distal bushing are axially opposite to each other, and the distal fitting is fixedly connected to the rotating assembly; the distal ball is movably mounted on one of the distal bushing and the distal fitting, the other of the distal bushing and the distal fitting having an abutment wall, the abutment wall abutting against the spherical surface of the distal ball axially; Alternatively, the distal bearing includes a distal bushing, a distal fitting, and a distal spherical protrusion; wherein the distal bushing is fixed to the distal end of the housing, and the rotating assembly rotatably passes through the distal bushing; the distal fitting is disposed between the distal bushing and the auxiliary bearing, the distal fitting and the distal bushing are axially opposite to each other, and the distal spherical protrusion is fixed to the rotating assembly; the distal spherical protrusion is fixed to one of the distal bushing and the distal fitting, the other of the distal bushing and the distal fitting has an abutment wall, the abutment wall abutting axially against the spherical surface of the distal spherical protrusion.

32. A blood pump, characterized in that, The blood pump includes an impeller and a drive device as described in any one of claims 1 to 31, wherein the impeller is fixedly connected to the shaft of the drive 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; the proximal end of the cannula assembly has a proximal opening, and the distal end of the cannula assembly has a distal opening, one of which is a blood inlet and the other is a blood outlet; the impeller is disposed inside the cannula assembly.

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