Medical pumping device, motor and rotor structure

Abstract

This application relates to the field of medical devices and discloses a medical pumping device, a motor, and a rotor structure. The medical pumping device includes an actuator and a motor. The motor includes a stator structure, a rotor structure, and an output shaft. The stator structure is located on at least one side of the rotor structure along the axial direction of the motor. The rotor structure is connected to the output shaft, and the output shaft is connected to the actuator. The rotor structure includes at least a plurality of first magnets and a plurality of second magnets that abut against each other along the circumferential direction of the motor. The plurality of first magnets and the plurality of second magnets are alternately arranged circumferentially. The magnetization direction of the first magnets is axially aligned, and the magnetization direction of the second magnets is circumferentially aligned. The magnetization directions of adjacent first magnets are opposite, and the magnetization directions of adjacent second magnets are opposite. Along the axial direction, each first magnet includes a functional surface facing the stator structure. The functional surface forms an angle with the radial direction of the motor, and there is an equidistant gap between the end face of the stator structure and the functional surface. This design aims to reduce the size of the medical pumping device.

Description

Technical Field

[0001] This application belongs to the field of medical devices, and in particular relates to a medical pumping device, motor and rotor structure. Background Technology

[0002] Medical pumping devices refer to integrated medical equipment systems that are inserted into the body through natural cavities or minor incisions for diagnosis, treatment, or auxiliary procedures. Interventional systems can be categorized into cardiovascular interventional, neurointerventional, and oncology interventional systems, among which interventional systems requiring power include thrombus aspiration systems and ventricular assist systems.

[0003] Since the power unit needs to be inserted into the human body, reducing the size of the power unit is an important problem that urgently needs to be solved in this field. Utility Model Content

[0004] This application provides a medical pumping device, motor, and rotor structure that can reduce the size of the medical pumping device.

[0005] On one hand, embodiments of this application provide a medical pumping device, including an actuator and a motor. The motor includes a stator structure, a rotor structure, and an output shaft. The rotor structure is located on at least one side of the stator structure along the axial direction of the motor and is connected to the output shaft, which is connected to the actuator. The rotor structure includes at least a plurality of first magnets, a plurality of second magnets, and a plurality of third magnets that abut against each other along the circumferential direction of the motor. The plurality of first magnets and the plurality of second magnets are alternately arranged along the circumferential direction. The magnetization direction of the first magnets is arranged along the axial direction, and the magnetization direction of the second magnets is arranged along the circumferential direction. The magnetization directions of two adjacent first magnets are opposite, and the magnetization directions of two adjacent second magnets are opposite. The third magnet is located between adjacent first magnets and second magnets. The magnetization direction of the third magnet has a circumferential component direction and an axial component direction. The axial magnetization directions of two adjacent third magnets are opposite, and their circumferential magnetization directions are also opposite.

[0006] In some embodiments of this application, the rotor structure and the stator structure cooperate to drive the output shaft to rotate; or, the rotor structure and the stator structure cooperate to drive the output shaft to rotate, and generate a corrective force that at least partially offsets the axial force when the output shaft is subjected to an axial force and undergoes axial displacement.

[0007] In some embodiments of this application, the third magnet includes two transition magnetic poles with opposite polarities. Within a cylindrical cross-section passing through the third magnet and centered on the axis of the motor, the two transition magnetic poles are located on opposite sides of the diagonal of the third magnet.

[0008] In some embodiments of this application, the first magnet includes two main magnetic pole portions with opposite polarities, which are arranged sequentially along the axial direction; the rotor structure faces the stator structure on one side, and the adjacent main magnetic pole portions and transition magnetic pole portions have the same polarity.

[0009] In some embodiments of this application, along the axial direction, the first magnet includes a functional surface facing the stator structure, the functional surface having an angle with the radial direction of the motor, and an equidistant gap between the end face of the stator structure and the functional surface.

[0010] In some embodiments of this application, along the axial direction, the third magnet includes a magnetizing surface facing the stator structure, the magnetizing surface being coplanar with the functional surface.

[0011] In some embodiments of this application, the second magnet includes an auxiliary surface facing the stator structure, and the auxiliary surface, the magnetizing surface, and the functional surface are coplanar; or, the second magnet also includes a first end surface disposed opposite to the auxiliary surface, and the third magnet includes a transition surface opposite to the magnetizing surface along the axial direction, and the first end surface and the transition surface are coplanar or misaligned; or, the magnetizing surface and the functional surface are misaligned, and along the axial direction, the magnetizing surface is located between the functional surface and the auxiliary surface.

[0012] In some embodiments of this application, within a circular cross-section passing through the first magnet, the second magnet, and the third magnet, and centered on the axis of the motor; along the circumferential direction, the sum of the lengths of the second magnet and the third magnet is less than or equal to the length of the first magnet; and / or; along the circumferential direction, the length of the second magnet is greater than or equal to the length of the third magnet; and along the axial direction, the height of the first magnet is greater than or equal to the height of the second magnet.

[0013] In some embodiments of this application, the orthogonal projections of the first magnet, the second magnet, and the third magnet along the axial direction are all fan-shaped or fan-ring-shaped.

[0014] In some embodiments of this application, along the axial direction from the actuator to the stator structure, the thickness of the first magnet tends to increase from its outer periphery towards the center.

[0015] In some embodiments of this application, the first magnet and the second magnet are offset along the axial direction, with the second magnet being positioned closer to the actuator than the first magnet.

[0016] In some embodiments of this application, along the axial direction, the second magnet includes an auxiliary surface facing the stator structure, and the maximum misalignment distance between the auxiliary surface and the functional surface is less than or equal to half the minimum thickness of the first magnet.

[0017] In some embodiments of this application, the first magnet includes two main magnetic pole portions with opposite polarities, which are arranged sequentially along the axial direction. Along the axial direction, the volume of the main magnetic pole portion closer to the stator structure is greater than or equal to that of the main magnetic pole portion farther from the stator structure.

[0018] In some embodiments of this application, the volume of the first magnet is greater than or equal to the volume of the second magnet.

[0019] In some embodiments of this application, a mounting plate is also included, the rotor structure is connected to the mounting plate, and the rotor structure is located on the side of the stator structure closer to the actuator.

[0020] In some embodiments of this application, the medical pumping device includes a blood pumping device or a thrombus aspiration device.

[0021] Embodiments of this application also provide an electric motor for a medical pumping device, including a stator structure, a rotor structure, and an output shaft. The rotor structure is located on at least one side of the stator structure along the axial direction of the motor, and is connected to the periphery of the output shaft. The rotor structure includes at least a plurality of first magnets, a plurality of second magnets, and a plurality of third magnets that abut against each other along the circumferential direction of the motor. The plurality of first magnets and the plurality of second magnets are alternately arranged along the circumferential direction. The magnetization direction of the first magnets is arranged along the axial direction, and the magnetization direction of the second magnets is arranged along the circumferential direction. The magnetization directions of two adjacent first magnets are opposite, and the magnetization directions of two adjacent second magnets are opposite. The third magnet is located between adjacent first magnets and second magnets. The magnetization direction of the third magnet has a circumferential component direction and an axial component direction. The axial magnetization directions of two adjacent third magnets are opposite, and their circumferential magnetization directions are opposite, for enhancing the magnetic flux of adjacent first magnets and second magnets.

[0022] An embodiment of this application also provides a rotor structure, including a plurality of first magnets, a plurality of second magnets, and a plurality of third magnets that abut against each other circumferentially. The plurality of first magnets and the plurality of second magnets are alternately arranged circumferentially. The magnetization direction of the first magnets is arranged axially, and the magnetization direction of the second magnets is arranged circumferentially. The magnetization directions of two adjacent first magnets are opposite, and the magnetization directions of two adjacent second magnets are opposite. The third magnet is located between adjacent first magnets and second magnets. The magnetization direction of the third magnet has a circumferential component direction and an axial component direction. The axial magnetization directions of two adjacent third magnets are opposite, and their circumferential magnetization directions are opposite, which is used to enhance the magnetic flux of adjacent first magnets and second magnets.

[0023] The medical pumping device, motor, and rotor structure of this application embodiment shorten the axial length of the power unit by having the stator structure located axially on at least one side of the rotor structure. It employs alternating arrangements of a first magnet with an axial magnetization direction and a second magnet with a circumferential magnetization direction, eliminating the need for a magnetic yoke, reducing magnetic leakage on the actuator side, and decreasing the volume of the power unit. Furthermore, the first magnet's angle with the functional surface of the stator structure and the radial direction increases the coupling area between the first magnet and the stator structure, thereby increasing the coupling magnetic flux. Under a certain output torque of the motor, this reduces the volume of the stator and rotor structures, lowers the radial and axial dimensions of the power unit, and facilitates its integration into the body. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a cross-sectional schematic diagram of a medical pumping device according to some embodiments of this application;

[0026] Figure 2 Show Figure 1 A schematic diagram of the stator structure in the diagram;

[0027] Figure 3 Show Figure 1 A development diagram of a circular cross-section centered on the motor axis of one type of rotor structure;

[0028] Figure 4 Show Figure 1 Another rotor structure is shown in the unfolded view of a circular cross-section centered on the motor axis;

[0029] Figure 5 Show Figure 1 A development diagram of a circular cross-section centered on the motor axis, representing another type of rotor structure;

[0030] Figure 6 for Figure 1 A schematic diagram of one type of rotor structure;

[0031] Figure 7 for Figure 6 The top view shows the position of a circular section centered on the motor's axis.

[0032] Figure 8 for Figure 7 The cross-sectional unfolding diagram at point A along the dashed line.

[0033] Figure label:

[0034] 100. Motor; 101. First magnet; 101a. Main magnetic pole section; 102. Second magnet; 103. Third magnet; 103a. Transition magnetic pole section; 110. Housing; 120. Stator structure; 121. Iron core; 122. Winding; 123. Coupling surface; 130. Rotor structure; 131. Functional surface; 132. Mounting surface; 133. Auxiliary surface; 134. First end face; 135. Magnetizing surface; 136. Transition surface; 140. Output shaft; 141. Axis; 150. Mounting plate;

[0035] 200, Actuator; 300, Pump housing; 301, Pump window; D, Misalignment spacing; X, Circumferential; Y, Radial; Z, Axial. Detailed Implementation

[0036] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0038] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0039] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0040] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0041] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0042] In the description of the embodiments in this application, the technical terms "center," "longitudinal," and "lateral" are used.

[0043] "Length", "Width", "Thickness", "Top", "Bottom", "Front", "Back", "Left", "Right"

[0044] "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise"

[0045] The orientation or positional relationship indicated by "axial", "radial", "circumferential", etc., is based on the orientation or positional relationship shown in the accompanying drawings and is only for the purpose of facilitating the description of the embodiments of this application and simplifying the description. It is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of this application.

[0046] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0047] In this application, a medical pumping device refers to a device capable of pumping fluids. Medical pumping devices can include interventional medical devices, implantable medical devices, and external medical devices. The fluids pumped by a medical pumping device include, but are not limited to, blood, lymph, gas, and digestive fluids. Furthermore, medical pumping devices can be functionally used for ventricular assist systems or thrombus aspiration.

[0048] Medical pumping devices refer to integrated medical equipment systems that are inserted into the body through natural cavities or minor incisions for diagnosis, treatment, or auxiliary procedures. Interventional systems can be categorized into cardiovascular interventional, neurointerventional, and oncology interventional systems, among which those requiring power include thrombus aspiration systems and ventricular assist systems.

[0049] Specifically, a thrombus aspiration system is a type of interventional medical device used to remove blood clots from blood vessels. It uses mechanical or hydrodynamic methods to extract the thrombus from the blood vessel, restoring vascular patency. A thrombus aspiration system includes an aspiration catheter and a power unit. The power unit generates negative pressure to draw the thrombus through the aspiration catheter, which then removes it from the body.

[0050] A ventricular assist system (VAS) is a medical device that replaces or assists the heart's pumping function, primarily used to treat patients with end-stage heart failure (EF < 35%) or cardiogenic shock. It uses a mechanical device to draw blood from the atria or ventricles, pressurizes it with a power unit, and delivers it to the arterial system, partially or completely replacing the heart's pumping function. A VAS includes a vascular passage with inflow and outflow windows and a power unit (i.e., a blood pump). The power unit generates pumping force, pumping blood in through the inflow window and out through the outflow window.

[0051] Both the power units of thrombus aspiration systems and ventricular assist systems require insertion into the body. When this is necessary, the size requirements for the medical pump device are particularly stringent. Since the power unit is a non-flexible component, its length and outer diameter must be limited to avoid excessive damage to human tissue. Reducing the length and outer diameter of the power unit while maintaining its output power is one of the most pressing problems to be solved.

[0052] In view of this, the embodiments of this application provide a medical pumping device, a motor, and a rotor structure. By positioning the stator structure axially on at least one side of the rotor structure, the axial length of the power device is shortened. Alternating arrangements of a first magnet with an axial magnetization direction and a second magnet with a circumferential magnetization direction eliminate the need for a magnetic yoke, reducing magnetic leakage on the actuator side and reducing the volume of the power device. Furthermore, by making the first magnet's functional surface facing the stator structure at an angle to the radial direction, the coupling area between the first magnet and the stator structure is increased, thereby increasing the coupling magnetic flux. Under a certain output torque of the motor, the volume of the stator and rotor structures is reduced, and the radial and axial dimensions of the power device are decreased, which facilitates the insertion of the power device into the body.

[0053] The medical pumping device of this application can be applied to devices such as ventricular assist systems and thrombus aspiration systems. To facilitate understanding of the technical solution of this application, the following description uses a ventricular assist system as an example.

[0054] like Figures 1 to 8 As shown, this application provides a medical pumping device, including an actuator 200 and a motor 100. The motor 100 includes a housing 110, a stator structure 120, a rotor structure 130, and an output shaft 140. The stator structure 120 and the rotor structure 130 are housed within the housing 110. The rotor structure 130 is located on at least one side of the stator structure 120 along the axial direction Z of the motor 100. The rotor structure 130 and the stator structure 120 cooperate to drive the output shaft 140 to rotate.

[0055] For example, rotor structure 130 is connected to the periphery of output shaft 140, which is connected to actuator 200 to generate driving force for fluid.

[0056] The actuator 200 refers to a component that converts the rotational power output by the motor 100 into fluid power. The actuator 200 achieves energy conversion through interaction with the fluid. For example, the actuator 200 can be an impeller, a screw, a piston, or other structures. The impeller can be a propeller-type impeller, which drives the fluid through the rotation of helical blades, or it can be a centrifugal impeller, which uses centrifugal force to give the fluid kinetic energy.

[0057] The motor 100 is a device that converts electrical energy into mechanical energy. The output shaft 140 of the motor 100 is connected to the actuator 200, and the motor 100 drives the actuator 200 to rotate to pump fluid. For example, the output shaft 140 may be partially housed in the housing 110, and the other part may extend out of the housing 110 and be connected to the actuator 200.

[0058] The housing 110 of the motor 100 protects and supports the internal stator structure 120 and rotor structure 130, preventing external factors from interfering with the normal operation of the internal structures. Exemplarily, the housing 110 can be cylindrical or conical. As an example, the housing 110 can be made of medical-grade stainless steel or polyetheretherketone (PEEK), etc. As an example, the housing 110 includes an outer shell and an end cap; the outer shell has a shaft hole, which is axially opposite to the end cap along the Z-axis, and the shaft hole is used for the output shaft 140 to pass through.

[0059] The stator structure 120 is a stationary part of the motor 100 that generates a magnetic field through electromagnetic induction. The stator structure 120 can be fixed inside the housing 110. Exemplarily, the stator structure 120 can be connected to the inner wall of the housing or to an end cover.

[0060] In some examples, the stator structure 120 includes a pair of iron cores 121 and windings 122, the windings 122 being wound around the outer periphery of the iron cores 121 and connected to a power source. As an example, the iron cores 121 may be made of stacked silicon steel sheets. The windings 122 may be made of medical-grade insulating material.

[0061] In one example, the stator structure 120 includes six pairs of iron cores 121 and windings 122, meaning the stator structure 120 comprises six winding elements. These six winding elements are arranged in a cylindrical shape around the axis 141 of the motor 100 at equal angles. Each pair of opposing winding elements is connected to a single-phase power line, forming a three-phase line. This three-phase line connects alternating current with a phase difference of 120° or a square-wave changing current with a time difference. The changing magnetic field generated by the windings 122 forms a rotating magnetic field at a certain speed within the iron cores 121. The angle of this magnetic field is controlled to be at a fixed angle with the magnetic field of the rotor structure 130, causing the rotor structure 130 to drive the output shaft 140 to output the required torque.

[0062] In other examples, the stator structure 120 also includes a frame to which the core 121 is mounted. The frame may be made of a biocompatible material such as polyetheretherketone (PEEK).

[0063] The rotor structure 130 is the rotatable part of the motor 100. It rotates under the influence of the magnetic field generated by the stator structure 120, driving the output shaft 140 to rotate, thereby converting electrical energy into mechanical energy. The rotor structure 130 is arranged around the output shaft 140 along the axis 141 of the motor 100, i.e., the axis 141 of the output shaft 140, and is connected to the output shaft 140 to drive the output shaft 140 to rotate.

[0064] In some examples, rotor structure 130 may include one or more. Exemplarily, one rotor structure 130 may be located on the side of stator structure 120 closer to or away from actuator 200. As an example, the number of rotor structures 130 is one, and the rotor structure 130 is located on the side of stator structure 120 closer to actuator 200. As yet another example, two rotor structures 130 may be located on opposite sides of stator structure 120.

[0065] The rotor structure 130 is located on at least one side of the actuator 200 along the Z-axis, making the motor 100 an axial Z-axis motor 100, thereby shortening the length of the motor 100 in the Z-axis direction. Specifically, having a single rotor structure 130 located on the side of the stator structure 120 closer to the actuator 200 can shorten the axial Z-length of the motor 100 and also shorten the length of the output shaft 140, improving the smoothness of motor 100 operation.

[0066] In some embodiments, the outer diameter of the motor is less than or equal to 6 mm, and the axial length of the motor is less than or equal to 27 mm.

[0067] In some embodiments, the rotor structure 130 includes at least a plurality of first magnets 101 and a plurality of second magnets 102 that abut against each other along the circumferential direction X of the motor 100. The plurality of first magnets 101 and the plurality of second magnets 102 are alternately arranged along the circumferential direction X. The magnetization direction of the first magnets 101 is arranged along the axial direction Z, and the magnetization direction of the second magnets 102 is arranged along the circumferential direction X. The magnetization directions of two adjacent first magnets 101 are opposite, and the magnetization directions of two adjacent second magnets 102 are opposite.

[0068] The first magnet 101 is a permanent magnet structure, and the magnetization direction of the first magnet 101 is parallel to the axis 141 of the motor 100. For example, the magnet is placed at the center of a long straight solenoid coil, and a pulse current is passed through the coil to generate an axial Z magnetic field to magnetize the magnet, thus completing the magnetization.

[0069] The second magnet 102 is a permanent magnet structure, and the magnetization direction of the second magnet 102 is the circumferential direction of its own rotation. For example, the magnetization direction of the second magnet 102 is always along the axial direction Z of the rotor structure 130 and points towards the first magnet 101 with the N pole on the stator side.

[0070] It is understood that in this application, the magnetization direction of the first magnet 101 along the axial direction Z can refer to a certain degree of deviation generated during the magnetization process, such as an angle of 5° or 10° between the axial directions, which is also within the protection scope of this application. This application does not specifically limit the magnet.

[0071] In some embodiments of this application, the magnetization direction of the first magnet 101 is perpendicular to the magnetization direction of the second magnet 102.

[0072] It can be understood that when the magnetization direction of the first magnet 101 is perpendicular to the magnetization direction of the second magnet 102, since the magnetization direction of the first magnet 101 is parallel to the axial direction Z, the magnetization direction of the second magnet 102 is along the circumference of the motor 100, or any direction within the cross-section.

[0073] In some embodiments of this application, the magnetization direction of the first magnet 101 intersects but is not perpendicular to the magnetization direction of the second magnet 102. For example, the angle between their magnetization directions is 30°, 45°, and 60°. The number of the first magnet 101 and the second magnet 102 can be the same or different. For example, the number of the first magnet 101 is n, and the number of the second magnet 102 can be kn, where k is a positive integer greater than or equal to 1, and n is a positive integer greater than or equal to 4. As an example, there are 4 first magnets 101 and 4 second magnets 102.

[0074] The volume of the first magnet 101 and the volume of the second magnet 102 may be equal or unequal. For example, the volume of the first magnet 101 is greater than or equal to the volume of the second magnet 102.

[0075] The first magnet 101 and the second magnet 102 may have the same or different shapes. For example, the first magnet 101 and the second magnet 102 are both fan-shaped or complementary irregular shapes, which together enclose and form an annular rotor structure 130.

[0076] The first magnet 101 and the second magnet 102 are aligned or misaligned in the radial direction Y of the motor 100. The lengths of the first magnet 101 and the second magnet 102 along the axial direction Z can be the same or different. The widths of the first magnet 101 and the second magnet 102 in the circumferential direction X can be the same or different.

[0077] The first magnet 101 and the second magnet 102 are abutted against each other along the circumferential direction X. As an example, the first magnet 101 along the circumferential direction X includes two opposing first contact surfaces, and the second magnet 102 along the circumferential direction X includes two opposing second contact surfaces. The first contact surfaces and the second contact surfaces can be connected by an adhesive layer, and there is no gap between the first contact surfaces and the second contact surfaces. The adhesive layer is relatively thin, and the resulting thickness is negligible.

[0078] In one example, the rotor structure 130 can be a ring-shaped magnetic block, which is magnetized in sections to achieve the alternating formation of a first magnet 101 with an axial magnetic field and a second magnet 102 with a circumferential magnetic field.

[0079] In one example, the first contact surface and the second contact surface are in direct contact, and the first magnet 101 and the second magnet 102 are connected on the peripheral side facing away from or close to the output shaft 140.

[0080] In one example, there are one or more second magnets 102 between two adjacent first magnets 101; or there are one or more first magnets 101 between two adjacent second magnets 102.

[0081] In some examples, the N and S poles of two adjacent first magnets 101 are interchanged. As an example, the N pole of one first magnet 101 faces the stator structure 120 and the S pole faces the actuator 200, while the S pole of another adjacent first magnet 101 faces the stator structure 120 and the N pole faces the actuator 200.

[0082] In some examples, the N and S poles of two adjacent second magnets 102 are interchanged. As an example, the N poles of two adjacent second magnets 102 are opposite to each other, and the S poles are opposite each other.

[0083] In some embodiments, the medical pumping device includes a blood pumping device or a thrombus aspiration device.

[0084] In this embodiment, a first magnet 101 with an axial Z magnetization direction and a second magnet 102 with a circumferential X magnetization direction are alternately arranged to avoid magnetic leakage on the actuator 200 side by eliminating the magnetic yoke and reducing the size of the power unit.

[0085] In some embodiments, along the axial direction Z, the first magnet 101 includes a functional surface 131 facing the stator structure 120, the functional surface 131 having an angle with the radial direction Y of the motor 100.

[0086] For example, the first magnet 101 includes a functional surface 131 and a mounting surface 132 arranged opposite each other along the Z-axis. The functional surface 131 faces the stator structure 120, and an air gap is formed between the functional surface 131 and the end face of the stator structure 120.

[0087] In one example, the core 121 of the stator structure 120 includes a coupling surface 123 facing the rotor structure 130, which matches the functional surface 131, thereby creating a uniform air gap between the functional surface 131 and the coupling surface 123. As an example, when the mounting surface 132 is an inclined plane, the coupling surface 123 is an inclined plane with the opposite slope to the mounting surface 132.

[0088] In one example, the functional surfaces 131 of the multiple first magnets 101 have equal areas.

[0089] Functional surface 131 can be a straight surface, a curved surface, or multiple surfaces arranged at an angle. Functional surface 131 is angled to the radial direction Y of motor 100. Compared to a straight surface parallel to radial direction Y, functional surface 131 has a larger area, increasing the effective magnetic circuit cross-sectional area. This increases the coupling magnetic field between stator structure 120 and rotor structure 130. The stronger the coupling magnetic field, the greater the output torque of motor 100. Therefore, under the same torque requirement, a higher magnetic flux density results in a smaller motor size. This reduces the energy consumption of motor 100, increases the magnetic flux of rotor structure 130 within a limited volume, improves the utilization rate of the first magnet 101, and increases the pumping flow rate of the power unit.

[0090] In some embodiments, there is an equidistant gap between the end face of the stator structure 120 and the functional surface 131. Here, "equidistant" in this application means that the distances are equal within an allowable error range.

[0091] In other words, a uniform air gap is formed between the functional surface 131 and the end face of the stator structure 120. In one example, the core 121 of the stator structure 120 includes a coupling surface 123 facing the rotor structure 130, which matches the functional surface 131, thereby forming a uniform air gap between the functional surface 131 and the coupling surface 123.

[0092] In other embodiments of this application, the medical pumping device also includes a mounting plate 150, a rotor structure 130 connected to the mounting plate 150, and the rotor structure 130 located on the side of the stator structure 120 near the actuator 200.

[0093] For example, the mounting plate 150 may be made of one or more of the following materials: metal, ceramic, polyimide (PI) board, and epoxy resin board (FR-4).

[0094] For example, the mounting plate 150 can be one or more pieces. The first magnet 101 and the second magnet 102 of the rotor structure 130 can be connected together through the mounting plate 150.

[0095] In one example, the mounting plate 150 may be annular, and the outer diameter of the mounting plate 150 may be greater than or equal to the outer diameter of the rotor structure 130.

[0096] In another example, the mounting plate 150 can be connected to the mounting surface 132 of the rotor structure 130 by means of bonding, limiting connection or snap-fit, so that the mounting plate 150 can rotate with the rotor structure 130.

[0097] As an example, rotor structure 130 is circumferentially connected to output shaft 140 in the X direction, and mounting plate 150 can be circumferentially connected to output shaft 140 in the X direction. Output shaft 140 passes through mounting plate 150 and is connected to rotor structure 130. In one example, first magnet 101 and second magnet 102 are offset, with second magnet 102 closer to actuator 200 than first magnet 101. First magnet 101 and second magnet 102 can be connected to mounting plate 150 by fitting or bonding. As an example, a portion of second magnet 102 can be accommodated within an opening in mounting plate 150.

[0098] In this embodiment of the application, the mounting plate 150 facilitates the connection of multiple first magnets 101 and second magnets 102 into a whole.

[0099] In one embodiment of this application, the rotor structure 130 is centrally symmetrical about the axis 141 of the motor 100.

[0100] In some embodiments of this application, the rotor structure 130 further includes a plurality of third magnets 103, which are located between two adjacent first magnets 101 and second magnets 102. The third magnets 103 have magnetization directions along the axial direction Z and the circumferential direction X. The axial Z magnetization directions of two adjacent third magnets 103 are opposite, and the circumferential X magnetization directions are opposite, in order to enhance the magnetic flux of the adjacent first magnets 101 and second magnets 102.

[0101] For example, each pair of adjacent first magnets 101 and second magnets 102 has one or more third magnets 103. In one example, the number of third magnets 103 is 2nm, where m is a positive integer greater than or equal to 1. As an example, there are 8 third magnets 103.

[0102] In one example, the volume of the third magnet 103 is less than or equal to the volume of the second magnet 102.

[0103] In some examples, the third magnet 103 is obliquely magnetized, thus having magnetic field components along the axial direction Z and the circumferential direction X. As an example, the magnetization direction of the third magnet 103 points along the diagonal of the cross section toward the N pole of the nearby first magnet 101.

[0104] The circumferential X and axial Z magnetic field components of the third magnets 103 on both sides of the second magnet 102 are opposite. Specifically, along the circumferential X direction, the first axial Z magnetic field component of the third magnet 103 on one side of the second magnet 102 is opposite in direction to the second axial Z magnetic field component of the third magnet 103 on the other side of the second magnet 102, one facing the stator structure 120 and the other facing the actuator 200. The magnetization direction of the first magnet 101 adjacent to the third magnet 103 is consistent, thereby attracting the magnetic field. The circumferential X magnetic field component is similar and will not be described again here.

[0105] In the embodiments of this application, the third magnet 103 is used to magnetize the magnetic field on the actuator 200 side, making the magnetic field more orderly, reducing leakage flux, and supplementing and enhancing the magnetic field of the first magnet 101, thereby improving the utilization rate of the magnetic flux of the first magnet 101.

[0106] In some embodiments of this application, the third magnet 103 includes two transition magnetic pole portions 103a with opposite polarities, and the two transition magnetic pole portions 103a are arranged diagonally.

[0107] For example, the two transition magnetic pole portions 103a include an N-level transition magnetic pole portion 103a and an S-level transition magnetic pole portion 103a. As an example, the interface between the N-level transition magnetic pole portion and the S-level transition magnetic pole portion is an inclined plane, which can divide the third magnet 103 into a triangular prism or a quadrangular prism.

[0108] In one example, the volumes of the two transition magnetic pole portions 103a can be equal.

[0109] In some embodiments of this application, the third magnet 103 includes two transition magnetic pole portions 103a with opposite polarities, and a circular cross-section passing through the third magnet 103 and centered on the axis 141 of the motor 100 (along... Figure 7 Within the cross section of the dashed line A, the two transition magnetic poles 103a are located on either side of the diagonal of the third magnet 103.

[0110] In one example, the third magnet 103 is rectangular within a circular cross-section, and the rectangle includes two intersecting diagonals. One diagonal is selected as the boundary line between the two transition magnetic pole portions 103a of the third magnet 103. The N pole and S pole are magnetized on both sides of the diagonal, respectively.

[0111] As an example, the N pole of the first magnet 101 faces the stator structure 120, and the S pole faces the actuator 200. The third magnet 103 has an N pole on the side closest to the N pole of the first magnet and an S pole on the other side. The second magnet 102 on one side of the third magnet 103 has an N pole on the side closest to the S pole of the third magnet 103 and an S pole on the other side.

[0112] In the embodiments of this application, the angle of the interface between the two diagonally arranged transition magnetic pole portions 103a is located between the angles of the interfaces between the two pole portions of the first magnet 101 and the second magnet 102, which is beneficial for attracting magnetic fields and facilitates magnetization, reducing the difficulty of magnetization. In other words, in the cross-section, the interface between the N and S poles of the first magnet 101 is perpendicular to the Z-axis, the interface between the N and S poles of the second magnet 102 is parallel to the Z-axis, and the interface of the third magnet 103 has an angle with the Z-axis, the angle being within 90 degrees and between the angles between the interfaces of the two magnets and the Z-axis.

[0113] In some embodiments of this application, along the axial direction Z, the third magnet 103 includes a magnetizing surface 135 facing the stator structure 120, and the magnetizing surface 135 is coplanar with the functional surface 131.

[0114] In some examples, the third magnet 103 includes a magnetizing surface 135 and a transition surface 136 arranged opposite to each other along the axial direction Z. The transition surface 136 may be coplanar with or offset from the mounting surface 132 of the first magnet 101. That is, the thickness of the third magnet 103 along the axial direction Z may be the same as or different from the thickness of the first magnet 101. As an example, the transition surface 136 may be coplanar with the mounting surface 132 of the first magnet 101, which is beneficial for the third magnet 103 to enhance the magnetic flux of the first magnet 101.

[0115] In some examples, the second magnet 102 includes an auxiliary surface 133 facing the stator structure 120, the auxiliary surface 133 being coplanar with the magnetizing surface 135 and the functional surface 131.

[0116] In another example, the second magnet 102 includes a first end face 134 disposed opposite to the auxiliary surface 133. The first end face 134 may be coplanar with or offset from the mounting surface 132 or the transition surface 136. As an example, the first end face 134 protrudes from the mounting surface 132.

[0117] In other examples, the magnetizing surface 135 of the third magnet 103 is misaligned with the functional surface 131, and along the axial direction Z, the magnetizing surface 135 is located between the functional surface 131 and the auxiliary surface 133.

[0118] For example, the size of the third magnet 103 is between the size of the first magnet 101 and the size of the second magnet 102.

[0119] In the embodiments of this application, the coplanarity of the magnetizing surface 135 and the functional surface 131 facilitates the third magnet 103 to magnetize the magnetic field of the first magnet 101, making the magnetic field lines of the first magnet 101 more regular and improving the reinforcement effect on the first magnet 101.

[0120] In some embodiments of this application, the volume of the first magnet 101 is greater than or equal to the volume of the second magnet 102.

[0121] Furthermore, in some embodiments of this application, the volume of the first magnet 101 is greater than or equal to the sum of the volumes of the second magnet 102 and the third magnet 103. Increasing the volume of the first magnet 101 thereby increases the utilization rate of the magnetic flux of the first magnet 101.

[0122] In one specific embodiment of this application, within a circular cross-section passing through the first magnet 101, the second magnet 102, and the third magnet 103, and centered on the axis 141 of the motor 100, along the circumferential direction X, the sum of the lengths L2 of the second magnet 102 and the third magnet 103 is less than or equal to the length L1 of the first magnet 101.

[0123] For example, within one cycle in the circumferential direction, the sum of the lengths of all the second magnets 102 and all the third magnets 103 is less than or equal to the length of all the first magnets 101.

[0124] The longer the length of the first magnet 101 along the circumferential direction X, the larger the area of ​​the functional surface 131 of the first magnet 101, the stronger the coupling magnetic field between the first magnet 101 and the rotor, and the smaller the volume of the rotor structure 130 and the smaller the volume of the power device under the premise of constant torque.

[0125] The length L1 of the first magnet 101 is greater than the length of the third magnet 103 and the length L3 of the second magnet 102, making the magnetic flux of the first magnet 101 dominant, reducing magnetic leakage and improving the utilization rate of the magnetic flux of the first magnet 101.

[0126] In the embodiments of this application, the orthogonal projections of the first magnet 101, the second magnet 102, and the third magnet 103 along the Z-axis are all fan-shaped. This facilitates processing and makes it easier for the first magnet 101, the second magnet 102, and the third magnet 103 to align and connect, so that the rotor structure 130 is enclosed to form a seamless annular structure.

[0127] In some embodiments, the thickness of the first magnet 101 along the axial direction Z can be uniform or non-uniform.

[0128] For example, when the first magnet 101 has a non-uniform thickness, the thickness of the first magnet 101 along the radial Y direction may have a tendency to increase or decrease from the center to the periphery; or it may have a tendency to first increase and then decrease from the center to the periphery; or it may have a tendency to first decrease and then increase from the center to the periphery.

[0129] In some embodiments of this application, along the axial direction Z from the actuator 200 to the stator structure 120, the thickness of the first magnet 101 tends to increase from its outer periphery towards the center.

[0130] For example, the thickness of the stator structure 120 along the axial direction Z tends to decrease from its outer periphery towards the center, making the gap formed between the stator structure 120 and the first magnet 101 uniform. That is, the first magnet 101 is a conical shape convex towards the stator structure 120, and the stator structure 120 is concave away from the stator structure 120. In some implementations, the conical shape and the concave shape are adapted to each other.

[0131] In this embodiment, the first magnet 101 has a tendency to increase in thickness towards the center, which can increase the coupling magnetic flux of the first magnet 101 near the output shaft 140.

[0132] The thickness of the first magnet 101 increases from the outer periphery to the center, which makes the magnetic field generated by the first magnet 101 more uniformly distributed in the radial Y direction. For example, in the motor 100, the sinusoidal nature of the air gap magnetic field directly affects the smoothness of the electromagnetic torque. When the first magnet 101 on the outer periphery is thinner, the magnetic flux is relatively weaker, while the thickness on the center side can enhance the magnetic flux, compensate for the magnetic flux attenuation caused by the reduction in radius, thereby forming a magnetic field distribution in the air gap that is closer to a sine wave, reducing harmonic losses and improving the efficiency of the motor 100.

[0133] The gradient change in magnet thickness can guide magnetic field lines to pass through the air gap more concentratedly, reducing magnetic leakage in the internal and surrounding structures of the magnet. For example, when the outer peripheral magnet is thinner, the magnetic field lines are more likely to diverge towards the air gap, while the thicker magnet in the center can provide a stronger magnetomotive force, thereby improving the magnetic coupling efficiency between the stator structure 120 and the rotor structure 130 in the air gap region.

[0134] Furthermore, in some embodiments of this application, the first magnet 101 and the second magnet 102 are staggered along the Z-axis, with the second magnet 102 being closer to the actuator 200 than the first magnet 101. This closer proximity of the first magnet 101 to the stator structure 120 increases the magnetic field near the stator structure 120 and shortens the magnetic path near the actuator 200, thereby reducing magnetic leakage in the absence of a yoke.

[0135] The yoke of the motor 100 has a magnetic conductivity effect, but it increases the axial Z-length of the motor 100, which is detrimental to vascular intervention and may cause damage to the body. This embodiment eliminates the yoke and reduces magnetic leakage by misaligning the first magnet 101 and the second magnet 102.

[0136] Furthermore, in some embodiments of this application, along the axial direction Z, the second magnet 102 includes an auxiliary surface 133 facing the stator structure 120, and the maximum misalignment distance D between the auxiliary surface 133 and the functional surface 131 is less than or equal to half the minimum thickness of the first magnet 101.

[0137] In one example, the auxiliary surface 133 and the functional surface 131 may be parallel or at an angle. As an example, the auxiliary surface 133 and the functional surface 131 are parallel, and the misalignment distance D between them is equal everywhere. As an example, the misalignment distance D between the auxiliary surface 133 and the functional surface 131 is equal to half the thickness of the first magnet 101.

[0138] In another example, the misalignment distance D between the auxiliary surface 133 and the functional surface 131 tends to increase from the outer periphery of the rotor structure 130 toward the center.

[0139] As an example, the misalignment distance D between the first end face 134 of the second magnet 102 and the mounting surface 132 of the first magnet 101 is uniformly set and is less than or equal to half of the minimum thickness of the first magnet 101.

[0140] In the embodiments of this application, if the auxiliary surface 133 of the second magnet 102 is excessively misaligned with the functional surface 131, it will cause the magnetic circuit on the actuator 200 side to become longer, increasing the risk of magnetic leakage. A maximum misalignment distance D between the auxiliary surface 133 and the functional surface 131 that is less than or equal to half the minimum thickness of the first magnet 101 allows the magnetic field of the second magnet 102 to be closer to the magnetic circuit of the first magnet 101. The axial Z-field of the first magnet 101 guides the circumferential X-field of the second magnet 102, reducing the divergence of magnetic flux on the actuator 200 side. For example, when the thickness of the first magnet 101 is 2mm, a misalignment distance D ≤ 1mm allows the auxiliary surface 133 of the second magnet 102 and the functional surface 131 of the first magnet 101 to form a gradient magnetic barrier in the axial Z direction, preventing the magnetic field from spreading irregularly to the actuator 200 side.

[0141] When the power unit is integrated into the body, the axial Z-length and outer diameter must be strictly limited, while the elimination of the magnetic yoke depends on magnetic circuit optimization. Controlling the misalignment distance D can avoid the increase in axial Z-length caused by the excessive protrusion of the second magnet 102, while magnetic circuit optimization compensates for the magnetic loss caused by the absence of a magnetic yoke.

[0142] Specifically, in another embodiment of this application, the first magnet 101 includes two main magnetic pole portions 101a with opposite polarities. The two main magnetic pole portions 101a are arranged successively along the axial direction Z. Along the axial direction Z, the volume of the main magnetic pole portion 101a closer to the stator structure 120 is greater than or equal to the volume of the main magnetic pole portion 101a farther from the stator structure 120.

[0143] For example, the two main magnetic pole portions 101a include an N-pole main magnetic pole portion 101a and an S-pole main magnetic pole portion 101a. The N-pole main magnetic pole portion 101a and the S-pole main magnetic pole portion 101a include a dividing interface, which, as an example, may be parallel to the functional surface 131 or parallel to the mounting surface 132.

[0144] In one example, along the axial direction Z from the actuator 200 toward the stator structure 120, the thickness of the main magnetic pole portion 101a on the side facing the stator structure 120 tends to increase from its outer periphery toward the center.

[0145] In some examples, the auxiliary surface 133 is closer to the stator structure 120 than the interface between the two main magnetic pole portions 101a.

[0146] In one embodiment of this application, in a circular cross-section passing through the first magnet 101 and the second magnet 102, and centered on the axis 141 of the motor 100, along the circumferential direction X, the length of the first magnet 101 is greater than or equal to the length of the second magnet 102.

[0147] By ensuring that the length of the first magnet 101 is greater than or equal to the length of the second magnet 102, the effective coupling area of ​​the functional surface 131 of the first magnet 101 can be increased. The axial Z-magnetization direction of the first magnet 101 causes the coupling magnetic field between its functional surface 131 and the stator to be distributed axially in the Z-direction. The longer the circumferential X-length, the larger the circumferentially unfolded area of ​​the functional surface 131. For example, when the circumferential X-length of the first magnet 101 is 1.2 times that of the second magnet 102, the axial Z-projected area of ​​the functional surface 131 can be increased by about 20%, thereby increasing the magnetic flux coupling between the stator and the rotor. In a thrombus aspiration system, this design can increase the output torque of the motor 100 by 10%-15% under the same current, thereby enhancing the negative pressure force of thrombus aspiration and shortening the vascular recanalization time.

[0148] Furthermore, in some embodiments of this application, in a circular cross-section passing through the first magnet 101 and the second magnet 102, and centered on the axis 141 of the motor 100, along the axial direction Z, the height H1 of the first magnet 101 is greater than or equal to the height H2 of the second magnet 102.

[0149] By ensuring that the height of the first magnet 101 is greater than or equal to the height of the second magnet 102, the longitudinal penetration of the axial Z-magnetic field can be enhanced. The axial Z-magnetization direction of the first magnet 101 distributes its magnetic field along the axis 141 of the motor 100. The greater the axial Z-height, the greater the effective magnetic flux of the magnetic field passing through the air gap into the stator. For example, when the axial Z-height of the first magnet 101 is 1.5 times that of the second magnet 102, the axial Z-magnetic flux on the stator side can be increased by approximately 30%, thereby increasing the output torque of the motor 100 at the same speed. In a ventricular assist system, this can increase the pumping flow rate of the blood pump from 3 L / min to 4.5 L / min, meeting the circulatory support needs of patients with end-stage heart failure.

[0150] In the embodiments of this application, the rotor structure 130 has an annular shape when projected along the axial direction Z.

[0151] Embodiments of this application provide another medical pumping device, including: an actuator 200 and a motor 100. The motor 100 includes a stator structure 120, a rotor structure 130, and an output shaft 140. The rotor structure 130 is located on at least one side of the stator structure 120 along the axial direction Z of the motor 100. The rotor structure 130 is connected to the output shaft 140, and the output shaft 140 is connected to the actuator 200. The rotor structure 130 includes at least a plurality of first magnets 101, a plurality of second magnets 102, and a plurality of third magnets 103 that abut against each other along the circumferential direction X of the motor 100. The plurality of first magnets 101 and the plurality of second magnets 102 are alternately arranged along the circumferential direction X. The magnetization direction of the first magnets 101 is... The first magnet 101 is positioned along the axial direction Z, and the magnetization direction of the second magnet 102 is positioned along the circumferential direction X. The magnetization directions of two adjacent first magnets 101 are opposite, and the magnetization directions of two adjacent second magnets 102 are opposite. The third magnet 103 is located between adjacent first magnets 101 and second magnets 102. The magnetization direction of the third magnet 103 has a circumferential X component direction and an axial Z component direction. The axial Z magnetization directions of two adjacent third magnets 103 are opposite, and the circumferential X magnetization directions are opposite. The rotor structure 130 and the stator structure 120 cooperate to drive the output shaft 140 to rotate, and to generate a corrective force that at least partially offsets the axial force when the output shaft 140 is subjected to an axial Z force and undergoes an axial Z offset.

[0152] In one example, the stator structure 120 includes a stator body and windings, and the rotor structure 130 also includes a rotor body. The rotor body is sleeved on the output shaft 140. The rotor body interacts with the stator body to rotate, thereby driving the output shaft 140 to rotate. The windings attract or repel multiple first magnets 101, multiple second magnets 102, and multiple third magnets 103 in the rotor structure 130, thereby generating a corrective force to balance the axial force on the output shaft 140.

[0153] It is understood that the motor body composed of the rotor body and the stator body can be an axial magnetic field motor or a radial magnetic field motor, and this application does not specifically limit it. Among them, when the motor body is an axial magnetic field motor, the rotor body can adopt the same or similar structure as the plurality of first magnets 101, the plurality of second magnets 102 and the plurality of third magnets 103, and the stator body can adopt the same or similar structure as the winding.

[0154] In one example, the stator structure 120 and the rotor structure 130 may be located within the housing of the motor 100.

[0155] For example, the stator structure 120 and the rotor structure 130 are spaced apart along the axial direction by Z on the side of the housing near the actuator 200.

[0156] In one example, the rotor structure 130 and the stator body are located inside the housing, while the windings are located outside the housing.

[0157] In one example, the rotor body and stator body are located inside the housing, while the windings, a plurality of first magnets 101, a plurality of second magnets 102 and a plurality of third magnets 103 in the rotor structure 130 are located outside the housing.

[0158] This application embodiment also provides an interventional system, including the medical pumping device and pumping housing 300 of the above embodiments. The pumping housing 300 is connected to the housing 110, and the pumping housing 300 has a pumping window 301 located between the actuator 200 and the stator structure 120.

[0159] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A medical pumping device, characterized in that, include: Executable; An electric motor includes a stator structure, a rotor structure, and an output shaft. The rotor structure is located on at least one side of the stator structure along the axial direction of the motor. The rotor structure is connected to the output shaft, and the output shaft is connected to the actuator. The rotor structure includes at least a plurality of first magnets, a plurality of second magnets, and a plurality of third magnets that abut against each other along the circumference of the motor. The plurality of first magnets and the plurality of second magnets are alternately arranged along the circumference. The magnetization direction of the first magnets is arranged along the axial direction, and the magnetization direction of the second magnets is arranged along the circumference. The magnetization directions of two adjacent first magnets are opposite, and the magnetization directions of two adjacent second magnets are opposite. The third magnet is located between the adjacent first magnet and the second magnet. The magnetization direction of the third magnet has a circumferential component direction and an axial component direction. The axial magnetization directions of two adjacent third magnets are opposite, and their circumferential magnetization directions are also opposite.

2. The medical pumping device according to claim 1, characterized in that, The rotor structure and the stator structure cooperate to drive the output shaft to rotate; Alternatively, the rotor structure and the stator structure cooperate to drive the output shaft to rotate, and generate a corrective force that at least partially counteracts the axial force when the output shaft is subjected to an axial force and undergoes axial displacement.

3. The medical pumping device according to claim 1, characterized in that, The third magnet includes two transition magnetic poles with opposite polarities. Within a cylindrical cross-section passing through the third magnet and centered on the axis of the motor, the two transition magnetic poles are located on opposite sides of the diagonal of the third magnet.

4. The medical pumping device according to claim 3, characterized in that, The first magnet includes two main magnetic poles with opposite polarities, and the two main magnetic poles are arranged sequentially along the axial direction; The rotor structure faces the stator structure on one side, and the adjacent main magnetic poles and the transition magnetic poles have the same polarity.

5. The medical pumping device according to claim 1, characterized in that, Along the axial direction, the first magnet includes a functional surface facing the stator structure, the functional surface having an angle with the radial direction of the motor, and an equidistant gap between the end face of the stator structure and the functional surface.

6. The medical pumping device according to claim 5, characterized in that, Along the axial direction, the third magnet includes a magnetizing surface facing the stator structure, the magnetizing surface being coplanar with the functional surface.

7. The medical pumping device according to claim 6, characterized in that, The second magnet includes an auxiliary surface facing the stator structure, wherein the auxiliary surface, the magnetizing surface, and the functional surface are coplanar; or, The second magnet further includes a first end face disposed opposite to the auxiliary surface, and the third magnet includes a transition surface along the axial direction opposite to the magnetizing surface, wherein the first end face is coplanar with or misaligned with the transition surface; or, The magnetizing surface is misaligned with the functional surface, and along the axial direction, the magnetizing surface is located between the functional surface and the auxiliary surface.

8. The medical pumping device according to claim 5, characterized in that, Along the axial direction, the second magnet includes an auxiliary surface facing the stator structure, the maximum misalignment distance between the auxiliary surface and the functional surface being less than or equal to half the minimum thickness of the first magnet.

9. The medical pumping device according to claim 8, characterized in that, The first magnet includes two main magnetic pole portions with opposite polarities, which are arranged successively along the axial direction. Along the axial direction, the volume of the main magnetic pole portion closer to the stator structure is greater than or equal to that of the main magnetic pole portion farther from the stator structure.

10. The medical pumping device according to any one of claims 1 to 9, characterized in that, Within a circular cross-section passing through the first magnet, the second magnet, and the third magnet, and centered on the axis of the motor; Along the circumferential direction, the sum of the lengths of the second magnet and the third magnet is less than or equal to the length of the first magnet; and / or; Along the circumferential direction, the length of the second magnet is greater than or equal to the length of the third magnet; Along the axial direction, the height of the first magnet is greater than or equal to the height of the second magnet.

11. The medical pumping device according to any one of claims 1 to 9, characterized in that, The orthogonal projections of the first magnet, the second magnet, and the third magnet along the axial direction are all fan-shaped or fan-ring-shaped.

12. The medical pumping device according to any one of claims 1 to 9, characterized in that, Along the axial direction from the actuator to the stator structure, the thickness of the first magnet tends to increase from its outer periphery towards the center.

13. The medical pumping device according to any one of claims 1 to 9, characterized in that, Along the axial direction, the first magnet and the second magnet are misaligned, with the second magnet positioned closer to the actuator than the first magnet.

14. The medical pumping device according to any one of claims 1 to 9, characterized in that, The volume of the first magnet is greater than or equal to the volume of the second magnet.

15. The medical pumping device according to any one of claims 1 to 9, characterized in that, It also includes a mounting plate, to which the rotor structure is connected, and the rotor structure is located on the side of the stator structure closer to the actuator.

16. The medical pumping device according to any one of claims 1 to 9, characterized in that, The medical pumping device includes a blood pumping device or a thrombus aspiration device.

17. An electric motor for use in a medical pumping device, characterized in that, The motor includes a stator structure, a rotor structure, and an output shaft. The rotor structure is located on at least one side of the stator structure along the axial direction of the motor, and is connected to the circumference of the output shaft. The rotor structure includes at least a plurality of first magnets, a plurality of second magnets, and a plurality of third magnets that abut against each other along the circumference of the motor. The plurality of first magnets and the plurality of second magnets are alternately arranged along the circumference. The magnetization direction of the first magnets is arranged along the axial direction, and the magnetization direction of the second magnets is arranged along the circumference. The magnetization directions of two adjacent first magnets are opposite, and the magnetization directions of two adjacent second magnets are opposite. The third magnet is located between the adjacent first magnet and the second magnet. The magnetization direction of the third magnet has a circumferential component direction and an axial component direction. The axial magnetization directions of two adjacent third magnets are opposite, and their circumferential magnetization directions are also opposite, which is used to enhance the magnetic flux of the adjacent first magnet and the second magnet.

18. A rotor structure, characterized in that, It includes a plurality of first magnets, a plurality of second magnets, and a plurality of third magnets that abut against each other in the circumferential direction. The plurality of first magnets and the plurality of second magnets are alternately arranged in the circumferential direction. The magnetization direction of the first magnets is arranged in the axial direction, and the magnetization direction of the second magnets is arranged in the circumferential direction. The magnetization directions of two adjacent first magnets are opposite, and the magnetization directions of two adjacent second magnets are opposite. The third magnet is located between the adjacent first magnet and the second magnet. The magnetization direction of the third magnet has a circumferential component direction and an axial component direction. The axial magnetization directions of two adjacent third magnets are opposite, and their circumferential magnetization directions are also opposite, which is used to enhance the magnetic flux of the adjacent first magnet and the second magnet.

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