WO2022021798A1 - 介入式心室辅助装置 - Google Patents
介入式心室辅助装置 Download PDFInfo
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- WO2022021798A1 WO2022021798A1 PCT/CN2020/141796 CN2020141796W WO2022021798A1 WO 2022021798 A1 WO2022021798 A1 WO 2022021798A1 CN 2020141796 W CN2020141796 W CN 2020141796W WO 2022021798 A1 WO2022021798 A1 WO 2022021798A1
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- WIPO (PCT)
- Prior art keywords
- impeller
- interventional
- hole
- tube
- assist device
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/80—Constructional details other than related to driving
- A61M60/802—Constructional details other than related to driving of non-positive displacement blood pumps
- A61M60/818—Bearings
- A61M60/82—Magnetic bearings
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/40—Details relating to driving
- A61M60/403—Details relating to driving for non-positive displacement blood pumps
- A61M60/422—Details relating to driving for non-positive displacement blood pumps the force acting on the blood contacting member being electromagnetic, e.g. using canned motor pumps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/10—Location thereof with respect to the patient's body
- A61M60/122—Implantable pumps or pumping devices, i.e. the blood being pumped inside the patient's body
- A61M60/126—Implantable pumps or pumping devices, i.e. the blood being pumped inside the patient's body implantable via, into, inside, in line, branching on, or around a blood vessel
- A61M60/13—Implantable pumps or pumping devices, i.e. the blood being pumped inside the patient's body implantable via, into, inside, in line, branching on, or around a blood vessel by means of a catheter allowing explantation, e.g. catheter pumps temporarily introduced via the vascular system
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/20—Type thereof
- A61M60/205—Non-positive displacement blood pumps
- A61M60/216—Non-positive displacement blood pumps including a rotating member acting on the blood, e.g. impeller
- A61M60/221—Non-positive displacement blood pumps including a rotating member acting on the blood, e.g. impeller the blood flow through the rotating member having both radial and axial components, e.g. mixed flow pumps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/80—Constructional details other than related to driving
- A61M60/802—Constructional details other than related to driving of non-positive displacement blood pumps
- A61M60/818—Bearings
- A61M60/82—Magnetic bearings
- A61M60/822—Magnetic bearings specially adapted for being actively controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/80—Constructional details other than related to driving
- A61M60/802—Constructional details other than related to driving of non-positive displacement blood pumps
- A61M60/818—Bearings
- A61M60/824—Hydrodynamic or fluid film bearings
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/80—Constructional details other than related to driving
- A61M60/802—Constructional details other than related to driving of non-positive displacement blood pumps
- A61M60/818—Bearings
- A61M60/825—Contact bearings, e.g. ball-and-cup or pivot bearings
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/80—Constructional details other than related to driving
- A61M60/802—Constructional details other than related to driving of non-positive displacement blood pumps
- A61M60/827—Sealings between moving parts
- A61M60/829—Sealings between moving parts having a purge fluid supply
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D13/00—Pumping installations or systems
- F04D13/02—Units comprising pumps and their driving means
- F04D13/06—Units comprising pumps and their driving means the pump being electrically driven
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D25/00—Pumping installations or systems
- F04D25/02—Units comprising pumps and their driving means
- F04D25/08—Units comprising pumps and their driving means the working fluid being air, e.g. for ventilation
- F04D25/082—Units comprising pumps and their driving means the working fluid being air, e.g. for ventilation the unit having provision for cooling the motor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D29/00—Details, component parts, or accessories
- F04D29/04—Shafts or bearings, or assemblies thereof
- F04D29/041—Axial thrust balancing
- F04D29/0413—Axial thrust balancing hydrostatic; hydrodynamic thrust bearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D29/00—Details, component parts, or accessories
- F04D29/18—Rotors
- F04D29/181—Axial flow rotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0474—Active magnetic bearings for rotary movement
- F16C32/0493—Active magnetic bearings for rotary movement integrated in an electrodynamic machine, e.g. self-bearing motor
- F16C32/0495—Active magnetic bearings for rotary movement integrated in an electrodynamic machine, e.g. self-bearing motor generating torque and axial force
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/06—Bearings not otherwise provided for with moving member supported by a fluid cushion formed, at least to a large extent, otherwise than by movement of the shaft, e.g. hydrostatic air-cushion bearings
- F16C32/0629—Bearings not otherwise provided for with moving member supported by a fluid cushion formed, at least to a large extent, otherwise than by movement of the shaft, e.g. hydrostatic air-cushion bearings supported by a liquid cushion, e.g. oil cushion
- F16C32/0633—Bearings not otherwise provided for with moving member supported by a fluid cushion formed, at least to a large extent, otherwise than by movement of the shaft, e.g. hydrostatic air-cushion bearings supported by a liquid cushion, e.g. oil cushion the liquid being retained in a gap
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C37/00—Cooling of bearings
- F16C37/005—Cooling of bearings of magnetic bearings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C39/00—Relieving load on bearings
- F16C39/04—Relieving load on bearings using hydraulic or pneumatic means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2205/00—General characteristics of the apparatus
- A61M2205/36—General characteristics of the apparatus related to heating or cooling
- A61M2205/3606—General characteristics of the apparatus related to heating or cooling cooled
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2316/00—Apparatus in health or amusement
- F16C2316/10—Apparatus in health or amusement in medical appliances, e.g. in diagnosis, dentistry, instruments, prostheses, medical imaging appliances
- F16C2316/18—Pumps for pumping blood
Definitions
- the present application relates to the technical field of medical devices, in particular to an interventional ventricular assist device.
- the statements herein merely provide background information related to the present application and do not necessarily constitute prior art.
- the traditional interventional ventricular assist device uses mechanical bearings to realize the rotation of the impeller, which has mechanical friction, which will bring potential blood compatibility risks, and the bearing connections of the mechanical bearings are prone to thrombus formation.
- One of the objectives of the embodiments of the present application is to provide an interventional ventricular assist device, which aims to solve the problem of the risk of blood compatibility caused by mechanical friction of the interventional ventricular assist device in the conventional technology.
- an interventional ventricular assist device including an interventional tube, a motor assembly, a liquid injection cylinder and an impeller assembly; wherein:
- the intervention tube has a liquid inlet and a liquid outlet
- the impeller assembly includes an impeller housed in the interventional tube, the impeller being rotatable so that liquid can enter the interventional tube from the liquid inlet and flow out from the liquid outlet;
- the motor assembly can generate a rotating magnetic field to drive the impeller to rotate, and the motor assembly can generate an attractive force on the impeller;
- the injection cylinder can inject perfusate into the interventional tube, and the perfusion liquid injected through the injection cylinder can provide a thrust to the impeller assembly, so that the impeller can operate under the thrust and all conditions. Under the combined action of the attractive force, it is suspended and rotated in the interventional tube.
- the beneficial effect of the interventional ventricular assist device provided by the embodiment of the present application is that the interventional ventricular assist device provided by the embodiment of the present application generates a rotating magnetic field through the motor assembly to drive the impeller to rotate, and the motor assembly can attract the impeller and inject liquid.
- the perfusion liquid injected into the cylinder gives a thrust to the impeller assembly, so that the impeller can suspend and rotate under the combined action of thrust and attractive force.
- it avoids the mechanical friction between the impeller and other parts, and not only avoids the abrasive produced by mechanical friction.
- the interventional ventricular assist device of the present application has less vibration during operation, which makes the patient more comfortable.
- FIG. 1 is a schematic perspective view of an interventional ventricular assist device according to an embodiment of the present application.
- Fig. 2 is another perspective perspective view of the interventional ventricular assist device in Fig. 1;
- FIG. 3 is an exploded schematic view of the interventional ventricular assist device in FIG. 2;
- FIG. 4 is a schematic side view of the interventional ventricular assist device in FIG. 1;
- Fig. 5 is the AA cross-sectional view of the interventional ventricular assist device in Fig. 4;
- FIG. 6 is an enlarged view of the middle region of the interventional ventricular assist device in FIG. 4;
- Fig. 7 is the perspective schematic diagram of the casing in Fig. 1;
- FIG. 8 is a schematic top view of the casing in FIG. 7;
- Fig. 9 is the BB sectional view of the casing in Fig. 8.
- Fig. 10 is another perspective schematic diagram of the casing in Fig. 8.
- Figure 11 is a CC cross-sectional view of the casing in Figure 10;
- Figure 12 is a perspective view of the impeller in Figure 6;
- Fig. 13 is another perspective perspective view of the impeller in Fig. 12;
- Figure 14 is a schematic top view of the impeller in Figure 13;
- Figure 15 is a DD cross-sectional view of the impeller in Figure 14;
- FIG. 16 is a schematic structural diagram of a casing provided by another schematic diagram of the application.
- interventional ventricular assist device 10, interventional tube; 11, liquid inlet; 12, liquid outlet; 13, first channel; 14, straight pipe section; 15, elbow section; 20, impeller assembly; 21, impeller 211, hub; 2111, first installation slot; 2111a, straight hole; 2111b, inclined hole; 2112, second installation slot; 2113, guide hole; 2114, blade; 2115, cylindrical section; 2116, conical Section; 212, magnetic parts; 213, sealing cover; 22, drive shaft; 30, motor assembly; 31, stator; 32, casing; 321, annular groove; 322, limit groove; 3221, notch; 3222, bottom wall; 323, cylinder; 324, hole assembly; 3241, first hole; 3242, second hole; 325, step; 33, cover plate; 331, through hole; 40, liquid injection cylinder; 41, second channel; 42. Outlet holes.
- the interventional ventricular assist device 100 can be used for the right ventricle or the left ventricle. When used in the left ventricle, it can be inserted into the left ventricle via the aorta.
- the interventional ventricular assist device 100 includes an interventional tube 10 , an impeller assembly 20 , a motor assembly 30 and a liquid injection cylinder 40 .
- the motor assembly 30 is connected between the interventional tube 10 and the infusion cartridge 40 .
- the motor assembly 30 is capable of generating a rotating magnetic field
- the impeller assembly 20 is capable of rotating under the rotating magnetic field generated by the motor assembly 30 to provide power to flow a liquid (eg, blood).
- the interventional tube 10 has a liquid inlet 11 and a liquid outlet 12 .
- the liquid inlet 11 is used for blood to enter the interventional tube 10
- the liquid outlet 12 is used for blood to flow out of the interventional tube 10 .
- the liquid inlet 11 and the liquid outlet 12 are located at two ends of the interventional tube 10, respectively.
- the interventional tube 10 is a structure whose outer diameter is adapted to the inner diameter of the aorta.
- the interventional tube 10 has a generally conical tip to facilitate guided insertion into a blood vessel.
- the liquid inlets 11 are provided at the tip, and a plurality of liquid inlets 11 are arranged at intervals around the central axis of the tip.
- the liquid outlet 12 is located on the tube wall of the end of the intervention tube 10 away from the liquid inlet 11 , that is, the liquid outlet 12 is radially arranged (in this paper, the extension direction of the rotation axis of the impeller assembly 20 is defined as Axial, the direction perpendicular to the axis of rotation of the impeller assembly 20 is radial).
- the interventional tube 10 includes a straight tube section 14 and an elbow section 15 that is bent and extended from one end of the straight tube section 14 .
- the liquid outlet 12 is located on the pipe wall of the end of the straight pipe section 14 away from the curved pipe section 15, and the impeller 21 is rotatably accommodated in the straight pipe section 14.
- the conical tip is located at the end of the curved pipe section 15 remote from the straight pipe section 14 .
- the number of the liquid outlet 12 and the liquid inlet 11 is not limited to a plurality, the number of the liquid outlet 12 and the liquid inlet 11 can also be one, and the number of the liquid outlet 12 and the liquid inlet 11 can be as required Make settings.
- the impeller assembly 20 includes an impeller 21 housed in the interventional tube 10 , and the impeller 21 is rotatable to enable liquid (eg, blood) to enter the interventional tube 10 from the liquid inlet 11 and flow out from the liquid outlet 12 . That is, the rotation axis of the impeller assembly 20 is the rotation axis of the impeller 21 . Specifically, the impeller 21 is disposed close to one end of the liquid outlet 12 of the interventional tube 10 . When the interventional ventricular assist device 100 is used in the left ventricle, the blood in the left ventricle enters the interventional tube 10 from the liquid inlet 11 , and then flows out of the interventional tube 10 through the liquid outlet 12 into the aorta.
- liquid eg, blood
- the impeller 21 includes a hub 211 and a magnetic member 212 disposed in the hub 211 .
- the magnetic member 212 is annular, and further, the magnetic member 212 is a Halbach array magnetic ring.
- the motor assembly 30 can generate a rotating magnetic field to drive the impeller 21 to rotate.
- the motor assembly 30 is disposed at one end of the interventional tube 10 having the liquid outlet 12 .
- the impeller 21 rotates under the cooperation of the magnetic member 212 and the motor assembly 30 .
- the cooperation of the magnetic member 212 and the motor assembly 30 can also realize the radial suspension of the impeller 21 .
- the suspension of the impeller 21 is referred to as the suspension of the impeller 21 .
- the impeller 21 is provided with a perfusion liquid.
- the hydraulic thrust has at least a force capable of urging the impeller 21 to move in a direction away from the motor assembly 30 , so as to realize the suspension of the impeller 21 in the axial direction. That is, the injection cylinder 40 can inject perfusate into the interventional tube 10, and the perfusion liquid injected through the injection cylinder 40 can provide a thrust to the impeller assembly 20, so that the impeller 21 can be under the joint action of the motor assembly 30 and the perfusion liquid.
- the suspension is rotated in the interventional tube 10 . That is, the impeller 21 can suspend and rotate under the combined action of the force between the motor assembly 30 and the impeller 21 and the force of the injected perfusion liquid on the impeller assembly 20 . In other words, the thrust must at least cancel the attractive force between the motor assembly 30 and the magnetic member 212 of the impeller 21 , so that the impeller 21 is suspended in the axial direction. However, the suspended rotation of the impeller 21 causes no mechanical friction between the impeller 21 and the intervening tube 10 .
- a rotating magnetic field is generated by the motor assembly 30 to drive the impeller 21 to rotate, and a thrust is provided to the impeller 21 through the perfusion fluid, so that the impeller 21 can move between the motor assembly 30 and the impeller 21 Under the combined action of the acting force and the acting force of the injected perfusion fluid on the impeller assembly 20, the impeller assembly 20 is suspended and rotated.
- the mechanical friction between the impeller 21 and other parts is avoided, and the abrasive particles generated by the mechanical friction are not only prevented from affecting the blood. contamination risk, but also prevent the risk of easy thrombus formation at the mechanical bearing.
- the vibration of the interventional ventricular assist device 100 of the present application during operation is smaller, which makes the patient more comfortable.
- the perfusate is heparin-containing glucose or heparin-containing physiological saline. It can be understood that in other implementations of the present application, the perfusion fluid can also be ordinary glucose or normal saline.
- the perfusate can not only provide thrust to the impeller 21, but also the heparin in the perfusate can flush the impeller 21, etc., to prevent blood coagulation and reduce the formation of thrombus.
- a limiting groove 322 and a hole assembly 324 are defined on the motor assembly 30 , the limiting groove 322 is communicated with the intervention tube 10 , the hole assembly 324 is communicated with the limiting groove 322 , and the liquid injection cylinder 40 It communicates with the hole assembly 324, so that the perfusion fluid injected through the injection cylinder 40 can flow into the interventional tube 10 through the hole assembly 324 and the limiting groove 322 in sequence. In this way, the perfusion liquid can also cool down the motor assembly 30 .
- the limiting groove 322 has a notch 3221 and a bottom wall 3222 opposite to the notch 3221 , and the notch 3221 communicates with the intervention tube 10 .
- the limiting groove 322 also has a side wall connected to the bottom wall 3222 , and the side wall is a cylindrical surface and extends along the axial direction of the impeller 21 .
- the bottom wall 3222 and the side wall of the limiting groove 322 are both the groove walls of the limiting groove 322 .
- the impeller assembly 20 further includes a transmission shaft 22 , one end of the transmission shaft 22 is fixedly connected to the impeller 21 , and the other end extends into the limiting groove 322 .
- the transmission shaft 22 can rotate with the impeller 21 , and the end of the transmission shaft 22 away from the impeller 21 can be suspended in the limiting groove 322 .
- the rotation axis of the transmission shaft 22 coincides with the rotation axis of the impeller 21 .
- the hole assembly 324 is opposite to the end of the transmission shaft 22 away from the impeller 21, so that the perfusion liquid injected into the limiting groove 322 through the hole assembly 324 can provide thrust to the transmission shaft 22, so that the transmission shaft 22 and the impeller 21 can
- the motor assembly 30 is suspended and rotated under the joint action of the perfusion solution.
- the transmission shaft 22 passes through the slot 3221 and extends toward the direction close to the bottom wall 3222 .
- the transmission shaft 22 is cylindrical.
- the end surface of the end of the transmission shaft 22 away from the impeller 21 is in the shape of a convex hemispherical surface.
- the transmission shaft 22 is located on the rotation axis of the impeller 21 , and the extension direction of the transmission shaft 22 is consistent with the rotation axis of the impeller 21 .
- the hole assembly 324 includes a first hole 3241 , and the first hole 3241 communicates with the limiting groove 322 and the liquid injection cylinder 40 .
- one opening of the first hole 3241 is located on the bottom wall 3222 , and the other opening communicates with the liquid injection cylinder 40 .
- the perfusion liquid injected from the first hole 3241 will directly act on the end face of the transmission shaft 22 at one end away from the impeller 21 , giving the transmission shaft 22 a thrust in the axial direction, which is related to the attraction of the magnetic member 212 by the motor assembly 30 .
- the forces cancel each other out so that the drive shaft 22 is balanced in its axial direction.
- the central axis of the first hole 3241 coincides with the rotation axis of the transmission shaft 22 .
- the center line of the first hole 3241 coincides with the center line of the limiting groove 322 .
- the diameter of the first hole 3241 may also be the same as the diameter of the limiting slot 322 , that is, the limiting slot 322 penetrates the motor assembly 30 along the axial direction of the impeller 21 , here Not uniquely limited.
- the hole assembly 324 further includes a plurality of second holes 3242 , and the plurality of second holes 3242 are all connected to the liquid injection cylinder 40 and the limit groove 322 , and the first hole 3241 is connected to the transmission shaft 22 .
- a plurality of second holes 3242 are arranged around the first hole 3241 at equal intervals, and the plurality of second holes 3242 are opposite to the end face of the end face of the transmission shaft 22 that is far away from the impeller 21 .
- the perfusion liquid injected from the plurality of second holes 3242 has at least a thrust force on the transmission shaft 22
- the component forces in the radial direction or all of them are radial forces.
- the axial direction of the plurality of second holes 3242 is parallel to the axial direction of the first hole 3241 , and the plurality of second holes 3242 are arranged at equal intervals around the central axis of the first hole 3241 . It should be noted that the axial directions of the plurality of second holes 3242 may not be parallel to the axial directions of the first holes 3241 .
- the bottom wall 3222 of the limiting groove 322 is a concave hemispherical shape, and the first hole 3241 is located at the center of the bottom wall 3222 .
- the curvature of the bottom wall 3222 of the limiting groove 322 is consistent with the curvature of the end surface of the end face of the transmission shaft 22 away from the impeller 21 . It can be understood that the curvature of the bottom wall 3222 of the limiting groove 322 may also be inconsistent with the curvature of the end surface of the end face of the transmission shaft 22 away from the impeller 21 .
- the four second holes 3242 are arranged around the central axis of the first hole 3241 at equal intervals, and the four second holes 3242 are The holes 3242 are all located on the bottom wall of the limiting groove 322 . It can be understood that, in other embodiments of the present application, according to actual design requirements, the number of the second holes 3242 may also be three, five, or more than five, which is not limited here.
- the form of the hole assembly 324 is not limited to the above-mentioned form.
- the hole assembly 324 includes a plurality of first holes 3241 , and the plurality of first holes 3241 are all connected to the end of the transmission shaft 22 away from the impeller 21 .
- the end faces of the two are opposite to each other, and the plurality of first holes 3241 are evenly and spaced apart around the rotation axis of the transmission shaft 22 .
- the hole assembly 324 further has a plurality of second holes 3242 , the plurality of second holes 3242 are arranged around the rotation axis of the transmission shaft 22 and are located on the periphery of the plurality of first holes 3241 .
- the motor assembly 30 includes a casing 32 and a stator 31 , and the casing 32 is sealedly connected to the intervention tube 10 and the liquid injection cylinder 40 .
- the casing 32 is disposed at one end of the intervention tube 10 close to the liquid outlet 12 , and the liquid injection cylinder 40 is located at the side of the casing 32 away from the intervention tube 10 .
- the insertion tube 10 has a first channel 13 , the first channel 13 communicates with the liquid inlet 11 and the liquid outlet 12 respectively, and the impeller 21 is accommodated in the first channel 13 .
- the stator 31 is sealed and installed on the casing 32 , the limiting groove 322 , the first hole 3241 and the second hole 3242 are all opened in the casing 32 , and the liquid injection cylinder 40 is provided with a second hole which is respectively communicated with the first hole 3241 and the second hole 3242 .
- Two channels 41 By opening the limiting slot 322 , the first hole 3241 and the second hole 3242 in the casing 32 , the perfusion liquid can also cool down the motor assembly 30 and improve the service life of the motor assembly 30 .
- the interventional tube 10 , the casing 32 and the liquid injection cylinder 40 may also be integrally formed, which is not limited herein.
- the stator 31 and the impeller 21 are spaced apart in the axial direction, so that the impeller 21 has a larger torque, so that the impeller 21 can rotate at a lower speed, thereby reducing the shearing of the blood by the impeller 21 stress, reduce the damage of the impeller 21 to the blood, and reduce hemolysis.
- the impeller 21 can have a larger size, which is more convenient to manufacture, and is beneficial to reduce the manufacturing cost.
- the casing 32 defines an annular groove 321
- the annular groove 321 surrounds the limiting groove 322 and is spaced from the limiting groove 322 .
- the central axis of the limiting groove 322 coincides with the central axis of the casing 32
- the annular groove 321 and the limiting groove 322 are coaxially arranged.
- the opening of the annular groove 321 faces the liquid injection cylinder 40
- the opening of the limiting groove 322 faces the insertion tube 10, that is, the openings of the annular groove 321 and the limiting groove 322 face different ends of the casing 32 in the axial direction, respectively.
- the stator 31 is also annular, and the stator 31 is accommodated in the annular groove 321 .
- the opening cover of the annular groove 321 is provided with a cover plate 33 , the cover plate 33 is annular, and the cover plate 33 is disposed on the annular groove 321 , so as to seal the stator 31 to the casing 32 .
- the casing 32 is cylindrical as a whole.
- the outer wall of the casing 32 is flush with the outer wall of the insertion tube 10
- the outer wall of the casing 32 and the liquid injection cylinder 40 are flush.
- the outer wall is flush.
- the two ends of the casing 32 form a plug fit with the intervention tube 10 and the liquid injection cylinder 40 respectively.
- a step 325 is formed on the peripheral edge of one end of the casing 32 , and the end of the insertion tube 10 away from the liquid inlet 11 is sleeved on the step 325 of the casing 32 to form a sealed connection by sticking, welding, hot pressing, or the like.
- a cylindrical body 323 extends from the center of the annular groove 321 , the cylindrical body 323 and the annular groove 321 are arranged concentrically, one end of the cylindrical body 323 extends to the outside of the annular groove 321 , and the cylindrical body 323 protrudes out One end of the annular groove 321 is accommodated in the liquid injection cylinder 40 .
- the limiting groove 322 , the first hole 3241 and the second hole 3242 are all formed in the cylinder 323 .
- the two holes 3242 axially extend inward from the other end of the cylinder 323 to the bottom wall of the limiting groove 322 .
- the second channel 41 extends axially along the liquid injection cylinder 40 , the centerline of the second channel 41 coincides with the centerline of the first hole 3241 , and the diameter of the second channel 41 is larger than the diameter of the outer contour circle D of each second hole 3242 .
- the outer contour circle D of each second hole 3242 refers to the circle where the point farthest from the center line of the first hole 3241 in each second hole 3242 is located.
- the outer contour circle D is shown as the dotted circle in FIG.
- the liquid injection cylinder 40 is further provided with a wire outlet hole 42 , the wire outlet hole 42 is spaced from the second channel 41 , the cover plate 33 is provided with a through hole 331 at the position of the wire outlet hole 42 , and the control wires of the stator 31 are arranged in sequence. Pass through the through hole 331 and the wire outlet hole 42 and form a communication connection with an external controller.
- the impeller 21 includes a cylindrical section 2115 and a conical section 2116, the cylindrical section 2115 and the conical section 2116 are integrally connected along the axial direction of the impeller 21, the cylindrical section 2115 is disposed close to the casing 32, and the conical section 2116 is far away from the casing 32, the magnetic member 212 is installed on the cylindrical section 2115, and one end of the transmission shaft 22 is installed at the center of the cylindrical section 2115.
- Four vanes 2114 are distributed on the outer circumference of the conical segment 2116 , and each vane 2114 is helical and distributed on the outer wall of the conical segment 2116 .
- the impeller 21 is provided with a first installation groove 2111 and a second installation groove 2112 .
- the hub 211 is formed with a first installation groove 2111 and a second installation groove 2112 .
- the openings of the first installation groove 2111 and the second installation groove 2112 are both disposed toward the casing 32
- the first installation groove 2111 is circular and is located at the center of the entire impeller 21
- the second installation groove 2112 is annular and surrounds the first installation groove 2111 .
- the second installation groove 2112 is concentric with the first installation groove 2111 , that is, the center line of the second installation groove 2112 , the center line of the first installation groove 2111 and the center line of the entire impeller 21 coincide.
- the end of the transmission shaft 22 away from the limiting groove 322 is accommodated in the first installation groove 2111
- the magnetic element 212 is accommodated in the second installation groove 2112 , so that the magnetic element 212 , the transmission shaft 22 and the impeller 21 after installation are concentrically arranged,
- the magnetic element 212 drives the transmission shaft 22 and the impeller 21 to rotate, and the magnetic element 212 , the transmission shaft 22 and the impeller 21 rotate coaxially.
- the magnetic element 212 is annular, the magnetic element 212 is installed in the second installation groove 2112 , the second installation groove 2112 is also covered with a sealing cover 213 , and the magnetic element 212 is sealed and fixed to the second installation groove by the sealing cover 213 In 2112, the magnetic element 212 is prevented from being contaminated by blood or perfusate and thus losing its efficacy.
- one end of the transmission shaft 22 is inserted into the first installation groove 2111 , and the transmission shaft 22 can be fixed in the first installation groove 2111 by means of interference fit, welding, sticking or fasteners.
- the impeller 21 is provided with a guide hole 2113 , the guide hole 2113 has two openings, and one opening of the guide hole 2113 faces the liquid outlet 12 , The other opening is opposite to the limiting groove 322 .
- the guide holes 2113 are specifically opened on the hub 211 .
- each guide hole 2113 is located between the first installation groove 2111 and the second installation groove 2112 .
- each guide hole 2113 there are multiple guide holes 2113 on the impeller 21 , the multiple guide holes 2113 are evenly spaced around the rotation axis of the impeller 21 , and one opening of each guide hole 2113 faces the liquid outlet 12 , and the other opening Opposite to the limiting groove 322 .
- the number of guide holes 2113 is not limited to four, and the number of guide holes 2113 can also be one, two, three or more than four, and the number of guide holes 2113 can be set according to specific needs.
- the first installation groove 2111 includes a straight hole portion 2111a and an oblique hole portion 2111b communicating with the straight hole portion 2111a, and the diameter of the inclined hole portion 2111b gradually increases along the direction away from the straight hole portion 2111a.
- the oblique hole portion 2111b is opposite to the limiting groove 322, the opening of the guide hole 2113 away from the liquid outlet 12 is located on the side wall of the oblique hole portion 2111b; the end of the transmission shaft 22 away from the limiting groove 322 is accommodated in the oblique hole
- the portion 2111b and the straight hole portion 2111a are fixed to the side wall of the straight hole portion 2111a.
- a third gap is provided between the transmission shaft 22 and the inner wall of the inclined hole portion 2111b, and the perfusion fluid flowing out from the limiting groove 322 can directly enter the guide through the third gap.
- the flow hole 2113 that is, the inclined inner wall of the inclined hole portion 2111b, plays a role of diversion, and quickly guides the perfusate or blood into the diversion hole 2113 to form a secondary flow field.
- connection method between the hole component 324 and the limiting groove 322 can also be other ways.
- the groove wall of the limiting groove 322 is a cylindrical surface
- the hole component 324 includes a first The hole 3241 and the plurality of second holes 3242, the first hole 3241 and the plurality of second holes 3242 are both connected to the liquid injection cylinder 40 and the limit groove 322, and the first hole 3241 is opposite to the end face of the end of the transmission shaft 22 away from the impeller 21 Arrangement, the plurality of second holes 3242 are spaced and evenly arranged around the center line of the first hole 3241 for a circle.
- the plurality of second holes 3242 are located on the side wall of the limiting groove 322, and the plurality of second holes 3242 are opposite to the peripheral side of the transmission shaft 22.
- the The perfusion liquid is introduced into the limiting grooves 322 and acts on the peripheral sides of the transmission shaft 22 respectively, so as to realize the radial balance of the transmission shaft 22 .
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Abstract
Description
Claims (20)
- 一种介入式心室辅助装置,包括介入管、电机组件、注液筒及叶轮组件,其中:所述介入管具有进液口及出液口;所述叶轮组件包括叶轮,所述叶轮收容于所述介入管中,所述叶轮能够旋转以使液体能够从所述进液口进入所述介入管,并从所述出液口流出;所述电机组件能够产生旋转磁场以驱动所述叶轮旋转,所述电机组件能够对所述叶轮产生吸引力;所述注液筒能够供灌注液注入所述介入管,且经所述注液筒注入的所述灌注液能够给所述叶轮组件提供一推力,以使所述叶轮能够在所述推力及所述吸引力的共同作用下悬浮旋转于所述介入管中。
- 如权利要求1所述的介入式心室辅助装置,其特征在于,所述电机组件具有限位槽,所述限位槽与所述介入管连通,所述注液筒中的灌注液能够注入所述限位槽中,并能够从所述限位槽注入所述介入管中;所述叶轮组件还包括传动轴,所述传动轴的一端与所述叶轮固接,另一端延伸至所述限位槽中,所述传动轴能够随所述叶轮旋转,且所述传动轴的远离所述叶轮的一端能够在所述电机组件对所述叶轮的吸引力和所述灌注液的推力的共同作用下悬浮于所述限位槽中。
- 如权利要求2所述的介入式心室辅助装置,其特征在于,所述电机组件还包括孔组件,所述孔组件与所述限位槽连通,所述注液筒与所述孔组件连通,所述注液筒中的灌注液能够依次经过所述孔组件、所述限位槽而注入所述介入管中;所述孔组件与所述传动轴的远离所述叶轮的一端相对,以使经所述孔组件注入所述限位槽中的灌注液能够给所述传动轴提供推力,所述传动轴和所述叶轮能够在所述电机组件和所述灌注液的共同作用下悬浮旋转。
- 如权利要求3所述的介入式心室辅助装置,其特征在于,所述限位槽具有槽口及与所述槽口相对的底壁,所述槽口与所述介入管连通;所述传动轴穿设于所述槽口,所述传动轴的远离所述叶轮的一端的端面为外凸的半球面状;所述孔组件包括第一孔和多个第二孔,所述第一孔和多个所述第二孔均位于所述底壁上,所述第一孔和多个所述第二孔均连通所述注液筒与所述限位槽,所述第一孔与所述传动轴的远离所述叶轮的一端的端面中心相对,多个所述第二孔环绕所述第一孔等间距地设置一周,且多个所述第二孔均与所述传动轴的远离所述叶轮的一端的端面相对。
- 如权利要求4所述的介入式心室辅助装置,其特征在于,所述限位槽的所述底壁呈内凹的半球面状,所述第一孔位于所述底壁的中心。
- 如权利要求3所述的介入式心室辅助装置,其特征在于,所述限位槽的槽壁为圆柱面,所述孔组件包括第一孔和多个第二孔,所述第一孔和多个所述第二孔均连通所述注液筒与所述限位槽,所述第一孔与多个所述第二孔均与所述传动轴的远离所述叶轮的一端相对,所述第一孔与所述传动轴的远离所述叶轮的一端的端面相对,多个所述第二孔环绕所述第一孔间隔且均匀地设置一周。
- 如权利要求3所述的介入式心室辅助装置,其特征在于,所述孔组件包括多个第一孔,多个所述第一孔均与所述传动轴的远离所述叶轮的一端的端面相对,且多个所述第一孔环绕所述传动轴的旋转轴线均匀且间隔设置。
- 如权利要求3所述的介入式心室辅助装置,其特征在于,所述电机组件包括机壳及密封安装于所述机壳内的定子,所述机壳与所述介入管、所述注液筒均密封连接,所述机壳设置在所述介入管的一端,所述出液口设于所述介入管的靠近所述机壳的一端,所述注液筒位于所述机壳的远离所述介入管的一侧,所述限位槽与所述孔组件均开设于所述机壳。
- 如权利要求8所述的介入式心室辅助装置,其特征在于,所述定子与所述叶轮沿所述叶轮的旋转轴线设置。
- 如权利要求8所述的介入式心室辅助装置,其特征在于,所述机壳开设有环形槽,所述环形槽环绕所述限位槽设置,并与所述限位槽间隔,所述定子收容于所述环形槽中。
- 如权利要求10所述的介入式心室辅助装置,其特征在于,所述环形槽的中心延伸有柱体,所述限位槽及所述孔组件均形成于所述柱体;所述柱体与所述环形槽同心设置,所述柱体的一端向所述环形槽外部延伸,所述柱体伸出所述环形槽的一端收容于所述注液筒。
- 如权利要求8所述的介入式心室辅助装置,其特征在于,在所述机壳与所述介入管的连接处,所述机壳的外壁和所述介入管的外壁平齐,在所述机壳与所述注液筒的连接处,所述机壳的外壁和所述注液筒的外壁平齐。
- 如权利要求3所述的介入式心室辅助装置,其特征在于,所述介入管具有第一通道,所述第一通道分别与所述进液口及所述出液口连通,所述叶轮收容于所述第一通道中;所述注液筒开设有第二通道,经所述注液筒注入的灌注液能够依次经过所述第二通道、所述孔组件、所述限位槽注入所述第一通道中。
- 如权利要求2所述的介入式心室辅助装置,其特征在于,所述叶轮包括轮毂及设置在所述轮毂中的磁性件,所述轮毂上形成有第一安装槽及第二安装槽,所述第二安装槽呈环形并围设于所述第一安装槽外,所述传动轴的远离所述限位槽的一端收容于所述第一安装槽,所述磁性件收容于所述第二安装槽。
- 如权利要求2所述的介入式心室辅助装置,其特征在于,所述叶轮上开设有导流孔,所述导流孔具有两个开口,所述导流孔的一个所述开口朝向所述出液口,另一个所述开口与所述限位槽相对。
- 如权利要求15所述的介入式心室辅助装置,其特征在于,所述叶轮上开设有多个所述导流孔,多个所述导流孔环绕所述叶轮的旋转轴均匀间隔分布,且每个所述导流孔的一个所述开口朝向所述出液口,另一个所述开口与所述限位槽相对。
- 如权利要求15所述的介入式心室辅助装置,其特征在于,所述叶轮上还开设有第一安装槽,所述第一安装槽包括直孔部及与所述直孔部连通的斜孔部,所述斜孔部的孔径沿远离所述直孔部的方向逐渐增大,所述斜孔部与所述限位槽相对,所述导流孔的远离所述出液口的所述开口位于所述斜孔部的侧壁上;所述传动轴的远离所述限位槽的一端收容于所述斜孔部和所述直孔部,并与所述直孔部的侧壁固接。
- 如权利要求2所述的介入式心室辅助装置,其特征在于,所述传动轴位于所述叶轮的旋转轴线上,且所述传动轴的延伸方向与所述叶轮的旋转轴线一致。
- 如权利要求1所述的介入式心室辅助装置,其特征在于,所述电机组件连接于所述介入管与所述注液筒之间,所述叶轮包括圆柱段、锥状段、磁性件和叶片,所述圆柱段与所述锥状段沿所述叶轮的轴向一体连接;所述圆柱段靠近所述电机组件设置,所述锥状段远离所述电机组件设置,所述磁性件安装于所述圆柱段,所述叶片固接于所述锥状段的外壁上。
- 如权利要求1所述的介入式心室辅助装置,其特征在于,所述介入管包括直管段及与所述直管段的一端弯折延伸的弯管段,所述直管段的远离所述弯管段的一端与所述电机组件固接,所述出液口位于所述弯管段的远离所述直管段的一端,所述出液口位于所述直管段的远离所述弯管段的一端的管壁上,所述叶轮能够旋转地收容于所述直管段。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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JP2021548151A JP7258167B2 (ja) | 2020-07-31 | 2020-12-30 | インターベンション式心室補助装置 |
CA3160690A CA3160690A1 (en) | 2020-07-31 | 2020-12-30 | Interventional ventricular assist device |
EP20919392.9A EP4190391A1 (en) | 2020-07-31 | 2020-12-30 | Interventional ventricular assist device |
AU2020460652A AU2020460652B2 (en) | 2020-07-31 | 2020-12-30 | Interventional ventricular assist device |
US17/429,951 US11801378B2 (en) | 2020-07-31 | 2020-12-30 | Interventional ventricular assist device |
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CN202010758361.8A CN111840683A (zh) | 2020-07-31 | 2020-07-31 | 介入式心室辅助装置 |
CN202010758361.8 | 2020-07-31 |
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EP (1) | EP4190391A1 (zh) |
JP (1) | JP7258167B2 (zh) |
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AU (1) | AU2020460652B2 (zh) |
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CN111840683A (zh) * | 2020-07-31 | 2020-10-30 | 余顺周 | 介入式心室辅助装置 |
CN112891732B (zh) * | 2021-05-07 | 2021-08-03 | 丰凯医疗器械(上海)有限公司 | 一种灌注液输送装置及其控制方法 |
WO2023283751A1 (zh) * | 2021-07-12 | 2023-01-19 | 苏州心擎医疗技术有限公司 | 用于对心脏在发生功能衰竭时进行辅助的装置 |
CN114796846B (zh) * | 2021-12-03 | 2023-07-11 | 深圳核心医疗科技股份有限公司 | 血泵及其驱动装置 |
CN115025387B (zh) * | 2022-07-08 | 2023-05-30 | 深圳核心医疗科技股份有限公司 | 驱动装置和血泵 |
CN115887907B (zh) * | 2023-02-14 | 2024-03-12 | 安徽通灵仿生科技有限公司 | 导管泵组件 |
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- 2020-07-31 CN CN202010758361.8A patent/CN111840683A/zh active Pending
- 2020-12-30 WO PCT/CN2020/141796 patent/WO2022021798A1/zh unknown
- 2020-12-30 AU AU2020460652A patent/AU2020460652B2/en active Active
- 2020-12-30 EP EP20919392.9A patent/EP4190391A1/en active Pending
- 2020-12-30 CA CA3160690A patent/CA3160690A1/en active Pending
- 2020-12-30 US US17/429,951 patent/US11801378B2/en active Active
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CN104274873A (zh) * | 2014-10-13 | 2015-01-14 | 长治市久安人工心脏科技开发有限公司 | 一种微型心尖轴流式血泵及植入方法 |
US20160375187A1 (en) * | 2015-06-29 | 2016-12-29 | Thoratec Corporation | Ventricular assist devices having a hollow rotor and methods of use |
CN110237327A (zh) * | 2019-06-14 | 2019-09-17 | 湖南埃普特医疗器械有限公司 | 一种驱动外置型轴流心室辅助装置 |
CN111840683A (zh) * | 2020-07-31 | 2020-10-30 | 余顺周 | 介入式心室辅助装置 |
CN212308654U (zh) * | 2020-07-31 | 2021-01-08 | 余顺周 | 介入式心室辅助装置 |
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EP4190391A1 (en) | 2023-06-07 |
AU2020460652B2 (en) | 2023-10-12 |
JP2022545590A (ja) | 2022-10-28 |
CA3160690A1 (en) | 2022-02-03 |
US11801378B2 (en) | 2023-10-31 |
CN111840683A (zh) | 2020-10-30 |
AU2020460652A1 (en) | 2022-06-23 |
US20230144798A1 (en) | 2023-05-11 |
JP7258167B2 (ja) | 2023-04-14 |
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