CN115736992A - Catheter driving device and intravascular ultrasonic imaging system - Google Patents

Abstract

The invention provides a catheter driving device and an intravascular ultrasound imaging system, relating to the technical field of ultrasound imaging, wherein the catheter driving device comprises: the device comprises a base, a carrying platform, a translation driving mechanism, a rotation driving mechanism and a side shift driving mechanism; the carrying platform is connected to the base in a sliding manner; the translation driving mechanism and the rotation driving mechanism are respectively arranged on the carrying platform; the lateral movement driving mechanism is connected with the translation driving mechanism and drives the translation driving mechanism to reciprocate at a first station and a second station; the first station translation driving mechanism is matched with the base, so that the driving carrying platform slides along the base, the second station translation driving mechanism is not matched with the base, the operator can manually control the carrying platform and the rotation driving mechanism to slide relative to the base at the moment, the rotation driving mechanism has the rotation and translation driving functions, the translation driving mechanism has the translation driving mode and the manual operation mode, the operator can select the translation driving mode as required, and efficient and accurate detection means can be selected for different patients.

Description

Catheter driving device and intravascular ultrasound imaging system

technical field

The invention relates to the technical field of ultrasonic imaging, in particular to a catheter driving device and an intravascular ultrasonic imaging system.

Background technique

Intravascular ultrasound diagnosis usually requires implanting a rotating shaft equipped with an ultrasonic transducer into a blood vessel, and then driving the rotating shaft to drive the ultrasonic transducer to rotate, thereby realizing 360° detection of the inner wall of the blood vessel. In addition, the rotating shaft needs to be pushed and pulled to move the ultrasonic transducer along the axial direction of the blood vessel so as to detect different positions. In the detection and diagnosis process, if the full name relies on the motor to drive the shaft to move, it is difficult to conduct a careful inspection of a specific location in time. Even if the corresponding control program is preset, it is difficult to achieve efficient detection for different patients.

Contents of the invention

The purpose of the present invention is to provide a catheter driving device and an intravascular ultrasound imaging system, which have the functions of rotation and translation driving, and can release the translation driving, so that the operator can manually operate the stage and the rotation driving mechanism to slide relative to the base.

In the first aspect, the catheter driving device provided by the present invention includes: a base, a stage, a translation driving mechanism, a rotating driving mechanism and a lateral movement driving mechanism;

The carrier is slidably connected to the base;

The translation drive mechanism and the rotation drive mechanism are respectively installed on the carrier;

The side shift drive mechanism is connected to the translation drive mechanism, and drives the translation drive mechanism to reciprocate between the first station and the second station;

In the first station, the translation drive mechanism cooperates with the base to drive the carrier to slide along the base;

In the second station, the translation drive mechanism is disengaged from the base.

With reference to the first aspect, the present invention provides a first possible implementation manner of the first aspect, wherein the lateral movement driving mechanism includes: a button and an elastic device;

The key is installed on the translation drive mechanism, and the key is pressed to drive the translation drive mechanism to move from the first station to the second station;

The elastic device is installed between the translation driving mechanism and the carrier, and the elastic device has a tendency to drive the translation driving mechanism to move from the second station to the first station.

With reference to the first aspect, the present invention provides a second possible implementation manner of the first aspect, wherein a second slide rail is installed on the stage, and the translation driving mechanism is slidably connected to the second slide rail.

With reference to the first aspect, the present invention provides a third possible implementation manner of the first aspect, wherein the catheter driving device includes a detection sensor, the detection sensor is connected to the stage, and the detection sensor is used for The position of the translation drive mechanism is detected.

With reference to the first aspect, the present invention provides a fourth possible implementation manner of the first aspect, wherein the base includes: a bottom plate, a first slide rail, and a rack;

The first slide rail is arranged in parallel with the rack at intervals, and the first slide rail and the rack are respectively connected to the bottom plate;

In the first station, the translation drive mechanism is engaged with the rack;

In the second station, the translation drive mechanism is disengaged from the rack.

With reference to the fourth possible implementation of the first aspect, the present invention provides a fifth possible implementation of the first aspect, wherein the translation drive mechanism includes: a first motor, a reducer, a travel drive gear and a translation frame;

The first motor is in transmission connection with the reducer, and the travel drive gear is installed on the output shaft of the reducer;

The lateral movement drive mechanism and the reducer are respectively installed on the translation frame, and the translation frame is movably connected to the carrier;

At the first station, the traveling drive gear meshes with the rack;

In the second station, the traveling drive gear is disengaged from the rack.

With reference to the first aspect, the present invention provides a sixth possible implementation manner of the first aspect, wherein the rotation drive mechanism includes: a rotation motor and a rotation slip ring, the rotation motor is connected to the carrier, and the The rotating motor is in transmission connection with the rotating slip ring, and the rotating slip ring is used for connecting with the imaging assembly.

In a second aspect, the present invention provides an intravascular ultrasonic imaging system, comprising: an imaging assembly and the catheter driving device described in the first aspect, the imaging assembly is in transmission connection with the rotation driving mechanism.

With reference to the second aspect, the present invention provides a first possible implementation manner of the second aspect, wherein a locking assembly is installed on the stage, and the locking assembly is used to lock the imaging assembly.

In combination with the second aspect, the present invention provides a second possible implementation manner of the second aspect, wherein the locking assembly includes: a housing, a lock release piece, a locking spring, a first locking piece, a second locking piece, and a pendulum turn connecting rod;

The chamber housing is provided with a socket adapted to the imaging component, the release member is movably connected to the chamber housing, the locking spring is installed between the release member and the chamber housing, and The locking spring has a tendency to switch the release member from an unlocked state to a locked state;

The first locking member and the swing connecting rod are respectively in transmission connection with the release member, and the swing connection rod is in transmission connection with the second locking member.

In combination with the second aspect, the present invention provides a third possible implementation manner of the second aspect, wherein the imaging assembly includes: a catheter adapter, an imaging catheter, a transmission shaft, and an ultrasonic transducer;

The imaging catheter is connected to the catheter adapter, the transmission shaft passes through the catheter adapter and the imaging catheter, and the transmission shaft is in transmission connection with the rotation drive mechanism, and the ultrasonic transducer is connected to the the drive shaft.

The embodiment of the present invention brings the following beneficial effects: the stage is slidably connected to the base, the translation drive mechanism and the rotation drive mechanism are respectively installed on the stage, the lateral movement drive mechanism is connected to the translation drive mechanism, and drives the translation drive mechanism to reciprocate In the first station and the second station, at the first station, the translational drive mechanism is matched with the base, thereby driving the stage to slide along the base, and at the second station, the translational drive mechanism is released from the base. At this time, the operation The operator can manually control the stage and the rotation drive mechanism to slide relative to the base, and has both rotation and translation drive functions, and has translation drive and manual operation modes, and the equipment has a wider range of applications.

In order to make the above-mentioned objects, features and advantages of the present invention more comprehensible, preferred embodiments will be described in detail below together with the accompanying drawings.

Description of drawings

In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in related technologies, the following will briefly introduce the drawings that need to be used in the specific embodiments or descriptions of related technologies. Obviously, the accompanying drawings in the following description are For some implementations of the present invention, those skilled in the art can also obtain other drawings based on these drawings without making creative efforts.

FIG. 1 is a schematic diagram of an intravascular ultrasound imaging system provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of the intravascular ultrasonic imaging system provided by the embodiment of the present invention after the housing is removed;

3 is a schematic diagram of a base, a stage, a translational drive mechanism, a lateral movement drive mechanism, and a detection sensor of a catheter drive device provided by an embodiment of the present invention;

Fig. 4 is a partial exploded view of the catheter driving device provided by the embodiment of the present invention;

Fig. 5 is a schematic diagram of the rack, translational drive mechanism, buttons and detection sensors of the catheter drive device provided by the embodiment of the present invention;

6 is a schematic diagram of the translational drive mechanism, elastic device, second slide rail and detection sensor of the catheter drive device provided by the embodiment of the present invention;

Fig. 7 is a right view of the locking assembly of the intravascular ultrasonic imaging system provided by the embodiment of the present invention;

Fig. 8 is a schematic diagram of the locking assembly of the intravascular ultrasonic imaging system provided by the embodiment of the present invention to remove the cavity shell;

Fig. 9 is an exploded view of the locking assembly of the intravascular ultrasound imaging system provided by the embodiment of the present invention with the cavity shell removed.

Icons: 001-base; 101-bottom plate; 102-first slide rail; 103-rack; 002-carrier; 003-translation drive mechanism; 301-first motor; 302-reducer; 303-travel drive gear ;304-translation frame; 004-rotation drive mechanism; 401-rotation motor; 402-rotation slip ring; 005-side shift drive mechanism; 501-button; 502-elastic device; Sensor; 008-imaging component; 801-catheter seat; 802-imaging catheter; 803-drive shaft; 009-locking component; 901-cavity shell; Two chute; 903-locking spring; 904-first locking piece; 9041-first protrusion; 9042-first chute; 905-second locking piece; 9051-third chute; 9052-fourth chute Groove; 906-swing link; 907-first hinge shaft; 908-second hinge shaft; 909-third hinge shaft; 910-pin.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance. The physical quantity in the formula, if not marked separately, should be understood as the basic quantity of the basic unit of the International System of Units, or the derived quantity derived from the basic quantity through mathematical operations such as multiplication, division, differentiation or integration.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the catheter driving device provided by the embodiment of the present invention includes: a base 001, a stage 002, a translation driving mechanism 003, a rotation driving mechanism 004 and a lateral movement driving mechanism 005 ; The stage 002 is slidingly connected to the base 001; the translation drive mechanism 003 and the rotation drive mechanism 004 are installed on the stage 002 respectively; station and second station.

In the first station, the translational drive mechanism 003 is matched with the base 001 to drive the carrier 002 to slide along the base 001. At this time, the translational drive mechanism 003 drives the carrier 002 to slide along the base 001, and then drives the carrier connected to the The movement of the imaging mechanism of the rotary drive mechanism 004 replaces the manual operation and reduces the burden of the doctor's operation.

At the second station, the translation drive mechanism 003 is released from the base 001. At this time, the doctor can manually control the stage 002 to slide along the base 001, thereby driving the rotation drive mechanism 004 and the imaging mechanism connected to the rotation drive mechanism 004 to move. , can adopt a specific moving speed or stop inspection for a specific location, and can also move quickly in an asymptomatic area, which can improve the efficiency and accuracy of detection for unused patients.

As shown in Fig. 4, Fig. 5 and Fig. 6, in the embodiment of the present invention, the lateral movement driving mechanism 005 includes: a button 501 and an elastic device 502; the button 501 is installed on the translation driving mechanism 003, and the button 501 is pressed to drive the translation driving mechanism 003 moves from the first station to the second station; the elastic device 502 is installed between the translation drive mechanism 003 and the stage 002, and the elastic device 502 has the ability to drive the translation drive mechanism 003 to move from the second station to the first station the trend of.

The moving direction from the second station to the first station is perpendicular to the sliding direction of the stage 002 relative to the base 001 .

In an optional embodiment, the translational driving mechanism 003 may use traveling wheels to fit on the surface of the base 001 , and drive the traveling wheels to rotate to drive the stage 002 to slide back and forth along the surface of the base 001 . When the button 501 is pressed, the translational driving mechanism 003 is pushed to the second station. At this time, the traveling wheels are out of contact with the surface of the base 001 , and the stage 002 is no longer driven by the translational driving mechanism 003 .

In this embodiment, a second sliding rail 006 is installed on the stage 002 , and the translation driving mechanism 003 is slidably connected to the second sliding rail 006 . Wherein, the second sliding rail 006 is perpendicular to the sliding direction of the stage 002 relative to the base 001 , and the translation driving mechanism 003 can slide reciprocally along the second sliding rail 006 under the action of the lateral movement driving mechanism 005 . When the button 501 is pushed, the translation driving mechanism 003 slides from the first station to the second station along the second slide rail 006; when the button 501 is released, the translation driving mechanism 003 resets from the second station under the action of the elastic device 502 to the first station.

Further, the catheter driving device includes a detection sensor 007 connected to the platform 002 , and the detection sensor 007 is used to detect the position of the translational driving mechanism 003 .

In one embodiment, the detection sensor 007 adopts a photoelectric sensor, and a baffle is provided on the translation drive mechanism 003. When the translation drive mechanism 003 moves to the second station, the baffle blocks the optical path of the photoelectric sensor, so that the detection sensor 007 Generate corresponding signals so that the controller can judge whether the translation drive mechanism 003 has moved to the second station; The operating stage 002 slides along the base 001 , thereby driving the rotation driving mechanism 004 and the imaging mechanism connected to the rotation driving mechanism 004 to move.

In another embodiment, the detection sensor 007 adopts a ranging sensor or a laser ranging sensor, and the detection sensor 007 faces the side end surface on the translation drive mechanism 003, thereby detecting the distance between the detection sensor 007 and the translation drive mechanism 003, and then The position of the translation drive mechanism 003 is obtained through conversion, so that it can be judged that the translation drive mechanism 003 is in the first station or the second station, and the controller controls the translation drive mechanism 003 to start or stop accordingly.

Further, the base 001 includes: a bottom plate 101, a first slide rail 102 and a rack 103; the first slide rail 102 is arranged in parallel with the rack 103 at intervals, and the first slide rail 102 and the rack 103 are respectively connected to the bottom plate 101 ; In the first station, the translation drive mechanism 003 is engaged with the rack 103;

Wherein, the extension direction of the first slide rail 102 is perpendicular to the extension direction of the second slide rail 006, and the translation drive mechanism 003 uses a gear to output power. When in the first station, the gear is driven to rotate and the gear is engaged with the rack 103, Thus, the stage 002 can be driven to reciprocate along the first slide rail 102 . At the second station, the gear is separated from the rack 103 , and the stage 002 can be manually operated to reciprocate along the first slide rail 102 .

Further, the translation drive mechanism 003 includes: a first motor 301, a reducer 302, a travel drive gear 303 and a translation frame 304; Shaft; the lateral movement drive mechanism 005 and the reducer 302 are respectively installed on the translation frame 304, and the translation frame 304 is movably connected to the carrier 002; at the first station, the travel drive gear 303 meshes with the rack 103; at the second station position, the traveling drive gear 303 breaks away from the rack 103.

Specifically, the reducer 302 adopts a gear reducer, a worm reducer or a planetary gear reducer. On this basis, the reducer housing can be omitted, and its transmission device is installed on the translation frame 304. The transmission of the first motor 301 The bevel gear is installed on the shaft, and the bevel gear is connected with the output shaft gear transmission of the speed reducer 302, thereby driving the travel drive gear 303 to decelerate and rotate, and the travel drive gear 303 is meshed with the rack 103, and then the translation frame 304, the second The slide rail 006 and the stage 002 slide along the first slide rail 102 synchronously.

As shown in Figure 2 and Figure 4, the rotation drive mechanism 004 includes: a rotation motor 401 and a rotation slip ring 402, the rotation motor 401 is connected to the stage 002, and the rotation motor 401 is connected to the rotation slip ring 402, and the rotation slip ring 402 is used In connection with the imaging component 008.

Specifically, the rotating motor 401 and the rotating slip ring 402 are connected through a coupling, and the rotating slip ring 402 is connected to the transmission shaft of the imaging assembly 008, which not only reduces the rotation resistance, but also ensures the rotation axis of the imaging assembly 008 transmission shaft. Stablize.

As shown in FIG. 1 and FIG. 2 , the intravascular ultrasound imaging system provided by the embodiment of the present invention includes: an imaging assembly 008 and the catheter driving device described in the above embodiments, and the imaging assembly 008 is in transmission connection with the rotation driving mechanism 004 . The intravascular ultrasound imaging system described in this embodiment has the technical effect of the above-mentioned catheter driving device, which will not be repeated here. In addition, an optimization design has been added for the intravascular ultrasound imaging system.

As shown in FIG. 1 , FIG. 2 , FIG. 7 , FIG. 8 and FIG. 9 , a locking assembly 009 is installed on the stage 002 , and the locking assembly 009 is used to lock the imaging assembly 008 .

In an optional embodiment, the locking component 009 may use a buckle device or a threaded fastening device, and the locking component 009 abuts against or is inserted into a locking position on the imaging component 008, so as to realize locking of the imaging component 008.

In this embodiment, the locking assembly 009 includes: a housing 901, a lock release member 902, a locking spring 903, a first locking member 904, a second locking member 905 and a swing link 906; With a suitable socket, the unlocking member 902 is movably connected to the cavity housing 901, and the locking spring 903 is installed between the unlocking member 902 and the cavity housing 901, and the locking spring 903 has a function to switch the unlocking member 902 from the unlocked state to the locked state. The trend of the state: the first locking member 904 and the swing connecting rod 906 are respectively in transmission connection with the release member 902 , and the swing connection rod 906 is in transmission connection with the second locking member 905 . When there is no external force operation, the locking spring 903 drives the release member 902 to return to the locking position.

On one transmission route, the unlocking member 902 is in transmission connection with the first locking member 904, and the elastic force of the locking spring 903 drives the releasing member 902, and drives the first locking member 904 towards locking, so that the first locking member 904 tends to lock. The inner side of the socket moves to fix the imaging assembly 008; on the other transmission line, one end of the swing link 906 is hinged to the release member 902, and the other end of the swing link 906 is slidingly hinged to the second locking member 905, and , the middle part of the swing connecting rod 906 is hinged to the cavity housing 901, when the lock release member 902 is pushed from the locking position to the unlocking position by an external force, the swing connecting rod 906 swings around the first hinge shaft 907 in the middle, And drive the second locking piece 905 to move to the outside of the socket, so that the second locking piece 905 is separated from the imaging assembly 008 located in the socket; The lever 906 swings and drives the second locking member 905 to lock the imaging assembly 008 . The second locking member 905 is locked and unlocked synchronously with the first locking member 904 , which is convenient to operate and improves the locking stability of the imaging assembly 008 .

Specifically, the first locking member 904 is provided with a first protrusion 9041 and a first sliding slot 9042 , the pin 910 passes through the first sliding slot 9042 , and the pin 910 is connected to the housing 901 . The lock release part 902 includes: a push-pull rod 9021 and a handle 9022 connected to the push-pull rod 9021, the push-pull rod 9021 is inserted into the cavity shell 901, and can slide relative to the cavity shell 901; the locking spring 903 is sleeved on the push-pull rod 9021, and the locking spring 903 is squeezed between the handle 9022 and the cavity housing 901 ; one end of the swing link 906 , the first locking member 904 and the connecting push-pull rod 9021 are hinged through the second hinge shaft 908 . From an end close to the first hinge shaft 907 to an end far away from the first hinge shaft 907, the extension width of the second chute 9023 arranged on the push-pull rod 9021 is greater than the diameter of the second hinge shaft 908, and the swing connecting rod 906 revolves When the first hinge shaft 907 swings, the second hinge shaft 908 can slide along the second slide groove 9023 . An end of the swing link 906 away from the second hinge shaft 908 is slidably hinged to the second locking member 905 through a third hinge shaft 909 . The second locking member 905 is slidably connected to the housing 901, and the second locking member 905 is provided with a third sliding groove 9051 and a fourth sliding groove 9052 arranged at intervals, and the third sliding groove 9051 moves from the end close to the socket to the direction away from the socket Extended, and the extended dimension is greater than the diameter of the first hinge shaft 907, the first hinge shaft 907 passes through the third chute 9051; the fourth chute 9052 moves from the end close to the first hinge shaft 907 to the direction away from the first hinge shaft 907 extend, and the extended dimension is larger than the diameter of the third hinge shaft 909 , and the third hinge shaft 909 passes through the fourth sliding slot 9052 . When the handle 9022 is pushed, the push-pull rod 9021 pushes the first locking member 904, so that the first protrusion 9041 moves to the outside of the socket, thereby separating the first locking member 904 from the imaging assembly 008; in addition, the push-pull rod 9021 passes through the second The hinge shaft 908 drives the swing connecting rod 906 to swing around the first hinge shaft 907, and the third hinge shaft 909 pushes against the inner side wall of the fourth chute 9052, so that the second locking member 905 slides relative to the cavity housing 901, thereby making the The second protrusion disposed on the second locking member 905 moves to the outside of the socket, and both the second locking member 905 and the first locking member 904 disengage from the imaging assembly 008 , thereby unlocking the imaging assembly 008 . During this process, the second locking member 905 slides along the third chute 9051 relative to the first hinge shaft 907 , and the third hinge shaft 909 slides along the fourth chute 9052 , so that the structure is compact and the movement is smoother.

Further, the imaging assembly 008 includes: a catheter adapter 801, an imaging catheter 802, a transmission shaft 803 and an ultrasonic transducer; the imaging catheter 802 is connected to the catheter adapter 801, the transmission shaft 803 passes through the catheter adapter 801 and the imaging catheter 802, and the transmission shaft 803 is in transmission connection with the rotary drive mechanism 004 , and the ultrasonic transducer is connected to the transmission shaft 803 .

Wherein, the catheter adapter 801 can be inserted into the socket of the cavity housing 901 , and the catheter adapter 801 can be locked together by the second locking member 905 and the first locking member 904 . One end of the transmission shaft 803 is in transmission connection with the rotary drive mechanism 004, and the transmission shaft 803 passes through the catheter adapter 801 and the imaging catheter 802, and an ultrasonic transducer is installed at a position away from the rotary drive mechanism 004, and the ultrasonic transducer is transmitted through the transmission shaft 803 The device is implanted into the blood vessel, and the transmission shaft 803 is driven to rotate through the rotating drive mechanism 004, so that 360° ultrasonic imaging detection can be performed on the blood vessel wall.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (11)

1. A catheter driving device, characterized in that it comprises: a base (001), a stage (002), a translational driving mechanism (003), a rotating driving mechanism (004) and a lateral movement driving mechanism (005); The carrier (002) is slidingly connected to the base (001); The translation drive mechanism (003) and the rotation drive mechanism (004) are respectively installed on the stage (002); The side shift drive mechanism (005) is connected to the translation drive mechanism (003), and drives the translation drive mechanism (003) to reciprocate between the first station and the second station; In the first station, the translation drive mechanism (003) is matched with the base (001) to drive the carrier (002) to slide along the base (001); In the second station, the translation drive mechanism (003) is disengaged from the base (001). 2. The catheter driving device according to claim 1, characterized in that, the lateral movement driving mechanism (005) comprises: a button (501) and an elastic device (502); The key (501) is installed on the translation drive mechanism (003), and the key (501) is pressed to drive the translation drive mechanism (003) to move from the first station to the second station; The elastic device (502) is installed between the translation drive mechanism (003) and the stage (002), and the elastic device (502) has the function of driving the translation drive mechanism (003) from the first The tendency of the second station to move to the first station. 3. The catheter driving device according to claim 1 or 2, characterized in that, a second sliding rail (006) is installed on the platform (002), and the translation driving mechanism (003) is slidably connected to the Second slide rail (006). 4. The catheter driving device according to claim 1, characterized in that the catheter driving device comprises a detection sensor (007), the detection sensor (007) is connected to the carrier (002), and the detection The sensor (007) is used to detect the position of the translation drive mechanism (003). 5. The catheter driving device according to claim 1, characterized in that, the base (001) comprises: a bottom plate (101), a first sliding rail (102) and a rack (103); The first slide rail (102) is arranged parallel to the rack (103) at intervals, and the first slide rail (102) and the rack (103) are respectively connected to the bottom plate (101); In the first station, the translation drive mechanism (003) is matched with the rack (103); In the second station, the translation drive mechanism (003) is disengaged from the rack (103). 6. The catheter driving device according to claim 5, characterized in that, the translation driving mechanism (003) comprises: a first motor (301), a speed reducer (302), a travel driving gear (303) and a translation frame (304); The first motor (301) is in drive connection with the reducer (302), and the travel drive gear (303) is installed on the output shaft of the reducer (302); The lateral movement drive mechanism (005) and the reducer (302) are respectively installed on the translation frame (304), and the translation frame (304) is movably connected to the carrier platform (002); At the first station, the traveling drive gear (303) is meshed with the rack (103); At the second station, the traveling drive gear (303) is disengaged from the rack (103). 7. The catheter driving device according to claim 1, characterized in that, the rotation driving mechanism (004) comprises: a rotation motor (401) and a rotation slip ring (402), and the rotation motor (401) is connected to the The carrier (002), and the rotating motor (401) is in transmission connection with the rotating slip ring (402), and the rotating slip ring (402) is used for connecting with the imaging component (008). 8. An intravascular ultrasonic imaging system, characterized in that it comprises: an imaging component (008) and the catheter driving device according to any one of claims 1-7, the imaging component (008) and the rotary driving mechanism (004) Transmission connection. 9. The intravascular ultrasonic imaging system according to claim 8, characterized in that a locking assembly (009) is installed on the stage (002), and the locking assembly (009) is used to lock the imaging assembly ( 008). 10. The intravascular ultrasonic imaging system according to claim 9, characterized in that, the locking assembly (009) comprises: a cavity housing (901), a locking member (902), a locking spring (903), a first locking Part (904), second locking part (905) and swing link (906); The cavity shell (901) is provided with a socket adapted to the imaging component (008), the release member (902) is movably connected to the cavity shell (901), and the locking spring (903) is installed Between the unlocking member (902) and the cavity housing (901), and the locking spring (903) has a tendency to switch the unlocking member (902) from an unlocked state to a locked state; The first locking piece (904) and the swing connecting rod (906) are respectively in transmission connection with the unlocking piece (902), and the swing connecting rod (906) is connected to the second locking piece (905) ) transmission connection. 11. The intravascular ultrasonic imaging system according to claim 8, characterized in that, the imaging assembly (008) comprises: a catheter adapter (801), an imaging catheter (802), a transmission shaft (803) and an ultrasonic transducer ; The imaging catheter (802) is connected with the catheter adapter (801), the transmission shaft (803) passes through the catheter adapter (801) and the imaging catheter (802), and the transmission shaft (803) It is in transmission connection with the rotation drive mechanism (004), and the ultrasonic transducer is connected with the transmission shaft (803).

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