CN217118454U

CN217118454U - Drive device and drive system for medical equipment

Info

Publication number: CN217118454U
Application number: CN202123449318.2U
Authority: CN
Inventors: 潘利鹏; 张金婴; 何志华
Original assignee: Shenzhen Weizhong Trace Medical Equipment Co ltd
Current assignee: Shenzhen Microport Trace Medical Equipment Co ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-08-05
Anticipated expiration: 2031-12-31

Abstract

The utility model provides a medical equipment's drive arrangement and actuating system, medical equipment's drive arrangement includes: a base and a drive assembly; the driving assembly comprises a mounting part and a driving part; the mounting part is detachably connected with the base body, and the driving part is movably connected with the mounting part along the axial direction of the driving part, so that the mounting part and the base body are kept fixed when the driving part moves along the axial direction; the drive assembly and the base body are respectively used for being arranged inside and outside the sterile bag. Therefore, on one hand, only the base body part is the exposed disposable part, and the parts of the rest driving components can be reused, so that the materials are saved; on the other hand produces the drive division of motion and is located aseptic bag, and the drive division is installed through installation department and base member, does not have relative motion between installation department and the base member to the motion of drive division can not lead to the fact the pull to aseptic bag, and the motion of drive division only needs aseptic bag to fold and extend, has improved aseptic bag's reliability.

Description

Drive device and drive system for medical equipment

Technical Field

The utility model relates to the technical field of medical equipment, in particular to medical equipment's drive arrangement and actuating system.

Background

An intravascular ultrasound imaging device (IVUS) includes a catheter assembly, a catheter driver, and a control host. During imaging examination, a catheter assembly is introduced into a heart vessel through a blood vessel of a subject, and the catheter assembly comprises an outer sheath and an inner catheter core. The ultrasonic transducer is arranged on the inner core of the catheter and has different forms of single array elements, multi-array elements and the like. In a single-element transducer, imaging can be detected by rotation and movement of a single ultrasound transducer. The mechanical function of the catheter driver is to rotate and axially translate (retract and advance) the inner core of the catheter.

The exposed portions of the catheter assembly and catheter driver are required to be handled in a sterile environment during the procedure, so that the exposed portions of the driver need to be sterilized and disposable, and the unexposed portions of the catheter driver can be covered with a disposable sterile bag for reuse.

However, there are some problems in the conventional transmission scheme of the catheter driver and the matching use of the catheter driver and the sterile bag, on one hand, if the transmission component of the catheter driver is positioned outside the sterile bag, the catheter driver is disposable, which causes a large waste of materials, and the sterile bag is easy to be damaged due to the transmission of the catheter driver through the sterile bag; on the other hand, if the transmission component of the catheter driver is located inside the aseptic bag, the package of the aseptic bag often causes inconvenience to the translation operation of the catheter driver, and the aseptic bag is easily pulled during translation to cause the situations of aseptic bag breakage and the like.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a medical equipment's drive arrangement and actuating system to solve current drive arrangement and aseptic bag cooperation and use the problem that exists.

In order to solve the above technical problem, the utility model provides a drive arrangement of medical equipment, it includes: a base and a drive assembly;

the driving assembly comprises a mounting part and a driving part;

the mounting part is detachably connected with the base body, and the driving part is movably connected with the mounting part along the axial direction of the driving part, so that the mounting part and the base body are kept fixed when the driving part moves along the axial direction; the drive assembly and the base body are respectively used for being arranged inside and outside the sterile bag.

Optionally, the driving assembly further comprises a rotating member;

the driving part is connected with the mounting part through the rotating part; the rotary motion of the rotating part is converted into the axial movement of the driving part; or the rotational movement of the rotor and the axial movement of the drive part can be converted into each other.

Optionally, the rotating part comprises a screw rod, and the mounting part is provided with a nut matched with the screw rod;

the screw rod is rotatably connected with the driving part along the axial direction of the driving part and penetrates through the nut.

Optionally, the driving assembly further includes: a first power assembly;

the first power assembly is in transmission connection with the rotating piece and is used for driving the rotating piece to rotate so as to drive the driving part to move axially.

Optionally, the first power assembly includes a first motor and a clutch;

the first motor and the clutch are both arranged on the driving part; the first motor is detachably connected with the screw rod in a transmission way through the clutch.

Optionally, the first motor and the clutch are in meshed connection through a gear.

Optionally, the drive assembly further comprises an encoder, wherein the encoder is connected with the rotating part and used for acquiring the rotating amount of the rotating part.

Optionally, the driving assembly further includes: a guide assembly; the guide assembly comprises a guide shaft and a linear bearing; the guide shaft is movably arranged in the linear bearing in a penetrating way along the axial direction of the driving part;

one of the guide shaft and the linear bearing is connected to the driving portion, and the other is connected to the mounting portion.

Optionally, the driving assembly further includes: a catheter rotation assembly;

the catheter rotating assembly is arranged on the driving part and used for driving the catheter inner core of the medical equipment to rotate.

Optionally, the driving assembly further includes: a housing;

the shell is connected with the driving part; the shell is provided with an inner cavity, and the driving part and the catheter rotating assembly are accommodated in the inner cavity.

Optionally, the housing has a conduit through hole, and the driving assembly further includes: a conduit gripping assembly;

the catheter clamping assembly is arranged at the far end of the catheter rotating assembly and is coaxially aligned with the catheter through hole; the catheter gripping assembly is adapted for removable threaded attachment of an outer sheath of the medical device.

In order to solve the above technical problem, the utility model also provides a medical equipment's actuating system, it includes: a medical device, a sterile bag and a drive device for a medical device as described above; the medical device includes a catheter assembly having a proximal end coupled to the drive portion, the sterile bag separating the base and the drive assembly.

In summary, the present invention provides a drive device and a drive system for a medical apparatus, the drive device for the medical apparatus including: a base and a drive assembly; the driving assembly comprises a mounting part and a driving part; the mounting part is detachably connected with the base body, and the driving part is movably connected with the mounting part along the axial direction of the driving part, so that the mounting part and the base body are kept fixed when the driving part moves along the axial direction; the drive assembly and the base body are respectively used for being arranged inside and outside the sterile bag.

Due to the arrangement, on one hand, only the base part is the exposed disposable part, and the parts of the rest driving components can be reused, so that materials are saved; on the other hand, the drive division that produces the motion is located aseptic bag, and the drive division is installed through installation department and base member, does not have relative motion between installation department and the base member to the motion of drive division can not lead to the fact the pull to aseptic bag, the motion of drive division only need aseptic bag fold with extend can, improved aseptic bag's reliability.

Drawings

Those skilled in the art will appreciate that the drawings are provided for a better understanding of the invention and do not constitute any limitation on the scope of the invention. Wherein:

fig. 1 is a schematic view of a drive device of a medical apparatus according to an embodiment of the present invention;

fig. 2 is a side view of a drive arrangement of a medical device according to an embodiment of the invention;

fig. 3 is a top view of a drive device of a medical apparatus according to an embodiment of the present invention;

fig. 4 is a schematic view of a drive system of a medical device according to an embodiment of the invention;

fig. 5 is a side view of a drive system of a medical device according to an embodiment of the present invention.

In the drawings:

10-aseptic bag; 11-an ultrasound catheter; 20-a drive device; 21-a substrate; 22-a drive assembly; 221-a mounting portion; 221-a nut; 222-a drive section; 2221-a bearing; 223-a rotating member; 224-a first power assembly; 2241-a first motor; 2242-a clutch; 2243-a first gear; 2244-a second gear; 225-an encoder; 226-a guide assembly; 2261-a guide shaft; 2262-linear bearing; 227-a conduit rotation assembly; 2271 — a second motor; 2272 — an electrical slip ring; 228-a conduit gripping assembly; 2281-push buttons; 229-a housing.

Detailed Description

To make the objects, advantages and features of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be noted that the drawings are in simplified form and are not to scale, but rather are provided for the purpose of facilitating and distinctly claiming the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.

As used in this application, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally employed in a sense including "and/or," the terms "a", "an" and "the" are generally employed in a sense including "at least one", the terms "at least two" and "two or more" are generally employed in a sense including "two or more", and moreover, the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or imply that there is a number of technical features being indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or at least two of that feature, "one end" and "the other end" and "proximal end" and "distal end" generally refer to the corresponding two parts, including not only the endpoints. The terms "proximal" and "distal" are defined herein with respect to a drive system of a medical device having one end for insertion into a human body and a manipulation end extending out of the body. The term "proximal" refers to a position of the element closer to the steering end of the drive system of the medical device, which protrudes outside the body, and the term "distal" refers to a position of the element closer to the end of the drive system of the medical device, which is inserted into the body, and thus further away from the steering end of the drive system of the medical device. Alternatively, in a manual or hand-operated application scenario, the terms "proximal" and "distal" are defined herein with respect to an operator, such as a surgeon or clinician. The term "proximal" refers to a position of an element closer to an operator, and the term "distal" refers to a position of an element closer to a drive system of a medical device and thus further away from the operator. Furthermore, as used in the present application, the terms "mounted," "connected," and "disposed" on another element should be construed broadly, and generally only mean that there is a connection, coupling, engagement, or transmission relationship between the two elements, and that there may be a direct connection, coupling, engagement, or transmission between the two elements, or there may be an indirect connection, coupling, engagement, or transmission between the two elements, and should not be construed as indicating or implying any spatial relationship between the two elements, i.e., one element may be located in any orientation, such as inside, outside, above, below, or to one side of the other element, unless the content clearly indicates otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art. Moreover, directional terminology, such as above, below, up, down, upward, downward, left, right, etc., is used with respect to the exemplary embodiments as they are shown in the figures, with the upward or upward direction being toward the top of the corresponding figure and the downward or downward direction being toward the bottom of the corresponding figure.

The following description refers to the accompanying drawings.

Referring to fig. 1 to 5, in the present embodiment, an ultrasound catheter 11 is used as an example of a medical device for explanation, the ultrasound catheter 11 includes a catheter assembly, and the catheter assembly includes: the ultrasonic catheter comprises an outer sheath tube and a catheter inner core penetrating through the outer sheath tube, wherein the catheter inner core can rotate relative to the outer sheath tube, and an ultrasonic transducer is arranged at the far end of the catheter inner core. The proximal end of the ultrasonic catheter 11 is connected to a driving device 20, and the driving device 20 can drive the ultrasonic catheter 11 to move forward and backward at least in the axial direction. Further, if the ultrasonic transducer used for human body intervention is a single-element transducer, the driving device 20 can also drive the catheter inner core to rotate. The construction and principles of the other components of the ultrasound catheter 11 will not be described in detail in this embodiment, as will be appreciated by those skilled in the art. It should be noted that the ultrasound catheter 11 is only an example of the medical device, and is not limited to the medical device. The driving device 20 provided by the embodiment can also be applied to other medical devices which need to advance and retreat axially, such as a balloon dilatation catheter and other fields, and the utility model is not limited thereto.

The inventor has found that, in order to drive at least the ultrasonic catheter 11 to move back and forth in the axial direction, the driving device 20 at least comprises a driving part 222 and a relatively fixed base 21. If the base 21 and the driving portion 222 are located outside the aseptic bag 10, the base 21 and the driving portion 222 are disposable, and the driving portion 222 often includes a gear, a rack, or a slide rail, which are all configured to be disposable, which results in a large waste of materials. On the other hand, the power unit of the driving device 20 needs to transmit power to the driving unit 222 through the sterile bag 10, which is likely to damage the sterile bag 10 and is disadvantageous to the sterile isolation. On the other hand, if the base 21 and the driving unit 222 of the driving device 20 are provided in the sterile bag 10, the entire driving device 20 can be reused, but if the base which does not move and the driving unit 222 which moves are provided in the sterile bag 10, the driving unit 222 is likely to pull the sterile bag 10 during movement, and if the operator manually operates the driving unit 222 to move, if the operator grasps the driving unit 222 to move while holding the sterile bag 10, the length of the sterile bag 10 to be grasped is not sufficient, and the sterile bag 10 may be pulled during movement, and the sterile bag 10 may be damaged.

Based on the above research, please refer to fig. 1 to fig. 3, an embodiment of the present invention provides a driving apparatus 20 for a medical device, which includes: a base 21 and a drive unit 22; the driving assembly 22 comprises a mounting part 221 and a driving part 222; the mounting portion 221 is detachably connected to the base 22, and the driving portion 222 is movably connected to the mounting portion 221 along its own axial direction (horizontal direction in fig. 2 and 3), so that the mounting portion 221 and the base 22 are fixed while the driving portion 222 moves along the axial direction; the driving assembly 22 and the base body 21 are respectively arranged inside and outside the sterile bag 10.

The sterile bag 10 is capable of dividing the surgical space into separate interior and exterior sides, where the exterior side is defined herein as the sterile side and the interior side is the sterile side, with the understanding that the sterile side is the side of the sterile bag 10 that is intended to be sterilized. Further, the driving unit 222 is used for connecting the proximal end of the ultrasound catheter 11, and the driving unit 222 can drive the ultrasound catheter 11 to move forward and backward in the axial direction when moving in the axial direction. After the sterile bag 10 is assembled with the driving device 20, the driving device 20 is separated into an outer part and an inner part, and the configuration is that on one hand, only the base body 21 of the outer part is an exposed disposable part, and the parts of the rest driving components 22 are all positioned at the inner side of the sterile bag 10 and can be reused, so that materials are saved; on the other hand, the driving portion 222 generating the movement is located inside (i.e. located inside the aseptic bag 10), and the driving portion 222 is installed with the base body 21 through the installation portion 221, and there is no relative movement between the installation portion 221 and the base body 21, so that the movement of the driving portion 222 does not cause pulling on the aseptic bag 10, the movement of the driving portion 222 only needs to fold and stretch the aseptic bag 10, and the reliability of the aseptic bag 10 is improved.

Optionally, the driving assembly 22 includes: a rotating member 223; the driving unit 222 is connected to the mounting unit 221 via the rotating member 223; the rotational movement of the rotary member 223 is converted into the axial movement of the driving portion 222.

In an alternative example, the rotating member 223 includes a screw, the mounting portion 221 has a nut 221 adapted to the screw; the screw rod is rotatably connected to the driving portion 222 along the axial direction of the driving portion 222, and the screw rod is inserted into the nut 221. Alternatively, the nut 221 is relatively fixed in the mounting portion 221, both ends of the screw are rotatably connected with the driving portion 222 through bearings 2221, and the screw is restricted in axial position with respect to the driving portion 222. Since the lead screw is inserted into the nut 221, when the lead screw rotates with respect to the nut 221, the rotation is converted into axial movement with respect to the nut 221 by the screw. This allows the driving unit 222 to move axially relative to the mounting unit 221. Preferably, the combination of the screw and nut 221 is a ball screw.

It is understood that in another embodiment, the rotating member 223 may also include a nut rotatably disposed on the mounting plate 221 and limited in axial position relative to the mounting plate 221; while fixedly connecting the lead screw to the driving part 222. With such a configuration, the effect of driving the screw rod to move axially can be achieved by rotating the driving nut.

It should be noted that the transmission connection between the driving portion 222 and the rotating member 223 is not limited to the combination of the lead screw and the nut 221, and in other embodiments, other transmission connection may be selected between the driving portion 222 and the rotating member 223. For example, the driving portion 222 and the rotating member 223 may include a combination of a rack and a gear, that is, the driving portion 222 includes an axially disposed rack, the rotating member 223 is a gear, and the gear is disposed on the mounting portion 221, such that the rack can be driven to translate relative to the mounting plate 221 when the gear rotates. In other embodiments, the driving portion 222 and the rotating member 223 may also select a transmission connection manner commonly used in the art, such as a combination of a worm wheel and a worm, and the present embodiment is not limited thereto.

Further, the driving assembly 22 includes: a first power assembly 224; the first power assembly 224 is in transmission connection with the rotating member 223, and the first power assembly 224 is used for driving the rotating member 223 to rotate so as to drive the driving portion 222 to move axially. The first power assembly 224 drives the rotation member 223 to rotate, and further drives the screw rod to move axially, so that the driving portion 222 moves axially. It can be understood that the first power assembly 224 can drive the rotating member 223 to rotate forward and backward, so as to generate the axial forward and backward movement of the driving portion 222.

Optionally, the first power assembly 224 includes a first motor 2241 and a clutch 2242; the first motor 2241 and the clutch 2242 are both provided on the driving unit 222; the first motor 2241 is detachably connected with the screw rod in a transmission mode through the clutch 2242. In an alternative example, the first electric machine 2241 and the clutch 2242 are connected in a gear engagement manner. For example, first power assembly 224 further includes a first toothed wheel 2243 and a second toothed wheel 2244, and the output shaft of first motor 2241 is meshingly coupled to clutch 2242 via first toothed wheel 2243 and second toothed wheel 2244.

In one example, the driving device 20 has an electric driving mode and a manual driving mode. In the electric driving mode, the clutch 2242 is engaged to form a coupling connection with the screw rod, and the first motor 2241 drives the screw rod to rotate through the clutch 2242, so as to convert the rotation into the axial movement of the driving portion 222.

Further, the driving assembly 22 includes an encoder 225, and the encoder 225 is connected to the rotating member 223 and is used for acquiring a rotation amount of the rotating member 223. In an alternative example, the encoder 225 has a code wheel fixedly connected to a spindle. The encoder 225 can record the rotation amount (e.g., the rotation angle) of the lead screw, and further can calculate the relative movement distance between the lead screw and the nut 221 based on the lead of the lead screw and the nut 221. It will be appreciated that in other embodiments, the code wheel of the encoder 225 may be coupled to the lead screw via additional gearing. Optionally, the first motor 2241 moves under the control of a control module, and the encoder 225 feeds back the rotation amount of the screw rod to the control module, so as to implement closed-loop control.

In the manual driving mode, the clutch 2242 is released, the first motor 2241 is decoupled from the screw rod, and the operator can manually push the driving portion 222 to move axially. Further, the rotation of the rotor 223 and the axial movement of the driving unit 222 can be mutually converted. With this arrangement, the rotary member 223 can rotate while the manual push driving part 222 moves axially, so that the encoder 225 can record the rotation amount of the rotary member 223 to know the distance of the manual push driving part 222.

In one example, the lead of the lead screw and the nut 221 is set to be large so that the lead screw can rotate under the restriction of the nut 221 when moving axially with the driving part 222. In other embodiments, the rotating member 223 may be a gear, and the driving portion 222 includes a rack, which may also achieve the mutual conversion between the rotation of the rotating member 223 and the axial movement of the driving portion 222, and those skilled in the art can set the rotation according to the prior art.

Optionally, the driving assembly 22 includes: a guide assembly 226; the guide assembly 226 includes a guide shaft 2261 and a linear bearing 2262; the guide shaft 2261 is movably inserted through the linear bearing 2262 in the axial direction of the driving unit 222; one of the guide shaft 2261 and the linear bearing 2262 is coupled to the driving part 222, and the other is coupled to the mounting part 221. In one example, the guide shaft 2261 is fixedly coupled to the driving part 222, and the linear bearing 2262 is fixedly coupled to the mounting part 221. In another example, both ends of the guiding axle 2261 are fixed on the mounting portion 221 and fixed together with the mounting portion 221, and the linear bearing 2262 is fixedly connected with the driving portion 222, so that the driving portion 222 can slide on the fixed guiding axle 2261 together with the linear bearing 2262. The guide assembly 226 can better guide the moving direction of the driving part 222, limit the driving part 222 from generating undesirable swinging and reduce the moving resistance. Preferably, the guide assembly 226 includes two guide shafts 2261 and two linear bearings 2262 arranged in parallel to guide the driving part 222 more uniformly.

Preferably, the drive assembly 22 comprises: catheter rotation assembly 227; the catheter rotating assembly 227 is disposed on the driving portion 222, and is used for driving the catheter core of the ultrasound catheter 11 to rotate. For the inner core of a catheter of a single-element transducer, the driving device 20 is also required to be capable of driving the inner core to rotate. The provision of conduit rotation assembly 227 accomplishes this function. Preferably, catheter rotation assembly 227 comprises a second power assembly for coupling to the inner catheter core and driving the inner catheter core to rotate. In one example, the second power assembly includes a second motor 2271, which may also include a transmission, the second motor 2271 being coupled to the catheter inner core by the transmission. Preferably, the catheter rotation assembly 227 further comprises an electrical slip ring 2272, and the electrical slip ring 2272 is used for acquiring a rotation signal of the catheter inner core and transmitting the rotation signal to a corresponding control unit.

Further, the driving assembly 22 includes: a conduit gripping assembly 228; the catheter gripping assembly 228 is disposed at the distal end of the catheter rotation assembly 227 for detachable threading attachment of an outer sheath of an ultrasound catheter 11. In one example, the catheter clamp assembly 228 may, for example, include a button 2281, and when the button 2281 is depressed, the catheter clamp assembly 228 unlocks the outer sheath, which may be removably installed or removed. Upon release of button 2281, catheter gripping assembly 228 locks the position of the outer sheath.

Referring to fig. 4 and 5, optionally, the driving assembly 22 includes: a housing 229; the housing 229 is connected to the driving portion 222; the housing 229 has an inner cavity in which the driving part 222 and the catheter rotating assembly 227 are received. The housing 229 serves to protect the drive portion 222 and the catheter rotation assembly 227 and also to facilitate gripping by an operator in the manual drive mode. Preferably, the housing 229 is fixedly connected to the driving portion 222. Preferably, the housing 229 has a conduit through bore coaxially aligned with the conduit gripping assembly 228; the outer sheath may be threaded through the catheter access hole of the housing 229 into the catheter retaining assembly 228.

Alternatively, the base body 21 and the mounting portion 221 can be quickly assembled and disassembled for convenient use. In an alternative example, the base 21 and the mounting portion 221 are detachably connected by a snap. Of course, in other embodiments, the base 21 and the mounting portion 221 may be connected and assembled by a quick assembly structure commonly used in the art, such as a magnetic connector, but the present invention is not limited thereto.

Based on the driving apparatus 20 for medical equipment as described above, the present embodiment also provides a driving system for medical equipment, which includes: a medical device, a sterile bag 10 and a drive for a medical device as described above; the medical apparatus includes a catheter assembly, a proximal end of the catheter assembly is connected to the driving part 222, and the sterile bag 10 is disposed between the mounting part 221 and the driving part 222. The structure and principle of other components of the drive system of the medical device can be understood by those skilled in the art according to the prior art, and the present invention will not be described again.

In summary, the present invention provides a drive device and a drive system for a medical apparatus, the drive device for the medical apparatus including: a base and a drive assembly; the driving assembly comprises a mounting part and a driving part; the mounting part is detachably connected with the base body, and the driving part is movably connected with the mounting part along the axial direction of the driving part, so that the mounting part and the base body are kept fixed when the driving part moves along the axial direction; the drive assembly and the base body are respectively used for being arranged inside and outside the sterile bag. Due to the arrangement, on one hand, only the base part is the exposed disposable part, and the parts of the rest driving components can be reused, so that materials are saved; on the other hand, the drive division that produces the motion is located aseptic bag, and the drive division is installed through installation department and base member, does not have relative motion between installation department and the base member to the motion of drive division can not lead to the fact the pull to aseptic bag, the motion of drive division only need aseptic bag fold with extend can, improved aseptic bag's reliability.

It should be noted that, several of the above embodiments may be combined with each other. The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and any modification and modification made by those skilled in the art according to the above disclosure are all within the scope of the claims.

Claims

1. A drive device for a medical apparatus, comprising: a base and a drive assembly;

the driving assembly comprises a mounting part and a driving part;

2. The drive device of a medical apparatus of claim 1, wherein the drive assembly further comprises a rotating member;

3. The drive device of a medical apparatus according to claim 2, wherein the rotating member includes a lead screw, and the mounting portion has a nut fitted to the lead screw;

4. The drive arrangement of the medical device of claim 2, wherein the drive assembly further comprises: a first power assembly;

5. The drive of the medical device of claim 4, wherein the first power assembly includes a first motor and a clutch;

6. The drive device of a medical apparatus according to claim 5, wherein the first motor and the clutch are connected by gear engagement.

7. The drive of the medical device of claim 2, wherein the drive assembly further comprises an encoder coupled to the rotatable member for obtaining the amount of rotation of the rotatable member.

8. The drive arrangement of the medical device of claim 1, wherein the drive assembly further comprises: a guide assembly; the guide assembly comprises a guide shaft and a linear bearing; the guide shaft is movably arranged in the linear bearing along the axial direction of the driving part in a penetrating way;

9. The drive arrangement of the medical device of claim 1, wherein the drive assembly further comprises: a catheter rotation assembly;

10. The drive arrangement of the medical device of claim 9, wherein the drive assembly further comprises: a housing;

11. The drive device of a medical apparatus of claim 10, wherein the housing has a catheter through bore, the drive assembly further comprising: a conduit gripping assembly;

12. A drive system for a medical device, comprising: a medical device, a sterile bag, and a drive device for a medical device according to any one of claims 1 to 11; the medical device includes a catheter assembly having a proximal end coupled to the drive portion, the sterile bag separating the base and the drive assembly.