WO2019210663A1 - 一种血管内超声回撤机构 - Google Patents

一种血管内超声回撤机构 Download PDF

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Publication number
WO2019210663A1
WO2019210663A1 PCT/CN2018/113387 CN2018113387W WO2019210663A1 WO 2019210663 A1 WO2019210663 A1 WO 2019210663A1 CN 2018113387 W CN2018113387 W CN 2018113387W WO 2019210663 A1 WO2019210663 A1 WO 2019210663A1
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Prior art keywords
shaft
clutch
retracting
intravascular ultrasound
bracket
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PCT/CN2018/113387
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English (en)
French (fr)
Inventor
孙银君
朱彦聪
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深圳开立生物医疗科技股份有限公司
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Publication of WO2019210663A1 publication Critical patent/WO2019210663A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A61B8/0891—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/54—Control of the diagnostic device

Definitions

  • the invention relates to the technical field of medical device equipment, and in particular to an intravascular ultrasound retraction mechanism.
  • Intravascular ultrasound is a combination of noninvasive ultrasound technology and invasive catheter technology, a medical imaging technique using a special catheter with an ultrasonic probe attached to it, which enables ultrasound techniques such as piezoelectric conduction or Ultrasound sensors can be used to examine the condition of the inner wall of a blood vessel.
  • the intravascular ultrasound imaging system is mainly composed of an intravascular ultrasound catheter with an ultrasonic sensor, a catheter driving system and an ultrasound imaging host, wherein the catheter driving system is mainly composed of a catheter rotating mechanism, a retracting mechanism, a base mechanism and an outer casing.
  • the existing The clutch mechanism in the intravascular ultrasound retraction mechanism is mainly realized by cam control, but the control method using the cam is complicated to install, the assembly gap is large, and the operation is not stable.
  • an object of the present invention is to provide an intravascular ultrasonic retraction mechanism which is not only simple in structure, convenient in installation, but also capable of achieving smooth operation.
  • the present invention provides the following technical solutions:
  • An intravascular ultrasound retraction mechanism comprising:
  • a clutch shaft and a retracting shaft connected to the retrace bracket, and a drive system is connected to one end of the clutch shaft, and the other end of the clutch shaft is provided with a first half clutch, and one end of the retracting shaft is provided And a second half clutch engaged with the first half clutch, the other end of the retracting shaft is further provided with a moving device capable of driving the retracting bracket to move;
  • the drive system is disposed on the withdrawal bracket.
  • the driving system comprises a first synchronous wheel, a second synchronous wheel and a driving device, the driving device is connected to the second synchronous wheel, and the first synchronous wheel and the second synchronous wheel are synchronized With a connection.
  • a manual control system for controlling the coupling and disengagement of the first partial clutch and the second partial clutch is further included.
  • the manual control system comprises:
  • connecting block rotatably connected to the retrace bracket, and an operating lever disposed on the connecting block
  • a shifting fork rotatably coupled to the withdrawal bracket and for mating with the first partial clutch or the second partial clutch
  • a steering shaft that passes through the connecting block and the withdrawal bracket and is rotatably coupled to the shift fork, and the connecting block is rotatably coupled to the steering shaft;
  • a first spherical cap disposed on the steering shaft and in contact with the connecting block, and a second spherical cap disposed on the steering shaft and in contact with the shifting fork are further included.
  • the method further includes a return spring sleeved on the retracting shaft.
  • the method further includes a code wheel disposed on the retraction axis, and an encoder disposed on the retracting bracket for collecting the code wheel position information.
  • a positioning ring for positioning the driving device is further disposed between the withdrawal bracket and the second synchronous wheel.
  • the first half clutch and the second half clutch are both jaw clutches.
  • a base for supporting movement of the mobile device, and a main bracket for mounting the withdrawal bracket
  • the base is provided with a slide rail
  • the main bracket is provided with the slide rail Fit the slider.
  • the intravascular ultrasonic retraction mechanism disclosed by the present invention comprises a retracting bracket, a clutch shaft and a retracting shaft connected to the retracting bracket, and a driving system is connected to one end of the clutch shaft, and the clutch is coupled.
  • the other end of the shaft is provided with a first half clutch
  • one end of the retracting shaft is provided with a second half clutch for engaging with the first half clutch
  • the other end of the retracting shaft is further provided with a movable moving device
  • the driving system is disposed at Retract the bracket.
  • the intravascular ultrasonic retraction mechanism adopts a synchronous belt for power transmission, which significantly reduces the assembly gap between the parts, and has the advantages of simple structure, convenient installation, and smooth operation.
  • FIG. 1 is a schematic structural view of an outer casing of an intravascular ultrasound imaging system disclosed in an embodiment of the present invention
  • FIG. 2 is a schematic diagram showing the internal structure of an intravascular ultrasound imaging system disclosed in an embodiment of the present invention
  • FIG. 3 is a schematic structural view of an intravascular ultrasonic retraction mechanism disclosed in an embodiment of the present invention.
  • Figure 4 is a front view of the structure of Figure 3;
  • Figure 5 is a cross-sectional structural view of Figure 3;
  • Fig. 6 is a schematic view showing the structure of an intravascular ultrasonic retraction mechanism after the operation lever is pressed.
  • the core of the present invention is to provide an intravascular ultrasonic retraction mechanism which is not only simple in structure, convenient in installation, but also capable of achieving smooth operation.
  • the intravascular ultrasonic retraction mechanism disclosed in the embodiment of the present invention comprises a retracting bracket 1 , a clutch shaft 11 and a retracting shaft 12 rotatably connected with the retracting bracket 1 , and a driving system and a clutch shaft are connected to one end of the clutch shaft 11 .
  • the other end of the 11 is provided with a first half clutch 14, one end of which is provided with a second half clutch 15 for cooperating with the first half clutch 14, and the other end of the retracting shaft 12 is further provided with a movable mobile device
  • the drive system is disposed on the retrace bracket 1.
  • the drive system When the intravascular ultrasound catheter is automatically retracted, the first half clutch 14 and the second half clutch 15 are in a combined state, the drive system is activated, the drive system transmits power to the clutch shaft 11, and the clutch shaft 11 transmits power to the retraction shaft. 12, the retraction shaft 12 rotates, thereby driving the mobile device to move, thereby achieving automatic retraction of the intravascular ultrasound catheter.
  • the intravascular ultrasonic retraction mechanism adopts a synchronous belt for power transmission, which significantly reduces the assembly gap between the parts, and has the advantages of simple structure, convenient installation, and smooth operation.
  • the driving system includes a first synchronous wheel 13, a second synchronous wheel 17, and a driving device 10.
  • the driving device 10 is connected to the second synchronous wheel 17, and the first synchronous wheel 13 and the second synchronous wheel 17 pass through the timing belt. 18 connected.
  • the driving device 10 is activated to drive the second synchronizing wheel 17 to rotate, and the second synchronizing wheel 17 drives the first synchronizing wheel 13 to rotate under the action of the timing belt 18, and the power is transmitted to the clutch shaft 11 through the first synchronizing wheel 13.
  • the moving device preferably cooperates with the gear 16 and the rack 8.
  • the intravascular ultrasound retraction mechanism disclosed in the embodiment of the present invention further includes a manual control system 2 for controlling the combination and separation of the first half clutch 14 and the second half clutch 15.
  • the manual control system 2 includes: a connecting block 21 rotatably connected to the retrace bracket 1, and an operating lever 22 disposed on the connecting block 21; rotatably connected with the retrace bracket 1 and used for the first half clutch 14 and A shift fork 23 to which the second half clutch 15 is engaged; a steering shaft 24 that passes through the connecting block 21 and the retracting bracket 1 and is rotatably coupled to the shift fork 23.
  • the spherical cap can be provided to realize the rotational connection, and the steel wire rope can be disposed to realize the rotational connection.
  • the rotational connection is preferably implemented by means of providing a spherical cap.
  • the manual control system disclosed in the embodiment of the present invention further includes a first spherical cap 25 disposed on the steering shaft 24 and in contact with the connecting block 21; disposed on the steering shaft 24 and in contact with the shift fork 23 The second spherical cap 26.
  • connecting block 21 is rotatably connected to the retracting bracket 1 via the first rotating shaft 27, and the shifting fork 23 is rotatably connected to the retracting bracket 1 via the second rotating shaft 28.
  • the operating lever 22 When the manual retraction of the intravascular ultrasound is required, the operating lever 22 is first pressed, the operating lever 22 drives the connecting block 21 to rotate about the first rotating shaft 27, and the connecting block 21 drives the steering shaft 24 to move through the first spherical cap 25, thereby The second fork cap 26 drives the shift fork 23 to rotate about the second rotating shaft 28, so that the first half clutch 14 and the second half clutch 15 are separated, and the withdrawal of the ultrasonic catheter is manually performed manually.
  • the intravascular ultrasound retraction mechanism disclosed in the embodiment of the present invention further includes a return spring 121 sleeved on the retraction shaft 12, and when the manual retraction of the ultrasound catheter is completed, the operation lever is released. 22, under the elastic force of the return spring 121, the first half clutch 14 and the second half clutch 15 are combined, and the power transmission can be realized when the ultrasonic catheter is automatically retracted.
  • the intravascular ultrasound retraction mechanism disclosed in the embodiment of the present invention further includes a code wheel 3 disposed on the retraction shaft 12, and a code disposed on the retraction bracket 1 for acquiring the position information of the code wheel 3.
  • the code wheel 3 is rotated, and the encoder 4 acquires the position information of the code wheel 3, thereby obtaining the retracting position parameter.
  • the driving device 10 can be a motor or a hydraulic motor. Since the motor is small in size and convenient to operate, in the embodiment of the present invention, the driving device 10 is preferably a motor.
  • a positioning ring 19 is arranged between the retracting bracket 1 and the second synchronizing wheel 17, so that the driving device 17 can be effectively positioned.
  • first half clutch 14 and the second half clutch 15 may be friction clutches, electromagnetic clutches or jaw clutches.
  • a dog clutch is preferably used.
  • the intravascular ultrasonic retraction mechanism disclosed in the embodiment of the present invention further includes a base 5 for supporting the movement of the mobile device, and a main bracket 6 for mounting the retracting bracket 1, and the base 5 is provided with a slip.
  • the rail 7 is provided with a slider 51 that cooperates with the slide rail 7. The slide rail 7 and the slider 51 cooperate to drive the main bracket 6 and the retracting bracket 1 to move on the base 5, thereby driving the mobile device on the base 5. Move on.

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Abstract

一种血管内超声回撤机构，包括回撤支架（1），与回撤支架（1）转动相连的离合轴（11）和回撤轴（12），且离合轴（11）的一端连接有驱动系统，离合轴（11）的另一端设置有第一半离合器（14），回撤轴（12）的一端设置有用于与第一半离合器（14）配合的第二半离合器（15），回撤轴（12）的另一端还设置有能够移动的移动装置；驱动系统设置于回撤支架（1）上。当进行血管内超声导管自动回撤时，第一半离合器（14）和第二半离合器（15）处于结合状态，启动驱动系统，驱动系统将动力传输给离合轴（11），离合轴（11）将动力传输给回撤轴（12），回撤轴（12）转动，从而带动移动装置移动，进而实现血管内超声导管的自动回撤。血管内超声回撤机构采用了同步带进行动力传输，减小了零件之间的装配间隙，不仅结构简单，而且能够实现平稳运行。

Description

一种血管内超声回撤机构
本申请要求于2018年05月03日提交中国专利局、申请号为201810415319.9、发明名称为“一种血管内超声回撤机构”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及医疗器械设备技术领域，特别涉及一种血管内超声回撤机构。
背景技术
血管内超声是无创性的超声技术和有创性的导管技术相结合的，一种使用末端连接有超声探针的特殊导管进行的医学成像技术，这种技术使得超声技术，如压电传导或者超声传感器得以用于检查血管内壁的情况。
血管内超声成像系统主要由带超声传感器的血管内超声导管、导管驱动系统及超声成像主机组成，其中导管驱动系统主要由导管旋转机构、回撤机构、底座机构以及外壳组成，目前，现有的血管内超声回撤机构中的离合机构主要是通过凸轮控制实现的，但是采用凸轮的控制方式安装较为复杂，装配间隙较大，运行不平稳。
因此，如何提供一种血管内超声回撤机构，不仅结构简单，安装方便，而且能够实现平稳运行是本领域技术人员亟需解决的技术问题。
发明内容
有鉴于此，本发明的目的在于提供一种血管内超声回撤机构，不仅结构简单，安装方便，而且能够实现平稳运行。
为实现上述目的，本发明提供如下技术方案：
一种血管内超声回撤机构，包括：
回撤支架；
与所述回撤支架转动相连的离合轴和回撤轴，且所述离合轴一端连接有驱动系统，所述离合轴的另一端设置有第一半离合器，所述回撤轴的一端设置有 用于与所述第一半离合器配合的第二半离合器，所述回撤轴的另一端还设置有能够带动所述回撤支架移动的移动装置；
所述驱动系统设置于所述回撤支架上。
优选的，所述驱动系统包括第一同步轮，第二同步轮以及驱动装置，所述驱动装置与所述第二同步轮相连，且所述第一同步轮和所述第二同步轮通过同步带相连。
优选的，还包括用于控制所述第一半离合器和所述第二半离合器结合与分离的手动控制系统。
优选的，所述手动控制系统包括：
与所述回撤支架转动相连的连接块，和设置在所述连接块上的操作杆；
与所述回撤支架转动连接，且用于与所述第一半离合器或所述第二半离合器配合的拨叉；
穿过所述连接块和所述回撤支架且与所述拨叉转动连接的转向轴，且所述连接块与所述转向轴转动连接；
优选的，还包括设置于所述转向轴上且与所述连接块相接触的第一球形帽，以及设置于所述转向轴上且与所述拨叉相接触的第二球形帽。
优选的，还包括套设于在所述回撤轴上的回位弹簧。
优选的，还包括设置于所述回撤轴上的码盘，和设置于所述回撤支架上且用于采集所述码盘位置信息的编码器。
优选的，所述回撤支架和所述第二同步轮之间还设置有用于定位所述驱动装置的定位环。
优选的，所述第一半离合器和所述第二半离合器均为牙嵌式离合器。
优选的，还包括用于支撑所述移动装置移动的底座，和用于安装所述回撤支架的主支架，所述底座上设置有滑轨，所述主支架上设置有与所述滑轨配合的滑块。
由以上技术方案可以看出，本发明所公开的血管内超声回撤机构，包括回撤支架，与回撤支架转动相连的离合轴和回撤轴，且离合轴的一端连接有驱动 系统，离合轴的另一端设置有第一半离合器，回撤轴的一端设置有用于与第一半离合器配合的第二半离合器，回撤轴的另一端还设置有能够移动的移动装置；驱动系统设置于回撤支架上。当进行血管内超声导管自动回撤时，第一半离合器和第二半离合器处于结合状态，启动驱动系统，驱动系统将动力传输给离合轴，离合轴将动力传输给回撤轴，回撤轴转动，从而带动移动装置移动，进而实现血管内超声导管的自动回撤。该血管内超声回撤机构采用了同步带进行动力传输，明显减小了零件之间的装配间隙，不仅结构简单，安装方便，而且能够实现平稳运行。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见的，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1为本发明实施例中所公开的血管内超声成像系统的外壳结构示意图；
图2为本发明实施例中所公开的血管内超声成像系统的内部结构示意图；
图3为本发明实施例中所公开的血管内超声回撤机构的结构示意图；
图4为图3的主视结构示意图；
图5为图3的剖视结构示意图；
图6为操作杆按压后的血管内超声回撤机构的结构示意图。
其中，各部件的名称如下：
1-回撤支架，10-驱动装置，11-离合轴，12-回撤轴，121-回位弹簧，13-第一同步轮，14-第一半离合器，15-第二半离合器，16-齿轮，17-第二同步轮，18-同步带，19-定位环，2-手动控制系统，21-连接块，22-操作杆，23-拨叉，24-转向轴，25-第一球形帽，26-第二球形帽，27-第一转动轴，28-第二转动轴，3-码盘，4-编码器，5-底座，51-滑块，6-主支架，7-滑轨，8-齿条。
具体实施方式
有鉴于此，本发明的核心在于提供一种血管内超声回撤机构，不仅结构简 单，安装方便，而且能够实现平稳运行。
为了使本技术领域的人员更好地理解本发明方案，下面结合附图和具体实施方式对本发明作进一步的详细说明。
本发明实施例所公开的血管内超声回撤机构，包括回撤支架1，与回撤支架1转动相连的离合轴11和回撤轴12，且离合轴11的一端连接有驱动系统，离合轴11的另一端设置有第一半离合器14，回撤轴12的一端设置有用于与第一半离合器14配合的第二半离合器15，回撤轴12的另一端还设置有能够移动的移动装置；驱动系统设置于回撤支架1上。
当进行血管内超声导管自动回撤时，第一半离合器14和第二半离合器15处于结合状态，启动驱动系统，驱动系统将动力传输给离合轴11，离合轴11将动力传输给回撤轴12，回撤轴12转动，从而带动移动装置移动，进而实现血管内超声导管的自动回撤。该血管内超声回撤机构采用了同步带进行动力传输，明显减小了零件之间的装配间隙，不仅结构简单，安装方便，而且能够实现平稳运行。
需要说明的是，驱动系统包括第一同步轮13，第二同步轮17以及驱动装置10，驱动装置10与第二同步轮17相连，且第一同步轮13和第二同步轮17通过同步带18相连。驱动装置10启动，带动第二同步轮17转动，第二同步轮17在同步带18的作用下带动第一同步轮13转动，通过第一同步轮13将动力传输到离合轴11上。
需要进一步说明的是，移动装置优选采用齿轮16和齿条8进行配合。
进一步的，本发明实施例所公开的血管内超声回撤机构，还包括用于控制第一半离合器14和第二半离合器15结合与分离的手动控制系统2。
其中，手动控制系统2包括：与回撤支架1转动相连的连接块21，和设置在连接块21上的操作杆22；与回撤支架1转动连接，且用于与第一半离合器14和第二半离合器15配合的拨叉23；穿过连接块21和回撤支架1且与拨叉23转动连接的转向轴24。
当然，转动连接方式中，可以设置球形帽实现转动连接，也可以设置钢丝绳实现转动连接，在本发明实施例中优选采用设置球形帽的方式实现转动连接。
因此，本发明实施例中所公开的手动控制系统，还包括设置于转向轴24上且与连接块21相接触的第一球形帽25；设置于转向轴24上且与拨叉23相接触的第二球形帽26。
需要说明的是，连接块21通过第一转动轴27与回撤支架1进行转动连接，拨叉23通过第二转动轴28与回撤支架1进行转动连接。
当需要对血管内超声进行手动回撤时，首先按压操作杆22，操作杆22带动连接块21绕着第一转动轴27转动，连接块21通过第一球形帽25带动转向轴24移动，进而通过第二球形帽26带动拨叉23绕着第二转动轴28转动，使得第一半离合器14和第二半离合器15分离，人为手动实现超声导管的回撤。
需要进一步说明的是，本发明实施例所公开的血管内超声回撤机构还包括套设于回撤轴12上的回位弹簧121，当对超声导管进行手动回撤完成后，松开操作杆22，在回位弹簧121的弹力作用下，第一半离合器14和第二半离合器15结合，当进行超声导管的自动回撤时可以实现动力的传输。
进一步的，本发明实施例所公开的血管内超声回撤机构，还包括设置于回撤轴12上的码盘3，和设置于回撤支架1上且用于采集码盘3位置信息的编码器4，当回撤轴12旋转时，带动码盘3转动，编码器4采集码盘3的位置信息，从而得到回撤位置参数。
需要进一步说明的是，驱动装置10可以为电机，也可以为液压马达，由于电机体积小，操作方便，在本发明实施例中，优选驱动装置10为电机。
为了对第二同步轮17进行有效定位，本发明实施例中，在回撤支架1和第二同步轮17之间设置了定位环19，可以对驱动装置17实现有效定位的作用。
当然，第一半离合器14和第二半离合器15可以为摩擦式离合器，可以电磁离合器，也可以为牙嵌式离合器，在本发明实施例中优选采用牙嵌式离合器。
需要说明的是，本发明实施例所公开的血管内超声回撤机构，还包括用于支撑移动装置移动的底座5，和用于安装回撤支架1的主支架6，底座5上设置有滑轨7，主支架1上设置有与滑轨7配合的滑块51，滑轨7和滑块51配合，带动主支架6和回撤支架1在底座5上移动，进而带动移动装置在底座5上移动。
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。

Claims (10)

  1. 一种血管内超声回撤机构，其特征在于，包括：
    回撤支架(1)；
    与所述回撤支架(1)转动相连的离合轴(11)和回撤轴(12)，且所述离合轴(11)的一端连接有驱动系统，所述离合轴(11)的另一端设置有第一半离合器(14)，所述回撤轴(12)的一端设置有用于与所述第一半离合器(14)配合的第二半离合器(15)，所述回撤轴(12)的另一端还设置有能够带动所述回撤支架(1)移动的移动装置；
    所述驱动系统设置于所述回撤支架(1)上。
  2. 根据权利要求1所述的血管内超声回撤机构，其特征在于，所述驱动系统包括第一同步轮(13)，第二同步轮(17)以及驱动装置(10)，所述驱动装置(10)与所述第二同步轮(17)相连，且所述第一同步轮(13)和所述第二同步轮(17)通过同步带(18)相连。
  3. 根据权利要求1所述的血管内超声回撤机构，其特征在于，还包括用于控制所述第一半离合器(14)和所述第二半离合器(15)结合与分离的手动控制系统。
  4. 根据权利要求3所述的血管内超声回撤机构，其特征在于，所述手动控制系统(2)包括：
    与所述回撤支架(1)转动相连的连接块(21)，和设置在所述连接块(21)上的操作杆(22)；
    与所述回撤支架(1)转动连接，且用于与所述第一半离合器(14)或所述第二半离合器(15)配合的拨叉(23)；
    穿过所述连接块(21)和所述回撤支架(1)且与所述拨叉(23)转动连接的转向轴(24)，且所述连接块(21)与所述转向轴(24)转动连接。
  5. 根据权利要求4所述的血管内超声回撤机构，其特征在于，还包括设置于所述转向轴(24)上且与所述连接块(21)相接触的第一球形帽(25)， 以及设置于所述转向轴(24)上且与所述拨叉(23)相接触的第二球形帽(26)。
  6. 根据权利要求1所述的血管内超声回撤机构，其特征在于，还包括套设于在所述回撤轴(12)上的回位弹簧(121)。
  7. 根据权利要求1所述的血管内超声回撤机构，其特征在于，还包括设置于所述回撤轴(12)上的码盘(3)，和设置于所述回撤支架(1)上且用于采集所述码盘(3)位置信息的编码器(4)。
  8. 根据权利要求2所述的血管内超声回撤机构，其特征在于，所述回撤支架(1)和所述第二同步轮(17)之间还设置有用于定位所述驱动装置(10)的定位环(19)。
  9. 根据权利要求1所述的血管内超声回撤机构，其特征在于，所述第一半离合器(14)和所述第二半离合器(15)均为牙嵌式离合器。
  10. 根据权利要求1所述的血管内超声回撤机构，其特征在于，还包括用于支撑所述移动装置移动的底座(5)，和用于安装所述回撤支架(1)的主支架(6)，所述底座(5)上设置有滑轨(7)，所述主支架(6)上设置有与所述滑轨(7)配合的滑块(51)。
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