CN106102604A

CN106102604A - There is biopsy system and the method for damper element

Info

Publication number: CN106102604A
Application number: CN201580014938.1A
Authority: CN
Inventors: 约瑟夫·希金斯; 杰弗里·艾伦·麦克布鲁姆
Original assignee: Cardiovascular Systems Inc
Current assignee: Cardiovascular Systems Inc
Priority date: 2014-01-28
Filing date: 2015-01-28
Publication date: 2016-11-09
Also published as: CA2937180A1; EP3099251A1; WO2015116618A1; JP2017504428A; EP3099251A4; AU2015211166A1

Abstract

A kind of biopsy system can include drive shaft, motor, there is the clutch of threshold torque, wherein clutch can include the motor plate being rotatably connected to motor, it is rotatably connected to the driving axillare of drive shaft, and be configured to and motor plate and the bias clutch driving axillare to be rotatably engaged, wherein fully kept by static friction transmitting between the motor plate coupling rotatably and driving axillare less than the torque of threshold torque, and wherein cause motor plate more than the torque of threshold torque and drive axillare relative to each other rotate and cause surplus torque to transmit between motor and drive shaft, surplus torque is less than threshold torque and is determined by dynamic friction system.

Description

There is biopsy system and the method for damper element

Inventor

Joseph Higgins, United States citizen, inhabit Minnetonka, MN

Jeffrey Allen McBroom, United States citizen, inhabit Champlin, MN

Cross-Reference to Related Applications

The application is the continuation of the U.S. Patent application 14/208478 that on March 13rd, 2014 submits to, and it requires 2014 1 Months 28 days submit to entitled " for the damping drive system of medical treatment device apparatus, system and method (device, systemts and methods for a shock absorbing drive system for medical devices)” U.S. Provisional Patent Application 61/932409, and on March 15th, 2013 submit to entitled " have bias clutch rotation The U.S. Provisional Patent Application of cutting apparatus (rotational atherectomy device with biasing clutch) " The rights and interests of 61/787027, its content is incorporated herein by overall way of reference.

Statement with regard to government-funded research or exploitation

Inapplicable

Technical field

The present invention relates to, for utilizing rotary cutting apparatus to remove tissue from body passage, such as remove Atherosclerosis from artery Change the apparatus and method of patch.Specifically, the present invention relates to have the rotary cutting apparatus of bias clutch and/or damper element Improve.

Background technology

Percutaneous patch resection be for by use the device on the end of conduit open obstruction coronary artery or (fat accumulating in the inner membrance of arterial wall is heavy with other materials to cut away or to wipe off atherosclerotic plaque for vein transplantation Long-pending thing) non-surgery operation.The purpose applied for this, term " grinds " polishing for describing this percutaneous patch excision head And/or scraping action.

Perform percutaneous patch resection so that oxygen-rich blood stream is returned to heart, to mitigate pectoralgia and to prevent heart disease from sending out Make.It can be to patient and application balloon angioplasty (the wherein profit not having reaction to have pectoralgia to other medicines treatment Make the smooth surgical procedure of patch with foley's tube against arterial wall) or some of artery bypass grafting in treatment of patients Complete on patient.Sometimes percutaneous patch resection is performed to remove the patch built up after CABG.

Percutaneous patch resection utilizes the rotation razor being arranged on the far-end of conduit or other devices to carry out patch excision Or breaking-up patch.When operation starts, use control blood pressure, coronary artery dilator and the medicine preventing clot.Patient awoke But it is calm.Conduit is inserted in the artery of groin, leg or arm, and is entered into the coronary artery of obstruction by blood vessel In.Cutting head positions against patch and activated, and patch is grinded up or sucks out.

The percutaneous patch resection of this type is to rotate, orient and extract in chamber.Rotary-cut art utilizes High Rotation Speed razor Pulverize patch.Orient percutaneous patch resection be accreditation the first kind, but generally not in use by；Its conduit that patch is swiped to Side in opening in.Extract the utilization of emergency percutaneous coronary patch resection in chamber patch is cut off vascular wall and is taken out The device being drawn onto in bottle.It is used for clearing up bypass graft.

Performing in cardiac catheterization lab, patch is also referred to as removed by percutaneous patch resection from coronary artery.It can For substituting balloon angioplasty or using therewith.

Have been disclosed for performing several devices of rotary-cut art.For example, Leonid Shturman be disclosed in November, 1994 1 day and entitled " for orienting grinding drive shaft device (the Abrasive driver shaft device for of rotary-cut art Directional rotational atherectomy) " United States Patent (USP) No.5,360,432, disclose for from artery move It except the grinding drive shaft rotary cutting apparatus of stenotic tissue, and is incorporated herein by way of overall quoting.This device includes Rotary cutting apparatus, described rotary cutting apparatus has the flexible elongate drive shaft at its far-end with middle chamber and section, this middle chamber Apply coated with grinding-material with section to limit ground section.Ground section with sufficiently high rotary speed radially, and can be plunderred Cross the lapping diameter more than its remainder diameter.By this kind of mode, percutaneous patch resection device can remove to be more than and lead Manage the obturator of self.The use of expansible head is use can not changing on the percutaneous patch resection device of extended head Enter；This not expandable device normally require to remove specific obturator by stages, each stage uses various sizes of head Portion.

United States Patent (USP) No.5,314,438 (Shturman) show another rotary cutting apparatus, and this rotary cutting apparatus has and can revolve Turning drive shaft, a part for drive shaft has the diameter of expansion, and at least one section of covering of this diameter portion expanding is to grind material Material is to limit the ground section of drive shaft.When rotated at high speed, stenotic tissue can be removed by ground section from artery.

Common percutaneous patch resection device includes the single use portion being intended for single use, and it can be attached non-disposable control Unit processed (also referred to as controller) and from its remove.Single use portion includes the element being exposed to the body fluid of salt solution and patient, Such as handle, conduit, rotatable drive shaft and grinding head.Handle includes the turbine rotating drive shaft, and can be along Conduit longitudinally promotes and regains the knob of drive shaft.Generally, this device has the floor push activating this handle.

The compression of the turbine that commonly known percutaneous patch resection device is sent in handle by controller management Air capacity utilizes pneumatic energy to drive drive shaft.Compressed air revolving wormgear machine, it then rotates drive shaft, and rotates attached Receive the grinding bizet of drive shaft.The track motion of bizet makes the access portal of blood vessel that is limited or that be obstructed strengthen and widen.

Current input makes great efforts to be incorporated into other type of revolving actuator in percutaneous patch resection device in a large number, main Strategic point is for replacing the needs to compressed air source.Motor needs to limit the mode of the torque being sent to drive shaft.For example, if The far-end of drive shaft runs into barrier and blocks (that is, stopping the rotation), then be preferably sent to the torque quilt of drive shaft Limit so that drive shaft is not excessively wound around and suddenly discharges.This unexpected release of energy may cause to patient or dress The infringement put, and should avoid.

Therefore, in rotary cutting apparatus, between motor and drive shaft, there are the needs for clutch.

Content of the invention

In some embodiments, biopsy system can include having the far-end for being inserted in the vascular system of patient Elongated, rotatable, flexible drive shaft.Drive shaft can include that the far-end of the outside with the vascular system being maintained at patient is relative Near-end.This system can include the motor for rotating drive shaft and can arrange damper element to be connected to drive motor Moving axis.During stable state situation, whole torques can be sent to drive shaft from motor by damper element.But, at electricity During difference torque between machine and drive shaft increases suddenly, damper element can absorb increase torque a part and Meanwhile can keep the mechanical attachment between drive shaft and motor in case sliding stop.

In other embodiments, biopsy system can include the clutch with characteristic threshold value torque, comprising: rotate Be connected to the motor plate of motor；Being rotationally connected to the driving axillare of drive shaft, motor plate is parallel and coaxial with driving axillare, Neighbouring directly with one another, longitudinally arrange, and have therebetween to be close to spatially and keep longitudinally of one another；And be configured to rotatably Engage motor plate and the bias clutch driving axillare.

Although disclose multiple embodiment, but by being illustrated below and describing the illustrative embodiments of the present invention Detailed description, other embodiments in addition of the disclosure will become aobvious and easy to those skilled in the art See.As will be appreciated that, in the case of all without departing from the spirit and scope of the disclosure, can be in multiple different aspects The numerous embodiments of the modification disclosure.Therefore, accompanying drawing will be considered illustrative rather than limit in nature with describing in detail Qualitatively.

Brief description

Although specification is to particularly point out and to distinctly claim the master being considered as forming multiple embodiments of the disclosure The claim ending of topic, it is believed that combine accompanying drawing by explained below to will be better understood the present invention, in the accompanying drawings:

Fig. 1 is the stereogram of known rotary cutting apparatus.

Fig. 2 is the block diagram of motor, drive shaft and clutch, and they are mechanically coupled to together by this block diagram.

Fig. 3 is the schematic diagram of the clutch of Fig. 2.

Fig. 4 is the figure of the torque with the far-end in drive shaft for the rotary speed of the drive shaft for usual program.

Fig. 5 is sent to the figure relative to the torque of motor for the torque of the near-end of drive shaft.

Fig. 6 is the torque phase of the far-end in drive shaft stopping situation for far-end for known gas turbine system Figure for the time.

Fig. 7 be this motor driven systems for the clutch with Fig. 3 for far-end stop situation in drive shaft The torque of far-end relative to the figure of time.

Fig. 8 A shows the bias clutch according to some embodiments.

Fig. 8 B shows the schematic diagram of an embodiment of the bias clutch of Fig. 8 A.

Fig. 8 C shows the schematic diagram of another embodiment of the bias clutch of Fig. 8 A.

Fig. 8 D shows the schematic diagram of another embodiment of the bias clutch of Fig. 8 A.

Fig. 9 A shows the block diagram of motor, drive shaft and absorption of vibrations element, and they are mechanically coupled to one by this block diagram Rise.

Fig. 9 B shows the driving for far-end stopping situation of the motor driven systems for the damper element with Fig. 9 A Moving axis rotary speed is relative to the figure of time.

Figure 10 A shows the electricity of the percutaneous patch resection device with damping driving gear according to some embodiments Machine figure.

Figure 10 B is the close-up view of the driving gear of Fig. 9 B according to some embodiments.

Figure 11 A shows the electricity of the percutaneous patch resection device with damping output element according to some embodiments Machine figure.

Figure 11 B is the close-up view of the output element of Figure 10 A according to some embodiments.

Figure 12 A shows the motor of the percutaneous patch resection device with damping drive belt according to some embodiments Figure.

Figure 12 B is the close-up view of the drive belt of Figure 11 A according to some embodiments.

Figure 13 A shows the percutaneous patch resection with damping drive belt and Inert systems according to some embodiments The motor figure of device.

Figure 13 B is the close-up view of the drive belt of Figure 12 A according to some embodiments.

Detailed description of the invention

Disclose the percutaneous patch resection device between motor and drive shaft with clutch.This clutch can wrap Include dependence friction and torque is sent to another two plates from a plate.Clutch can have the suction keeping together plate Drawing property magnetic normal force, or in another embodiment, plate can be kept together by bias mechanism.For relatively low Torque is told me, such as the situation during normal use, and plate can be kept together by static friction torque, and plate is skid-resistant Rotate together under situation.For relatively high torque, just as when the far-end of drive shaft runs into barrier and suddenly stops Being occurred when only, this high torque (HT) exceedes maximum possible static friction torque, and plate slides.When sliding, plate transmits of a sufficiently low Dynamic friction torque to avoid the infringement to patient or to percutaneous patch resection device.In some cases, with drive shaft The torque level stopping being related to of far-end is chosen as copying and is wherein attached to drive shaft gas-driven turbine machine no-clutch These torque level of known percutaneous patch resection device.In other embodiments, it not to utilize frictional force to transmit to turn Square, but the bias mechanism with variable torsional strength can be used to transmit torque.For example, spring can connect clutch plate And torque can be transmitted based on the torsional rigid of spring.When running into barrier, variable torsional rigid can allow spring to twine Around and can allow postpone far-end apply excessive torque.So, for example, bias mechanism in this embodiment can Drive shaft is caused to stop with permissible velocity or current interrupter.

The previous paragraph is only summary, and should not be construed as limiting by any way.Several embodiment is presented herein below More detailed description.

Fig. 1 is the stereogram of usual rotary cutting apparatus.This device includes that the 10th, handle portion has bias and expand grinding head 28 Elongated, flexible drive shaft 20 and the slender conduit 13 extending from handle portion 10 to far-end.As it is known in the art, drive Moving axis 20 is securely attached to it by helical disk coiling structure and grinding head 28.The major part that conduit 13 has drive shaft 20 is long The cavity that degree (the short part except expanding grinding head 28 with expand grinding head 28 far-end) is arranged therein.Drive shaft 20 also contains There is inner chamber body, to allow drive shaft 20 advance on guide line 15 and rotate.Fluid supply line 17 can be provided as cooling down It is incorporated in conduit 13 with lubrication solution (normally salt solution or biological compatible fluid).

Handle 10 contains turbine (or similar rotary drive mechanism) ideally so that drive shaft 20 rotate at high speed. Handle 10 normally may be coupled to the compressed-air actuated energy source such as being transmitted by pipe 16.A pair Connectorized fiber optic cabling 25 is (another Selection of land can use single Connectorized fiber optic cabling) can be provided for monitoring the rotary speed of turbine and drive shaft 20.With regard to this The details of handle and pertinent instruments in this industry be it is well known that and such as United States Patent (USP) No.5 disclosed in Auth, It is described in 314,407, and by way of overall quoting, this patent is incorporated herein.Handle 10 is also ideally comprised phase Body for conduit 13 and handle advances and the control handle 11 regaining turbine and drive shaft 20.

Grinding element 28 in Fig. 1 is the eccentric entity bizet being attached to drive shaft 20 at the proximate distal ends of drive shaft 20. Term used herein " eccentric " is for indicating that the barycenter of bizet laterally moves away from the rotation of drive shaft 20.Work as driving When axle rotates rapidly, owing to bizet rotates, the barycenter of the movement of bizet causes drive shaft curved radially outwardly near bizet Song, thus bizet can be in the diametrically grinding bigger than himself standing diameter.For example, it is equal to 2007 6 at Thatcher Entitled " for the electric grinding head of high-speed rotary cutting apparatus " months 11 days submitted to as U.S. Patent Application Publication No.US2008/0306498 disclose in detail in U.S. Patent Application Publication No.11/761,128 on December 11st, 2008 Eccentric entity bizet, it is incorporated herein entirely through the mode quoted.

Current effort is the gas-driven turbine machine substituting known percutaneous patch resection device with motor.This Motor has the mechanical property different from turbine, the rotatory inertia such as increasing.The application is notably directed to connect motor Clutch to drive shaft.This clutch can limit the torque being transmitted by motor so that if the far-end of drive shaft runs into barrier Hinder thing and suddenly stop the rotation, the damage amount that clutch will prevent torque to be sent to drive shaft.In addition to motor, Fig. 1 Some or all other elements of known percutaneous patch resection device may be used in the head design of the disclosure, including The drive shaft 20 of control handle the 11st, the coiled coil on conduit the 13rd, guide line the 15th, handle 10 and eccentric entity bizet 28.

Fig. 2 is the block diagram of motor the 30th, drive shaft 20 and clutch 40, and they are mechanically coupled to together by this figure.At this In figure and following figure, " motor " can be motor, gas-driven turbine machine or produce controllable rotating amount any suitably Device.During normal use, clutch 40 engages, and the rotation being produced by motor 30 is directly transferred to drive shaft 20.Far-end in drive shaft 20 is stuck or runs into makes it rotate in the situation of obstruction thing of stopping suddenly, and clutch departs from Engage so that motor 30 does not continues to rotate the near-end of drive shaft.This persistently rotates and will exceedingly be wound around drive shaft, and and this Be wound around related torque may the blood vessel of injured patient or percutaneous patch resection device self potentially, this is all undesirable Result.

Additionally, clutch can be at drive shaft and the reusable electricity as normally replaceable or disposable elements Convenient interface is provided between machine.

Fig. 3 is the schematic diagram of the clutch 40 of Fig. 2.Clutch 40 includes two plates by attracting magnetic force to keep together 41 and 42.The 41st, plate 42 is attached to correspondingly be rotationally coupled to them the mandrel of motor 30 and drive shaft 20.

In course of normal operation, including the spin even faster of constant rotational speeds and spin down, motor and drive shaft The difference of the torque between near-end is relatively small.For these little torque differences, magnetic attracting force be enough to make plate the 41st, 42 be maintained at Together, and drive shaft near-end with motor rotate.

If the far-end of drive shaft runs into barrier and suddenly stops the rotation, then the near-end of motor and drive shaft it Between torque differences increase sharply and eventually exceed the static friction torque that plate is kept together.When it happens, plate relative to Rotatably slide each other, and when they slide, dynamic friction torque is sent to another plate from a plate.In detail below These rubbing actions are described.

It should be noted that the rotation corresponding amount that torque is quality, power.Torque produces change in angular momentum, very similar Linear force produces change in linear momentum.Operate holding constant owing to the rotatory inertia of device feature runs through them, because of This non-zero torque thus produces in rotary speed and changes.

It should also be noted that magnetically keep together two plates 41 and 42 can provide conveniently to connect for replace Mouthful.For example, after having performed program, the plate 41 and 42 that can be attracted by removing magnetic removes drive shaft and associated mechanical portion Part.Plate 42 is processed with drive shaft, and plate 41 keeps together with electric motor units and can use repeatedly.

Fig. 4 is the figure of the torque with the far-end in drive shaft for the rotary speed of the drive shaft for usual program.Initially Ground, drive shaft is in static and there is currently no net torque.In " spin even faster " phase process, non-zero torque is executed by motor It is added to the near-end of drive shaft, and the rotary speed of drive shaft increases.Once reaching desired rotary speed, the torque of motor is just Reduce so that drive shaft is maintained at constant rotary speed.It should be noted that the reality of the near-end being applied to drive shaft by motor But border torque can little non-zero, in order to overcome the friction effect between the near-end of drive shaft and far-end.This illustrates and is driving The torque of the far-end of moving axis, when the far-end of drive shaft rotates with constant rotational speeds, it is truly zero.At " spin down " In phase process, motor applies non-zero torque in the opposite direction so that the rotary speed of drive shaft is reduced to zero.

The typical torque grade normally plate in clutch 40 shown in general Fig. 4 in use occurring 41st, 42 start below the threshold value of slip.During normal use, clutch remains engaged with, and the static friction between plate Plate is kept together by power.Desirably only during atypia situation, such as when the far-end of drive shaft is stuck and stops Spin-ended when turning, plate slides and clutch is disengaged.But, owing to the torque of spin even faster and/or spin down exceedes threshold Value, therefore plate can slide during spin even faster and/or spin down is possible.

At this moment, it is proposed that look back frictional force physical principle to be best understood from, when clutch plate keeps together, with And when they slide.

Consider two linear plates, rather than such as two swivel plates in the true clutch of Fig. 3.As at Fig. 3 The situation of clutch, linear plate is by that can magnetically produce or can be that the outside normal force producing keeps together. For the relatively small power parallel with contact surface, plate keeps together.In other words, if to be parallel to contact surface light for someone One plate of micro-promotion, another plate keeps together with it and does not slide.For being parallel to the relatively large of contact surface For power, such as passing through hammer, plate is no longer held in together, and slides past each other along contact surface.

Slide start the threshold value that occurs by normal force (that is, make that plate keeps together magnetically or alternate manner produces Power) provide with the product of confficient of static friction.The coefficient of static friction is the characteristic of typically smaller than.For less than this threshold value Power, this plate keeps together.For the power more than this threshold value, this plate slides.

As an example, it is considered to the joint between rubber tyre and road surface.For little normal force, as worked as tire Situation when being only placed on highway under the effect of himself gravity, pulls tire readily along road surface.For big For normal force, such as the situation when the weight of Tire support automobile, it is very difficult to overcome and make tire keep contacting with highway Frictional force.In practice, just skid only for big power, such as suddenly touch on the brake during driving situation.

By this example, we can state the first general principle for our clutch: plate (that is, is inhaled by normal force Guide to the power magnetically producing each other) determine the threshold value starting to occur of sliding between plate.

This normal force is controlled in the design phase of clutch, and can pass through cross direction profiles in plate for the magnetic material And the genesis analysis of these materials controls.For example, when the longitudinal pitch between magnetic-particle increases, normal force reduces； This spacing can be accomplished in several ways, such as by coating magnetic-particle with nonmagnetic layer.

Return the example of this two linear plates, consider now the situation when plate has slid past each other.Have and connecing Touching the resistance that surface produces, if working without other power, resistance may make sliding motion slow down and finally make It stops.Similarly, if someone is parallel to surface with the power equal to resistance promotes sliding panel, then there is no resulting net force onboard simultaneously And this plate will keep constant speed between which.

This resistance is equal to the product of normal force and the coefficient of kinetic friction.The coefficient of kinetic friction is also characteristic, is generally also less than One.Additionally, the coefficient of kinetic friction is typically less than confficient of static friction；The reason that this is the validity behind of automatic anti-lock braking, as Fruit is not related to slide, and can apply bigger stop force.

Importantly, the speed that resistance is not dependent between plate；Sliding as long as existing between the plates, resistance is just only dependent upon plate Between normal force.

We can state the second general principle for our clutch: plate (that is, is attracted to magnetic each other by normal force Property the ground power that produces) determine the torque being sent to another plate when plate slides from plate.

Summarizing this two general principle in Figure 5, it is sent to the torque phase of the near-end of drive shaft (vertical axis) Figure for the torque of motor (trunnion axis).

If there is no clutch, and drive shaft is directly attached to motor rotatably, then " non-slip " in Fig. 5 is bent Line will increase to higher right side edge with 1:1 relation from the initial point drawn.In other words, for no-clutch attachment, Whole torques of motor are all normally sent to drive shaft.

At compared with low torque, clutch engages herein and plate relative to each other contacts and do not slides, it is seen that 1:1's Relation.During normal use, such as in spin even faster and the spin down part in percutaneous patch resection cycle, produced by motor Torque be considered relatively low, thus the whole program of clutch remains engaged with.On the figure of Fig. 5, this extends to from initial point Corresponding to right side and the 45 degree of branches (mark " not sliding ") up extending.

At some specific torque threshold, it is desirable to slide and start, in case the damage to patient and to device self Evil.This threshold value occurs at the upper right point of " not sliding " curve and proportional to normal force.When motor torque be equal to or When exceeding this threshold value, slide.

It when there is slip between the plate at clutch, no matter the actual torque of motor is much, is sent to turning of drive shaft Square not can exceed that specific " slip " value.Which has limited the torque capacity that can be sent to drive shaft, which also prevents to trouble Person and the infringement to device self.This torque value that " slides " is also proportional to normal force, and can be referred to as " surplus here Remaining " torque.

It should be noted that owing to the coefficient of kinetic friction is typically less than confficient of static friction, therefore two songs as shown in Figure 5 Line intersects, and " not sliding " part extends up to right side, exceedes crosspoint.

As a rule, the curve in Fig. 5 is proportional to normal force telescopic.For example, if normal force doubles, then The curve that " do not slides " extends twice until upper right, and " slip " torque value doubles.By the magnetic material in option board and this The laterally and longitudinally arrangement of a little materials, normal force is controllable during the design phase of clutch.

The Drawing of Curve of Fig. 5 is that torque is relative to torque.In order to observe when the far-end of drive shaft suddenly stops, these How torque develops over time, shows two examples in figure 6 and figure 7.Fig. 6 belongs to known system, within the system, drives Moving axis is connected to gas turbine, and does not use clutch.The rotatory inertia of gas turbine is sufficiently small so that related torque Any infringement is not caused to patient or device.Fig. 7 is directed to use with the system of the higher rotatory inertia motor of such as motor, its Clutch is utilized to prevent from damaging.Especially, the peak value in Fig. 7 and stable state torque value are chosen as the peak value in simulation drawing 6 With stable state torque value, it has been confirmed as being acceptable in practice.

We are with reference first to Fig. 6, and this figure is the driving for far-end stopping situation for known gas turbine system The torque of the far-end of axle is relative to the figure of time.Known gas turbine system does not have clutch.

Initially, motor rotates together with drive shaft.This rotation is considered as with constant rotational speeds, therefore in drive shaft Far-end on there is not net torque.

Then, if the far-end of drive shaft blocks in the blood vessel or runs into barrier, then drive shaft will occur Far-end suddenly stops.

After unexpected stopping, drive shaft starts to be wound around or compress rotatably.This compression is similar with Hookean spring；This drives Moving axis is more compacted, and it becomes to be more difficult to apply extra compression.In this stage, drive shaft " promotes " substantially rotatably backward Motor, and decelerating through motor.

There is point when whole rotating energies start holddown spring rotatably, and spring and motor are in the maximum of spring Stop at compression point.At this point, the far-end of drive shaft is by its torque capacity.

After maximum compresses, drive shaft " is rebounded " and unties a bit.In this unwrapping process, motor and drive shaft Near-end oppositely runs.In practice, owing to the energy in system is dynamic (movement) and potential (rotatably compressing of drive shaft) Between vibration, therefore " exciting " be there may be to this curve.Many " exciting " weakens based on friction, and vibrates with system It is stabilized to static stable state and become less and less." exciting " is omitted from Fig. 6.

Under this stable state, but motor stops still applying torque.Drive shaft is also static, but owing to motor turns Square is fixed on and rotatably compresses in position.

The whole trunnion axis of Fig. 6 can continue the grade of millisecond.Known gas turbine can have control system, its Detection rotary speed drops to below threshold value or drops to zero and close the time of motor subsequently.This control system may Require that normally the time with the length-specific of about several seconds reacts.But these control systems can not be to the curve part of Fig. 6 Point directly react because peak value be stabilized to stable state and generally can make a response than control system and send out more rapidly Raw.

On the curve of Fig. 6, point out there are two torque values.First value is when drive shaft is the most securely wound around and motor The peak value occurring during stopping.Second value is steady state value.Drive percutaneous patch resection system at known gas-turbine For use in system, the two torque value is considered as safe.Therefore, clutch 40 can be designed as simulating these safety One of torque value or two.

Fig. 7 be this motor driven systems for the clutch with Fig. 3 for far-end stop situation in drive shaft The torque of far-end relative to the figure of time.A difference between Fig. 6 and Fig. 7 is, for current clutch designs For, whole clutch is disengaged this motor of process to be continued to rotate；For the known gas turbine of Fig. 6, turbine Machine stops with drive shaft.Due to the relatively large rotatory inertia of motor, this stopping of this motor is infeasible.

Initially, motor rotates together with drive shaft.This rotation is considered as with constant rotational speeds, therefore in drive shaft Far-end on there is not net torque.Clutch engages, and does not slide between the plate of clutch.

Then, the far-end of drive shaft suddenly stops.Such as Fig. 6, saved from Fig. 7 to making far-end stop related peak torque Slightly.

After unexpected stopping, drive shaft starts to be wound around or compress rotatably.In this stage, drive shaft is substantially revolved Turn ground and " promote " motor backward, and motor can slow down.In practice, because being especially used to the rotation of above-mentioned gas turbine Property compare, the rotatory inertia of this motor may be very big, and the therefore deceleration of this motor may be very slight.

Finally, when the far-end of drive shaft keeps fixing and drive shaft near-end to continue to be wound around, be up to when motor with Torque difference between the near-end of drive shaft is equal to some during threshold torque, exceedes this threshold torque clutch plate and starts to slide. This threshold point is corresponding with the peak value of curve in Fig. 7.

Someone can be painted into process in Figure 5 so far.Initially, when motor rotates together with drive shaft, System such as at the origin.After far-end stops, this system raises along " not sliding " curve is upper to the right.Curve in Fig. 7 The threshold point of peak value, is positioned in Fig. 5 the upper right edge of " not sliding " curve.

Once plate starts to slide, and clutch is just disengaged.Motor continues to rotate together with the plate 41 of clutch 40.But, Another plate 42 is more slower rotatably than plate 41, and finally as the near-end of drive shaft stops and unwinding.Once any Ringing effect disappears and realizes stable state, and drive shaft is just static and is slightly wound around, and the near-end of drive shaft is static, Plate 42 is static, and plate 41 keeps rotating with motor, and enough torques are sent to static plate 41 so that driving by swivel plate 42 Moving axis slightly keeps being wound around.

Importantly, the torque being transmitted in its sliding-modes by clutch 40 and the Fig. 6 when gas turbine is static Gas turbine torque be similar to.In fact, in the design phase of clutch 40, the magnetic normal force of the attraction between plate can The stable state torque of stable state torque with Fig. 6 to be arranged so that Fig. 7 is mated, because the stable state of gas turbine Torque is considered as to use safety.Alternatively, the attraction magnetic normal force between plate can be set so that peak torque, i.e. The threshold torque value (peak value in Fig. 7) that plate starts to slide is mated with the peak torque of Fig. 6.As further alternatively, Ke Yitong Cross and make one or two surface of clutch have phase in particular configuration, the diameter of regulation contact surface and/or regulation clutch Material on opposite meets peak value and stable state torque value.

Although plate 41 and 42 is plotted as being coaxial and circular in figure 3, it is also possible to use other suitable shapes with Orientation.One or two surface can have ad hoc structure alternatively, and this can regulate the surface area of contact and can affect The frictional behaviour on composition surface.Additionally, plate 41 and 42 can be bending alternatively, and can have the coupling being combined together Curvature.For example, a plate can be the convex surface with certain radius of curvature, and another plate can be to have same curvature half The concave surface in footpath.

Referring now to Fig. 8 A, show other embodiments of clutch 140.In this embodiment, clutch 140 by Boundary element 141 is formed, and boundary element is by being fixed to couple each other and rotatably (key entry) a pair boss flange shape to motor Become.Clutch can also include boundary element 142, and this boundary element is by being fixed to such as rotating the hypotube of drive shaft Another boss flange of pipe 139 is formed.As shown, bias mechanism 144 can be arranged in boundary element the 141st, between 142 The 141st, 142 torque is sent to drive shaft from motor via boundary element.Although it should be understood that boundary element the 141st, 142 have been depicted as boss flange, but these elements can use such as discoid plate, square plate, hollow or solid cylindrical Shape cylinder body, or other shapes of boundary element the 141st, 142 can be set.

Referring now to Fig. 8 B, show the schematic diagram of the first bias mechanism 144A.In this embodiment, clutch 140 Function can be very similar with the function of previously described magnetic clutch 40.That is, spring 148A or other bias mechanisms 144A can be arranged on and be attached spring 148A's from the extension of one of the face of one of boss flange 142A and plate 146A On one end of the relative spring 148A of flange 142A.Plate 146A can frictionally engage with the face of relative boss flange 141A.Bullet Spring 148A can have the distance being longer than between boss flange 141A, 142A relaxed length and, so, spring 148A can be by Compress to fit in boss flange 141A, 142A, thus produce the longitudinal normal force against boss flange 141A pressing plate 146A.With The magnetic clutch describing is similar to, and the friction between plate 146A and boss flange 141A can be enough to the threshold torque between gripper shoe Transmission, but when exceeding threshold torque, (for example, when drive shaft strikes obstacles), plate 146A and boss flange 141A is permissible Slide, thus reduce the torque transmission of the torque substituting static friction based on dynamic friction.It is pointed out, however, that except plate Beyond the slip of 146A and boss flange 141A, utilizing spring 148A to carry out plate bias voltage can provide a certain amount of extra torsion in systems Turn gap.So, in some embodiments, when drive shaft strikes obstacles, the torsional rigidity of spring 148A can rubbed Wiping sliding of surface caused hypotube to rotate against with some of motor in the past.Although it should be understood that spring 148A illustrates It is shown as and is connected to the boss flange 141A friction of motor for the boss flange 142A that is attached in hypotube 139A and plate 146A Ground engages, it is also possible to oppositely arrange.

Referring now to Fig. 8 C, show the schematic diagram of the second bias mechanism 144B.In this embodiment, clutch 140 Function can with the function of magnetic clutch 40 keep similar.In this embodiment, it not by spring 148B and plate 146B It is arranged between boss flange 141B, 142B, but plate 146B can be positioned on pipe 139B and is fixed against plate 146B vertically moves relative to pipe 139B's.Boss flange 142B on pipe 139B can be longitudinally-slidable, but By key or square drive device or other rotate against firm connection and be rotationally coupled to hypotube 139B.Reality with Fig. 8 B Mode of executing is similar to, it is provided that have the spring 148B of the relaxed length being longer than free space in such a system.So, spring 148B can be pressed between the boss flange in plate 146B and hypotube 139B, thus against the boss flange 141B being connected to motor Make the boss flange 142B bias on pipe 139B and transmit connection generation friction according to torque.For example, this embodiment also may be used With by being reversed the motor side that plate 146B and spring 148B is arranged in clutch.Similar with the embodiment of Fig. 8 B, permissible Support threshold torque, but if running into obstacle, threshold torque can be overcome.But, it is different from the embodiment of Fig. 8 B, Owing to spring 148B does not carry torque in this embodiment, the gap therefore providing in the fig. 8b is probably unavailable. It should be understood, however, that plate 146B and spring 148B can be rotationally coupled to pipe 139B and convex on pipe 139B Flange 142B can be positioned on pipe 139B to allow to rotate and to vertically move so that spring 138B transmits torque to convex method Blue 142B.Thereafter in situation, it is provided that from the gap of spring 148B.

Referring now to Fig. 8 D, show the schematic diagram of another bias mechanism 144C.For example, in this embodiment, from Two boundary elements 141C, 142C of clutch can be directly fixed to that by the bias mechanism 144C of such as spring 148C This.Spring 148C can have the relaxed length being equal to, being more than or less than the space being arranged between boss flange 141C, 142C. When in position middle, spring 144C can have can tensioning ground winding spring 148C changes according to how torsion resistance Power.So, when activating drive shaft, spring 148C can be wound around tighter, until require for the torque rotating drive shaft with Balance is found between the torsional resistance being provided by spring 148C.In this embodiment, it when meeting with obstruction, is applied to spring The torque of the increase of 148C may cause to spring 148C be wound around further with allow boss flange 141C, 142C of clutch relative to Mutually rotating, and thus transmit the torque from motor by halves.In this embodiment, owing to not carried by clutch For sliding, therefore this system can also be equipped with speed restriction or electric current limits switch to close power down when running into barrier Machine.But, at the initial impact between the far-end and barrier of drive shaft, clutch can some gaps in permission system And avoid realizing relatively high torque.U.S. Patent application No.:12/713,558 illustrates for according to torque, electricity Stream, voltage, deceleration etc. are released through the system of the torque that motor provides, and its content is incorporated herein by way of overall quoting.

Referring now to Fig. 9 A, show block diagram and the turning moment diagram of the embodiment that can reflect Fig. 8 D.I.e., for example, at figure In the embodiment of 8D, sliding type clutch is not provided, and alternatively provides damping spring 144C so that motor 30 is elastic Be connected to drive shaft 20.The block diagram of Fig. 9 A illustrates this with the form of frame, it is indicated that when motor 30 rotates along a first direction, subtract Torque can be directly transferred to drive shaft 20 by shake element 240.I.e., for example when initial start, damper element 240 can be Shearing Elastic ground stretches or compresses or deformation initial number, until the torsion that the elasticity of shock absorber part is run into by drive shaft 20 Turn friction/resistance finds balance.Exceed that point, the situation changing except the torsional resistance that proved by drive shaft 20 with Outward, motor the 30th, shock absorber part 240 and drive shaft 20 can change according to any transmission device in rotary speed and different balances Rotate under state, but keep constant in addition.

Referring now to Fig. 9 B, can observing time relative to far-end torque chart.As shown, the left side at chart, drives Moving axis 20 can rotate and can be insignificant in the torque of the far-end of drive shaft 20.That is, although can exist to point Some resistances that end rotates, but it is in order at our purpose, we may assume that steady-state condition provides the point of about zero End resistance.

When the tip of drive shaft 20 reaches to stop suddenly, the torque of the far-end being applied to drive shaft 20 may start to increase Add.I.e., it is assumed that relay does not activated immediately so that motor rotates interruption, and when the far-end of drive shaft 20 stops, motor 30 can Can continue to rotate.The additional torque producing due to non-rotating distal tip and electric rotating machine 30 may cause to the far-end in drive shaft The torque at place increases.That is, electric rotating machine 30 can continue to work damper element 240, although it can provide slightly, and should The part making additional torque is also transported through drive shaft 20 by damper element.Owing to motor 30 continues to rotate, extra turns Square can be applied to damper element 240, and it can absorb a part for torque, and also can additionally turn a part and be sent to Drive shaft 20.Result be the damping torque of the far-end of drive shaft 20 can be more shown in phantom than in Fig. 9 B inertia torque lower And need the long period to reach.That is, in non-damping situation, motor 30 can rotate, and reaches it until drive shaft 20 complete It is wound around, do not has resilient situation, cause motor 30 stop in short time quantum and cause in addition to the loss of its momentum Whole torques of motor will be transmitted by drive shaft 20.By contrast, damping embodiment (sees Fig. 8 D, Figure 10-figure 13) provide the more time so that motor 30 stops because shock absorber part 240 allow motor 30 stop before being rotated through relatively large Rotation.Owing to depending on how unexpected motor 30 is stoppingly, and therefore this damping effect subtracts based on the torque of the momentum of motor 30 Little peak torque.So, if motor is unbroken, then the last torque in distal tip can be as passed through motor 30 torques applying are so high, but the torque at peak value may only be slightly higher than the torque applying.

Referring now to Figure 10 A, the first embodiment of shock mitigation system can be shown.As shown, motor 30 can include The rotation being rotationally coupled to drive gear 244 drives 242.Drive gear 244 can with can key in or additionally couple It is rotatably engaged to the output gear 246 of drive shaft 20 so that rotation is applied to percutaneous patch by the rotation of output gear 246 In the drive shaft 20 of resection device.Therefore, motor 30 can directly be in transmission connection drive shaft 20 and can omit cunning Dynamic clutch.But, as shown, drive gear 244 can be that damping drives gear 244 to increase rotating based on motor Before adding the torque in drive shaft 20, at drive shaft 20s, the resistance rotating slightly can be absorbed by driving gear 244.

As in fig. 1 ob in further detail shown in, drive gear 244 can include driving for the rotation fixing motor 30 The inner wheel hub 248 of moving part 242.Gear 244 also includes peripheral ring 250, and peripheral ring has and the number of teeth one on output gear 246 Play selected multiple teeth 252 providing suitable gear ratio, and this peripheral ring allows effective motor of relative drive shaft speed Speed.The wheel hub 248 driving gear 244 can be fixed to drive the peripheral ring 250 of gear 244 by elastic or shock mitigation system. I.e., for example, as shown, shock mitigation system can include from wheel hub 248 to the inner surface of peripheral ring 250 generally radially outward The multiple elements 254 radially extending extending.In the present embodiment, the element 254 radially extending can be substantially S shape And it is likely to be of four this kind of shapes.May also provide other shapes and quantity radially extends element 254.For example, it is possible to A series of spoke, depression bar or substantially flat barrier film are provided.May also provide other resilient shock absorbing elements with by wheel hub 248 are elastically connected to peripheral ring 250.

In some embodiments, gear 244 is driven can be can to be adjusted by regulation and/or change shaping geometry Whole shaped article.In other embodiments, the shock absorbing part of gear 244 can be separate part and adjustment or regulation is The elasticity of system can relate to the shock absorbing part removing and replacing one of higher or lower elasticity.

The S shape part radially extending element 254 can have base portion 256, and this base portion has from wheel hub 248 essentially directly The axis that extends radially outwardly.S shape part can include the sweep 258 rotating about 90 degree from base portion 256, and so After can be provided with about 180 degree of U-shaped rotating parts 260.Intermediate interdigitated component 202 can entirely shape slightly through base portion 256 ground return to another U-shaped rotating part 264.Other 90 degree part 266 and can be at peripheral ring 250 can be provided Inner surface on provide opposed base wall 268, it is essentially radially directed at the respective bases 256 on wheel hub 248.Should be appreciated that , although it have been described that for the given shape of radially extending portion 254, be used for radially extending portion it is also possible to provide Other geometries of 254.

As it would be appreciated, the resilient radial extension 254 of driving gear 244 can deflect under a load, to allow Wheel hub 248 rotates relative to peripheral ring 250, thereby increases the rotation being allowed motor 30 in stopping situation.This increases Rotation can extend motor 30 be dragged to stop time and distance, be hereby based on this stop reduce be sent to drive The inertia torque amount of axle 20.

Referring now to Figure 11 A, show another embodiment of shock mitigation system.In this embodiment, with in Figure 10 A Similar, motor 30 includes the rotary drive 242 being connected to drive gear 270.Gear is driven to engage with output gear 272. But, different from the embodiment of Figure 10 A, this output gear 242 may not key in drive shaft 20, but can be alternatively by Elastic or damper element 274 is connected to drive shaft 20.So, when the rotation of motor 30 attempts to increase the torque in drive shaft 20 When, slightly can be absorbed to the rotational resistance being subject to by drive shaft 20 by damper element 274.

As shown in Figure 11 B in further detail, for example, output gear 272 can be concentrically arranged at drive shaft 20 On, but can rotate freely through relative to drive shaft 20.But, a face of output gear 272 can be with such as coil, bullet One end of the elastic component 274 of spring or other bias mechanisms engages.Switching between output gear 272 and elastic component 272 Can for example include washer plate.Elastic component 274 can be positioned at around drive shaft 20 and may be located remotely from output gear 272 and prolongs Reach free end.At the free end relative with output gear 272 of elastic component, the connection element of such as another washer plate Drive shaft can be fixed to this opposite end.Two ends of such as elastic component 274 can be welded, key in, be rotated or spiral shell Line passes through, or is additionally secured to output gear 272 and drive shaft 20.So, owing to driving the output gear of gear 270 The rotation of 272 may cause the rotation of elastic component 274, thus causes the rotation of drive shaft 20.But, it is subject in drive shaft 20 The place of rotational resistance, elastic component 274 can absorb the torque of motor 30 before this torque is sent to drive shaft 20 A part.So, the impact of the inertia force in drive shaft 20 based on electric rotating machine 30 can be reduced.It should be understood that Although elastic component 274 is described as coil or spring in this embodiment, but this elastic component 274 can include by elastic material The resilient cylindrical sleeve pipe that material, net materials or another kind of material are made, with the drive shaft allowing output gear 272 with will control Torque transmission between 20.

Referring now to Figure 12 A, it is provided that another damping device.In this embodiment, with Figure 10 A's and Figure 11 A Embodiment is different, and present embodiment can be band drive system.So, this system can include having rotary drive 242 Motor 30.Rotary drive 242 can have driving pulley 276, and this driving pulley arrangements is on rotary drive and key Enter to it or additionally coupled to be delivered in the rotary motion between rotary drive 242 and pulley 276.This system is also wrapped Including output pulley 278, it is arranged substantially coplanarly with driving pulley 276 and is rotationally coupled to drive shaft 20.Real at this Execute in mode, drive pulley 276 can be rotationally coupled to export pulley 278 by elastic webbing 280.

In the more details of Figure 12 B, band 280 may be arranged to extend around driving pulley 276 with output pulley 278. Band 280 can relatively tensioning be arranged in two pulleys the 276th, on 278, thus according to 280 rubbing on the surface of each pulley Wipe and torque is delivered to drive shaft 20 from motor 30.It should be understood that when driving pulley 276 such as up time in accompanying drawing 12B When pin rotates, come from any resistance to rotation of other downstream parts being likely to be present in drive shaft 20 or system, carry 280 Left side may be at the tensioning than right side greater degree.When drive shaft 20 runs into rotational resistance, elastic webbing 280 can be Stretch on the higher advancing side of system, and due to the increase of difference torque, the tensioning on system opposite side can slightly be delayed Solve.So, when drive shaft 20 runs into rotational resistance, a part of torque from motor 30 can be effectively absorbed with 280.Should It should be appreciated that, it is provided that several different belt profiles or cross section.In some embodiments, it is provided that circular strip, Triangle strip, rectangular strap, trapezoid belt or other shapes of cross section.In some embodiments, can be owing to passing through base In the ability of its absorption difference torque of internal shear power modification, specifically select the shape of cross section with 280.

Referring now to Figure 13 A, it is provided that the further embodiment of damping device.In this embodiment, with Figure 12 A Embodiment be similar to, system can be belt transmission system.It should be understood, however, that this particular system can be by more Add what rigid-types band chain drive or alternate manner drove.For example, in this embodiment, the rotary drive of motor 30 242 can include driving pulley 276, and it is by the output pulley 278 being rotationally coupled in drive shaft 20 with 280.But, can With the extra idle pulley of offer, and as shown, it is provided that two idle pulleys 282A, 282B.System class with Figure 12 A/ Figure 12 B Seemingly, native system can rely on and bring the part absorbing difference torque, but, idle pulley 282A, 282B also can be elastic with Allow more to control the damping grade in system.

With reference to the more detail view of Figure 13 B, show several pulley and band.As shown, idle pulley 272A, 272B is permissible Along by more wide diameter drive pulley 276 outer tape surface be connected to less output pulley 278 outer tape surface tangent line and Normally arrange near it.Substantially can be inverted around the respective inner surface wiring of idle pulley 282A, 282B to be formed with 280 Tear shape band wiring.Idle pulley 282A, 282B can be positioned on central shaft 284A, the 284B flexibly fixing so that in system Side on the tension force of increase one of idle pulley 282A can be pulled out its position, the subtracting of tension force on the opposite sides simultaneously Little may cause to corresponding idle pulley 282B and be retracted in any lax with occur in 280.For example, the band in Figure 13 B encloses wherein Around the place driving pulley 276 to turn clockwise, may there is the tensioning of specified quantitative in the left part with 280, exist simultaneously Right part with 280 there may be slightly less amount of tensioning.When drive shaft 20 runs into barrier, the rotation of drive shaft 20 Turning resistance can increase, and causes the tension force in the left part with 280 to increase outwards to pull left side idle pulley 282A.Similar Ground, the tensioning in the right part with 280 can reduce, to allow right side pulley 282B to move inward to regain any pine Relax.Owing to the amount of tension of the increase on left side can be similar on right side the amount of tension of minimizing, therefore some embodiment party In formula, two idle pulleys 282A, 282B can be arranged on common framework so that the amount that right side pulley moves inward be equal to or It is similar to the amount that left side pulley is displaced outwardly.

This shock mitigation system advantageously can absorb relatively high torsion in the case of not damaging medical treatment device drive shaft and carry Lotus.This device can provide the device for absorbing load, to allow axle and hat in the case of not stopping whole drive system Stop the rotation in portion.In the case of there is not this system, drive shaft can be alternate manner damper element and may needs More higher significantly than the drive shaft using cushion technique.By cushion technique, drive shaft can be designed as being not based on impact load In the case that lotus increases intensity, perform to rotate the function of polishing component or bizet.As described, cushioning members can be arranged in On motor side (that is, being similar to Figure 10 A/ Figure 10 B), on the driving side (that is, being similar to Figure 11 A/ Figure 11 B) driving line, or this structure Part can be arranged in drive and (that is, be similar to Figure 12 A/ Figure 12 B and Figure 13 A/ Figure 13 B) between the driving side of line and slave end.

Description and application thereof such as invention set forth herein are illustrative and are not intended to be limiting the scope of the present invention. The modification of embodiment disclosed herein is possible with modification, and technical staff in the art studies patent document When should be appreciated that this embodiment actual alternative and equivalent.Can be in the case of without departing from the scope of the present invention with spirit Make these of disclosed embodiment at this with other modification and modification.

Claims

1. a biopsy system, comprising:

Motor；

Drive shaft, it is operatively connected with described motor, and described motor can rotate described drive shaft；And

Damper element, it is operatively connected with described motor and described drive shaft and includes being capable of the elastic unit of elastic deformation Part.

2. biopsy system according to claim 1, wherein, described damper element includes:

Driving gear, it is operably connected with described motor and includes:

Drive gear hub；

There is the peripheral ring of multiple tooth；And

Multiple resilient radial extending elements, it is operably connected to described driving gear hub and extends radially into described Peripheral ring and can deflect under loads with allow described driving gear hub rotate relative to described peripheral ring；And

Output gear, its with described driving gear and with described drive shaft operatively UNICOM.

3. biopsy system according to claim 2, wherein, the plurality of resilient radial extending element includes:

Base portion, its with described driving gear hub is connected and have from described driving gear hub substantially immediately radial direction to The axis of outer extension；

Opposed base wall, it is connected to peripheral ring and is essentially radially directed at described base portion；And

Substantially S shape part, it is connected between described base portion and described opposed base wall.

4. biopsy system according to claim 2, the plurality of resilient radial extending element includes being connected with described base portion And a series of spoke being connected with described opposed base wall or pillar.

5. biopsy system according to claim 2, the plurality of resilient radial extending element includes being connected with described base portion And the substantially flat barrier film being connected with described opposed base wall.

6. biopsy system according to claim 2, also includes the described output gear being typed in described drive shaft.

7. biopsy system according to claim 2, also includes the output gear not being typed in described drive shaft, and its In, described damper element also includes:

Elastic component, it operatively engages with described output gear and operatively engages with described drive shaft.

8. the biopsy system according to claim 7, described elastic component includes relative end, and wherein, the first end with Described output gear is operatively connected and opposite end is operatively connected with described drive shaft.

9. biopsy system according to claim 7, wherein, described elastic component includes coil or spring.

10. biopsy system according to claim 7, described elastic component includes resilient cylindrical sleeve pipe.

11. biopsy system according to claim 1, wherein, described damper element includes:

Driving pulley, it is connected with described motor operation ground；

Output pulley, its with described driving pulley and with described drive shaft operatively UNICOM；And

Band elastic, extensible, it operatively engages with described driving pulley and described output pulley.

12. biopsy system according to claim 1, wherein, described damper element includes:

Driving pulley, it is connected with described motor operation ground；

Band or chain, it operatively engages with described driving pulley and described output pulley；And

At least one idle pulley, its be arranged in described driving pulley and output pulley between, at least one idle pulley described has interior table Face, engages to described inner surface and inelastic straps or chain operation, and at least one idle pulley described is positioned on flexible fastening axle simultaneously And be arranged through increase band or chain tensile force outward displacement pull.

13. biopsy system according to claim 12, the driving pulley also including there is outer surface and two idle pulleys, each The tangent line all substantially along the described inner surface of the outer surface and described idle pulley that connect described driving pulley for the idle pulley is arranged, its In, the shape of described inelastic straps or chain includes inverted tear-drop shape.

The method of 14. 1 kinds of torques being subject to for the far-end reducing during the retardance of drive shaft in rotary-cut drive shaft, bag Include:

Motor is provided；

There is provided drive shaft, this drive shaft and described motor operation ground UNICOM and can be by described motor with high rotary speed Rotate；And

There is provided damper element, it operates the elastic unit being connected and including to be capable of elastic deformation with described motor and described drive shaft Part.

15. methods according to claim 14, also include providing the clutch operatively engaging with described damper element.