Ventricular assist device control device and method, ventricular assist system and electronic equipment

Abstract

The invention provides a ventricular assist device control device and method, a ventricular assist system and electronic equipment, and relates to the field of medical instrument control. The control device comprises a time sequence judgment module, a characteristic flow calculation module and a motor control module. The time sequence judgment module is used for dividing the target cardiac cycle into a systolic stage and a diastolic stage; the characteristic flow calculation module is used for dividing the real-time flow of the ventricular assist device in the target cardiac cycle into systolic period flow in a systolic period stage and / or diastolic period flow in a diastolic period stage, and calculating the characteristic cardiac output of the ventricular assist device in the target cardiac cycle according to the systolic period flow and the diastolic period flow; the motor control module is used for adjusting motor rotation speed. By using the control device provided by the embodiment of the invention, the cardiac output of the ventricular auxiliary device can better conform to the physiological law of the heart, and stable control of the cardiac output is realized.

Description

Technical Field

[0001] The present application relates to the field of medical device control, and in particular, to a ventricular assist device control device, method, ventricular assist system and electronic equipment. Background Art

[0002] A ventricular assist device (VAD) is a medical device used to treat patients with severe heart disease. It assists the heart's pumping function through mechanical means, helping the heart to pump blood from the left ventricle and then transport the blood to the whole body through a tube connected to the aorta. It is usually used for patients with extreme heart failure and whose condition cannot be improved by other treatments.

[0003] A ventricular assist device typically consists of a mechanical pump, control system, and external power source. The mechanical pump is usually surgically implanted in the patient's chest and connected to the heart and aorta.

[0004] Currently, mechanical pumps are generally controlled by controlling the motor of the mechanical pump at a constant speed so that the ventricular assist device can operate at a constant speed. However, the constant speed may not be able to adapt to the actual needs of the patient's body. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a ventricular assist device control device, method, ventricular assist system and electronic device, which control the ventricular assist device motor based on the timing judgment module, characteristic flow calculation module and motor control module of the ventricular assist device control device. The use of the control device provided in the embodiments of the present application can make the cardiac output of the ventricular assist device more in line with the physiological laws of the heart, thereby achieving stable control of the cardiac output.

[0006] In a first aspect, an embodiment of the present application provides a ventricular assist device control device, the control device comprising: a timing judgment module, a characteristic flow calculation module and a motor control module; the timing judgment module is used to divide the target cardiac cycle into a systolic phase and a diastolic phase; the characteristic flow calculation module is used to divide the real-time flow of the ventricular assist device in the target cardiac cycle into a systolic flow in the systolic phase and / or a diastolic flow in the diastolic phase, and calculate the characteristic cardiac output of the ventricular assist device in the target cardiac cycle based on the systolic flow and the diastolic flow; the motor control module is used to control the motor speed of the ventricular assist device in the subsequent cycles of the target cardiac cycle based on the set cardiac output and the characteristic cardiac output of the ventricular assist device.

[0007] In the above-mentioned implementation process, the ventricular assist device control device provided by the present application can divide the flow within the target cardiac cycle into systolic flow and diastolic flow, and calculate the characteristic cardiac output of the entire target cardiac cycle accordingly. Since the systolic and diastolic periods of the heart have different rules, distinguishing the flow in the systolic and diastolic stages of the heart to calculate the characteristic cardiac output can more accurately determine the cardiac output level, thereby improving the accuracy of the rotation speed adjusted according to the characteristic cardiac output and the set cardiac output, making it more suitable for the actual needs of the patient's body.

[0008] Optionally, in an embodiment of the present application, the timing judgment module is specifically used to divide the target cardiac cycle into a systolic phase and a diastolic phase according to one of aortic pressure, ventricular pressure and ventricular volume.

[0009] In the above-mentioned implementation process, the timing judgment module of the ventricular assist device control device provided in the embodiment of the present application can judge the systole and diastole of the heart according to one or more cardiac cycle judgment parameters of aortic pressure, ventricular pressure, ventricular volume, and atrial pressure; that is, the timing judgment module can more directly reflect whether the heart is in the systole or diastole period, and accurately divide the stage of the heart at each moment in the target cardiac cycle, thereby providing more accurate and reliable heart state judgment.

[0010] Optionally, in an embodiment of the present application, the control device also includes: a real-time flow value calculation module; the real-time flow calculation module is used to calculate the systolic flow and diastolic flow according to the real-time speed and real-time current of the motor of the ventricular assist device; and record the systolic flow, systolic flow data volume, diastolic flow and diastolic flow data volume.

[0011] In the above implementation process, the real-time flow value calculation module can calculate the real-time flow through the real-time speed and real-time current of the ventricular assist device motor, and divide the real-time flow into the systolic flow in the contraction phase of the heart and the diastolic flow in the diastolic phase of the heart, so as to clearly understand the real-time distribution of the flow of the ventricular assist device in the target cardiac cycle.

[0012] Optionally, in an embodiment of the present application, the characteristic cardiac output includes the average cardiac output, and the characteristic flow calculation module is specifically used to: calculate the ratio of the sum of systolic flow values ​​in the target cardiac cycle to the systolic flow data volume to obtain the mean systolic cardiac output of the ventricular assist device; calculate the ratio of the sum of diastolic flow values ​​in the target cardiac cycle to the diastolic flow data volume to obtain the mean diastolic cardiac output of the ventricular assist device; calculate the average cardiac output in the target cardiac cycle based on the mean systolic cardiac output and the mean diastolic cardiac output.

[0013] Optionally, in an embodiment of the present application, in the process of calculating the average cardiac output in the target cardiac cycle based on the sum of the systolic cardiac output and the sum of the diastolic cardiac output, the characteristic flow calculation module is specifically used to: calculate the average cardiac output based on the sum of the systolic cardiac output and its corresponding first weight value, and the sum of the diastolic cardiac output and its corresponding second weight value; wherein the first weight value and the second weight value are determined based on the proportion of the duration of the systolic stage and the diastolic stage in the cardiac cycle.

[0014] In the above implementation process, the embodiment of the present application first calculates the mean cardiac output of the ventricular assist device in the systolic and diastolic periods respectively, and accurately evaluates the cardiac output of the cardiac assist device in different cardiac cycle stages. Considering the difference in the activity time of the heart in different stages, the mean systolic cardiac output and the mean diastolic cardiac output are weighted and then the average value is calculated to more accurately calculate the average cardiac output.

[0015] Optionally, in an embodiment of the present application, the motor control module is specifically used to: when the set cardiac output is higher than the characteristic cardiac output, control the motor speed to decrease; when the set cardiac output flow is lower than the characteristic cardiac output, control the motor speed to increase.

[0016] In the above implementation process, the motor control module of the ventricular assist device control device provided in the embodiment of the present application can dynamically adjust the motor speed according to the set cardiac output and the characteristic cardiac output, such as the comparison of the average cardiac output. When the set cardiac output is higher than the characteristic cardiac output, the motor control module will reduce the motor speed; when the set cardiac output is lower than the characteristic cardiac output, the motor control module will increase the motor speed. This dynamic adjustment can adapt the flow of the ventricular assist device to the changes in the needs of the heart and maintain the synchronization between the assist device and the heart.

[0017] In a second aspect, an embodiment of the present application provides a ventricular assist system, which includes: a ventricular assist device control device and a ventricular assist device provided in the first aspect of the present application. The ventricular assist device control device is used to obtain a timing division result within a target cardiac cycle; the ventricular assist device control device is also used to control the motor speed of the ventricular assist device according to the timing division result, the real-time flow of the ventricular assist device within the target cardiac cycle, and the set cardiac output of the ventricular assist device.

[0018] In a third aspect, an embodiment of the present application provides a ventricular assist device control method, the method comprising: determining whether the heart is in systole or diastole at each moment in a target cardiac cycle; dividing the real-time flow of the ventricular assist device in the target cardiac cycle into systole and diastole, and calculating the characteristic cardiac output of the ventricular assist device in the target cardiac cycle based on the systolic flow and / or diastolic flow; in subsequent cycles of the target cardiac cycle, controlling the motor speed of the ventricular assist device based on the set cardiac output and characteristic cardiac output of the ventricular assist device.

[0019] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising a memory and a processor, wherein the memory stores program instructions, and when the processor reads and runs the program instructions, it executes the steps in the implementation method of the third aspect above.

[0020] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer program instructions are stored in the computer-readable storage medium. When the computer program instructions are read and executed by a processor, the steps in the implementation method of the third aspect are executed. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 The first schematic diagram of the module of the ventricular assist device control device provided in the embodiment of the present application;

[0023] Figure 2 A curve diagram of cardiac cycle judgment parameters and cardiac cycle provided in an embodiment of the present application;

[0024] Figure 3 A second schematic diagram of a module of a ventricular assist device control device provided in an embodiment of the present application;

[0025] Figure 4 A real-time flow curve diagram provided by an embodiment of the present application;

[0026] Figure 5 A characteristic flow curve diagram provided for an embodiment of the present application;

[0027] Figure 6 A schematic diagram of the framework of a ventricular assist system provided in an embodiment of the present application;

[0028] Figure 7A ventricular assist device control flow chart is provided for an embodiment of the present application;

[0029] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0030] Icon: ventricular assist device control device-100; timing judgment module-110; characteristic flow calculation module-120; motor control module-130; real-time flow calculation module-140. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings in the embodiments of the present application. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram may represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart, can be implemented by a dedicated hardware-based system that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0032] Ventricular assist devices (VADs) include left ventricular assist devices (LVADs) and right ventricular assist devices (RVADs), also often referred to as artificial hearts; among them, left ventricular assist devices are mechanical cardiac assist devices that provide circulation support when the left ventricle cannot meet the systemic perfusion needs. Right ventricular assist devices are usually only used for short-term support of the right ventricle after LVAD surgery or other heart surgery. The right ventricular assist device helps the right ventricle pump blood to the pulmonary artery (PULL-mun-ary), the artery that delivers blood to the lungs to absorb oxygen.

[0033] The applicant discovered during the research that, currently, the flow control of the ventricular assist device is often to constantly control the speed of the motor of the ventricular assist device so that the speed of the motor is stable, thereby achieving a relatively stable flow of the ventricular assist device.

[0034] However, the contraction or relaxation of the human heart may affect the rotation speed of the electrode, which may easily lead to unstable cardiac output and fail to meet the needs of the human body.

[0035] Based on this, the present application provides a ventricular assist device control device, method, ventricular assist system and electronic device, wherein the ventricular assist device judges whether each moment in the target cardiac cycle is in diastole or systole through a timing judgment module, and the characteristic flow calculation module can calculate the average cardiac output of the ventricular assist device in the target cardiac cycle according to the real-time flow in systole and diastole; further, the motor control module performs PID control of the average cardiac output and adjusts the motor speed. The ventricular assist device control device provided in the embodiment of the present application can take into account the influence of the contraction and diastole of the heart on the motor speed of the ventricular assist device by setting a timing judgment module and a characteristic flow calculation module, and on this basis judge whether the motor speed needs to be adjusted, so as to maintain the stability of the ventricular assist device flow, which conforms to the law of human cardiac output.

[0036] Before introducing the specific content of this application, the systole and diastole of the heart are briefly introduced.

[0037] The systole phase of the heart refers to the phase when the heart muscle contracts. During systole, the heart pushes blood into the arterial system, delivering oxygen and nutrients to various tissues and organs throughout the body. During systole, the heart's two chambers (left atrium and right atrium) contract first, pushing blood into the two ventricles (left ventricle and right ventricle). The ventricles then contract, pushing blood into the aorta and pulmonary artery, which deliver blood to the body and lungs, respectively.

[0038] The diastole phase of the heart is when the heart muscles relax. During diastole, the heart fills with blood. When the heart relaxes, the atria and ventricles relax, allowing blood to flow into the heart from the systemic and pulmonary veins. This process is called filling, and during filling, the heart replenishes oxygen and nutrients in preparation for the next contraction. The diastole phase also allows the heart's blood-exiting chambers (the aorta and pulmonary arteries) to refill with blood.

[0039] Therefore, the active movement of the heart may affect the speed of the ventricular assist device motor, causing the flow of the ventricular assist device to change and fail to provide cardiac output to maintain normal heart function.

[0040] Please see Figure 1 , Figure 1 The first schematic diagram of the modules of the ventricular assist device control device 100 provided in an embodiment of the present application; the first aspect of the present application provides a ventricular assist device control device 100, which includes a timing judgment module 110, a characteristic flow calculation module 120 and a motor control module 130.

[0041] The timing determination module 110 is used to divide the target cardiac cycle into a systolic phase and a diastolic phase.

[0042] In the process of dividing the cardiac cycle into the systolic phase and the diastolic phase, the timing judgment module 110 can make a judgment based on the cycle judgment parameter or the relevant image diagram; the cardiac cycle judgment parameter can be a heart-related electrical signal or other special physiological parameters that can distinguish the systolic phase and the diastolic phase of the heart. The timing judgment module 110 can determine the current phase of the heart, that is, the systolic phase or the diastolic phase.

[0043] The characteristic flow calculation module 120 is used to divide the real-time flow of the ventricular assist device in the target cardiac cycle into the systolic flow in the systolic phase and the diastolic flow in the diastolic phase, and calculate the characteristic cardiac output of the ventricular assist device in the target cardiac cycle based on the systolic flow and / or diastolic flow.

[0044] In the above implementation process, the characteristic flow calculation module 120 converts the real-time flow of the ventricular assist device in the target cardiac cycle into the systolic period or the diastolic period, which are the systolic flow and the diastolic flow respectively; further, the characteristic cardiac output of the entire target cardiac cycle is calculated based on the systolic flow and / or the diastolic flow. Optionally, all real-time flows in a target cardiac cycle are averaged to obtain the average cardiac output. It should be noted that the characteristic cardiac output in the embodiment of the present application may be the maximum cardiac output, the average cardiac output or the minimum cardiac output in the cardiac cycle. Optionally, the average value of the real-time flow in the diastolic period and the average value of the real-time flow in the systolic period are obtained respectively, and then the average of the two average values ​​is taken to obtain the average cardiac output. Optionally, since the systolic flow can reflect the comprehensive blood supply capacity of the ventricular assist device catheter pump and the heart itself; the maximum cardiac output in the cardiac cycle can be obtained based only on the real-time flow in the systolic period. Optionally, the real-time flow rate during diastole can reflect the auxiliary blood supply capability of the ventricular assist device catheter pump; and the minimum cardiac output can be obtained based only on the real-time flow rate during diastole.

[0045] The motor control module 130 is used to control the motor speed of the ventricular assist device in subsequent cycles of the target cardiac cycle according to the set cardiac output and characteristic cardiac output of the ventricular assist device.

[0046] It should be noted that the set cardiac output is the cardiac output corresponding to the gear of the ventricular assist device when the patient uses the ventricular assist device; for example, for a specific ventricular assist device, the maximum flow rate it can generate is 10L / min, then the gear of the ventricular assist device can be: the first gear F mean_set =3L / min, second gear F mean_set =6L / min, third gear Fmean_set =10L / min. In the embodiment of the present application, based on the set cardiac output of the ventricular assist device at a specific gear and the characteristic cardiac output calculated by the characteristic flow calculation module 120, it is determined whether the rotation speed of the ventricular assist device needs to be adjusted to ensure that the flow of the ventricular assist device complies with the law of cardiac contraction and relaxation.

[0047] pass Figure 1 It can be seen that the ventricular assist device control device 100 provided in the present application can accurately divide the target cardiac cycle into the systolic phase and the diastolic phase through the timing judgment module 110. The characteristic flow calculation module 120 can divide the flow in the target cardiac cycle into the systolic flow and / or the diastolic flow according to the real-time flow data, and calculate the characteristic cardiac output of the entire target cardiac cycle. The motor control module 130 controls the motor speed of the ventricular assist device in the subsequent cycle of the target cardiac cycle according to the set cardiac output and the characteristic cardiac output provided by the characteristic flow calculation module 120. The ventricular assist device control device 100 determines whether the speed of the ventricular assist device needs to be adjusted based on the set cardiac output and the characteristic cardiac output calculated by the characteristic flow calculation module 120, thereby ensuring that the flow of the ventricular assist device combines the laws of cardiac contraction and diastole, thereby improving the stability and adaptability of the ventricular assist device.

[0048] In an optional embodiment, the timing judgment module 110 can divide the cardiac cycle into a systolic phase and a diastolic phase according to a cycle judgment parameter; specifically, the cardiac cycle judgment parameter includes at least one of aortic pressure, ventricular pressure and ventricular volume.

[0049] The above-mentioned timing judgment module 110 is specifically used to divide the target cardiac cycle into a systolic phase and a diastolic phase according to at least one of aortic pressure, ventricular pressure and ventricular volume.

[0050] Please refer to Figure 2 , Figure 2 A curve diagram of cardiac cycle judgment parameters and cardiac cycle provided in an embodiment of the present application.

[0051] For example, Figure 2 In the aortic pressure test, the aortic pressure presents a distinct waveform, which is usually called the aortic pressure curve. During the systolic period, the aortic pressure rises rapidly from the trough to the peak, and then drops to the middle value. During the diastolic period, it rises from the middle value to the second small peak, and then drops to the trough value. Therefore, by observing the changes in the aortic pressure curve, it can be determined whether the heart is in the systolic or diastolic period.

[0052] For example, ventricular pressure is the pressure condition within the ventricles of the heart. Figure 2It can be seen that the ventricular pressure rises rapidly from the trough value to the peak value during the systole period, and then drops rapidly to the trough value, while during the diastole period, a smoother small peak is generated near the trough value. Therefore, by monitoring the changes in ventricular pressure, the stage of the heart can also be determined.

[0053] For example, ventricular volume refers to the volume of blood in the ventricles. During systole, ventricular volume decreases as blood is expelled into the arterial system. During diastole, ventricular volume increases as the ventricles fill with blood. Therefore, changes in ventricular volume can also tell whether the heart is in systole or diastole.

[0054] In some embodiments, the cardiac cycle judgment parameter may also be atrial pressure. Atrial pressure reflects the filling state of the atrium. Atrial pressure is lower during diastole and increases during systole. Therefore, by monitoring the change of atrial pressure, it can be inferred whether the heart is in systole or diastole.

[0055] It should be noted that, in the embodiment of the present application, when determining whether the heart is in the systole or diastole phase, one or more of the aortic pressure, ventricular pressure, ventricular volume, and atrial pressure may be used.

[0056] It can be seen from this that the timing judgment module 110 of the ventricular assist device control device 100 provided in the embodiment of the present application can judge the systole and diastole of the heart based on one or more cardiac cycle judgment parameters of aortic pressure, ventricular pressure, ventricular volume, and atrial pressure; that is, the timing judgment module 110 can more directly reflect whether the heart is in systole or diastole, and accurately divide the stage of the heart at each moment in the target cardiac cycle, thereby providing more accurate and reliable heart state judgment.

[0057] Please see Figure 3 , Figure 3 A second schematic diagram of the modules of the ventricular assist device control device 100 provided in an embodiment of the present application; in an optional implementation of an embodiment of the present application, the characteristic cardiac output includes the average cardiac output, and the ventricular assist device control device 100 also includes a real-time flow value calculation module.

[0058] The real-time flow calculation module 140 is used to calculate the systolic flow and the diastolic flow according to the real-time rotation speed and the real-time current of the motor of the ventricular assist device.

[0059] The real-time flow calculation module 140 is also used to record the systolic flow, the systolic flow data volume, the diastolic flow and the diastolic flow data volume.

[0060] Optionally, the real-time flow value calculation module calculates the systolic flow and the diastolic flow according to the real-time speed and the real-time current of the motor of the ventricular assist device, which may be implemented in the following manner: For the motor of the ventricular assist device, there is a formula: Wherein, J is the motor moment of inertia, Te is the motor torque, Tp is the load torque, B is the damping coefficient, and w is the motor angular velocity. The motor angular velocity can be obtained by converting the real-time speed. According to the characteristics of different motors, Tp may have different calculation formulas. In this embodiment, Tp = 0w3-1Fw2, The calculation formula for coupling current, speed and real-time flow is as follows:

[0061]

[0062] In the above formula, I is the current, w is the speed, F is the flow rate, Kb, B, a0 and a1 are the parameters of the motor and pump. Through in vitro testing, the model parameters are fitted and substituted into the real-time flow calculation formula:

[0063]

[0064] The real-time flow curve corresponding to the real-time flow calculated by the above method is as follows: Figure 4 As shown, Figure 4 A real-time flow curve diagram provided by an embodiment of the present application; Figure 4 The real-time flow curve in is the relationship between the flow of the ventricular assist device and time.

[0065] Furthermore, after the real-time flow value calculation module calculates the real-time flow, the real-time flow value calculation module of the embodiment of the present application divides the real-time flow into systolic flow and diastolic flow. Figure 2 The curve relationship diagram of cardiac cycle judgment parameters and cardiac cycle, the real-time flow value calculation module will Figure 4 The real-time flow in is divided to obtain the characteristic flow curve; in this process, the systolic flow, systolic flow data volume, diastolic flow and diastolic flow data volume are recorded, and a curve is drawn as shown in FIG. Figure 5 See Figure 5 , Figure 5 A characteristic flow curve diagram provided for an embodiment of the present application; Figure 5 The interval from the first vertical line EDP to the fourth vertical line Min dp / dt is the contraction period, and the interval from Min dp / dt to the next EDP is the diastole period.

[0066] It can be seen that the real-time flow value calculation module 140 can calculate the real-time flow through the real-time speed and real-time current of the ventricular assist device motor, and divide the real-time flow into the systolic flow in the heart contraction phase and the diastolic flow in the heart diastolic phase, so that the real-time distribution of the flow of the ventricular assist device in the target cardiac cycle can be clearly understood.

[0067] In an optional embodiment, the characteristic flow calculation module 120 is specifically used for:

[0068] The ratio of the sum of systolic flow values ​​in the target cardiac cycle to the systolic flow data volume is calculated to obtain the mean systolic cardiac output of the ventricular assist device; the ratio of the sum of diastolic flow values ​​in the target cardiac cycle to the diastolic flow data volume is calculated to obtain the mean diastolic cardiac output of the ventricular assist device.

[0069] The average cardiac output during the target cardiac cycle was calculated based on the mean systolic cardiac output and the mean diastolic cardiac output.

[0070] In an optional embodiment, the calculation of the average cardiac output in the target cardiac cycle according to the average systolic cardiac output and the average diastolic cardiac output in the above process can be achieved in the following manner:

[0071] The average cardiac output is calculated according to the sum of the systolic cardiac output and its corresponding first weight value, and the sum of the diastolic cardiac output and its corresponding second weight value.

[0072] It should be noted that the first weight value and the second weight value are determined according to the proportion of the duration of the systolic phase and the diastolic phase in the cardiac cycle.

[0073] For example, the mean systolic cardiac output is F dia The mean diastolic cardiac output is F sys , according to the mean systolic cardiac output F dia The mean diastolic cardiac output is F sys Calculate mean cardiac output.

[0074] When the first weight value and the second weight value are both 1, the average flow F mean =(F dia +F sys ) / 2.

[0075] In practical applications, in a cardiac cycle, the diastolic period is generally longer than the systolic period. Taking this factor into consideration, the first weight value and the second weight value can be determined according to the ratio of the duration of the systolic period to the duration of the diastolic period. For example, the average flow F mean =(F dia +2*F sys) / 3, where the first weight value is 1 and the second weight value is 2, which fully considers the actual physiological condition of the heart.

[0076] It can be seen from the above implementation that in the present application embodiment, the mean cardiac output of the ventricular assist device in the systolic and diastolic periods is first calculated respectively, and the cardiac output of the cardiac assist device in different cardiac cycle stages is accurately evaluated. Considering the difference in the activity time of the heart in different stages, the mean systolic cardiac output and the mean diastolic cardiac output are weighted and then the average value is calculated to more accurately calculate the average cardiac output.

[0077] In an optional implementation, the motor control module 130 is specifically used for:

[0078] When the set cardiac output is higher than the characteristic cardiac output, such as the average cardiac output, the motor speed is controlled to decrease.

[0079] When the set cardiac output flow rate is lower than the characteristic cardiac output, such as the average cardiac output, the speed of the control motor is increased.

[0080] For a given ventricular assist device, different gears correspond to different set cardiac outputs F. mean_set For example, if the pump itself can generate a maximum flow rate of 10L / min, the gear can be divided into the first gear F mean_set =3L / min, second gear F mean_set =6L / min, third gear F mean_set =10L / min.

[0081] In calculating the mean cardiac output F mean Then proceed to F mean PID control, if F mean Greater than the set value F mean_set The current is reduced, which actually reduces the speed. If F mean Less than the set value F mean_set This increases the current, which means increasing the speed.

[0082] It can be seen from this that the motor control module 130 of the ventricular assist device control device 100 provided in the embodiment of the present application can dynamically adjust the motor speed based on the comparison between the set cardiac output and the characteristic cardiac output. When the set cardiac output is higher than the characteristic cardiac output, the motor control module 130 will reduce the motor speed; when the set cardiac output is lower than the characteristic cardiac output, the motor control module 130 will increase the motor speed. This dynamic adjustment can adapt the flow of the ventricular assist device to the changes in the needs of the heart and maintain the synchronization between the assist device and the heart.

[0083] Please see Figure 6 , Figure 6 A schematic diagram of the framework of a ventricular assist system provided in an embodiment of the present application; the ventricular assist system includes a ventricular assist device control device 100 and a ventricular assist device provided in the first aspect of the present application.

[0084] like Figure 6 As shown, the timing judgment module 110 obtains the timing division of the systolic period and the diastolic period of the heart. The real-time flow calculation module 140 calculates the real-time flow of the ventricular assist device at each moment in the target cardiac cycle according to the real-time current and the real-time speed; further, the characteristic flow calculation module 120 divides the real-time flow into the systolic period and the diastolic period, and calculates the characteristic cardiac output of the ventricular assist device in the target cardiac cycle; on this basis, the motor control module 130 controls the motor speed of the ventricular assist device according to the real-time flow of the ventricular assist device in the target cardiac cycle and the set cardiac output of the ventricular assist device.

[0085] Please see Figure 7 , Figure 7 A ventricular assist device control flow chart is provided for an embodiment of the present application; a third aspect of the present application also provides a ventricular assist device control method, which can be implemented by the following steps:

[0086] Step S100: determining whether the heart is in the systolic phase or the diastolic phase at each moment in the target cardiac cycle.

[0087] It should be noted that in the process of dividing the cardiac cycle into the systolic phase and the diastolic phase, the judgment can be made according to the cycle judgment parameter or the relevant image diagram; wherein the cardiac cycle judgment parameter can be the heart-related electrical signal or other special physiological parameters that can distinguish the systolic phase and the diastolic phase of the heart. The timing judgment module can determine the current phase of the heart, that is, the systolic phase or the diastolic phase.

[0088] Step S200: Divide the real-time flow of the ventricular assist device in the target cardiac cycle into the systolic period and the diastolic period, and calculate the characteristic cardiac output of the ventricular assist device in the target cardiac cycle according to the systolic flow and / or the diastolic flow.

[0089] In the above step S200, the real-time flow of the ventricular assist device in the target cardiac cycle is converted to the systolic period or the diastolic period, which are the systolic flow and the diastolic flow respectively; further, the average cardiac output of the entire target cardiac cycle is calculated based on the systolic flow and / or the diastolic flow. It should be noted that the characteristic cardiac output in the embodiment of the present application can be the maximum cardiac output, the average cardiac output or the minimum cardiac output in the cardiac cycle. Optionally, all real-time flows in a target cardiac cycle are averaged to obtain the average cardiac output. Optionally, the average value of the real-time flow in the diastolic period and the average value of the real-time flow in the systolic period are calculated respectively, and then the average of the two average values ​​is taken to obtain the average cardiac output. Optionally, since the systolic flow can reflect the comprehensive blood supply capacity of the ventricular assist device catheter pump and the heart itself; the maximum cardiac output in the cardiac cycle can be obtained based only on the real-time flow in the systolic period. Optionally, the real-time flow in the diastolic period can reflect the auxiliary blood supply capacity of the ventricular assist device catheter pump; the minimum cardiac output can be obtained based only on the real-time flow in the diastolic period.

[0090] Step S300: In the subsequent cycle of the target cardiac cycle, the motor speed of the ventricular assist device is controlled according to the set cardiac output and characteristic cardiac output of the ventricular assist device.

[0091] In the above step S300, it should be noted that the cardiac output is set to the cardiac output corresponding to the specific gear of the ventricular assist device; for example, for a specific ventricular assist device, the maximum flow rate that can be generated is 10L / min, and the gear of the ventricular assist device can be: first gear Fmean_set = 3L / min, second gear Fmean_set = 6L / min, third gear Fmean_set = 10L / min. In the embodiment of the present application, based on the set cardiac output of the ventricular assist device at a specific gear and the characteristic cardiac output calculated by the characteristic flow calculation module 120, it is determined whether the rotation speed of the ventricular assist device needs to be adjusted to ensure that the flow rate of the ventricular assist device conforms to the law of cardiac contraction and relaxation.

[0092] In an optional embodiment, the above step S100 can specifically divide the cardiac cycle into a systolic phase and a diastolic phase according to a cycle determination parameter; specifically, the cycle determination parameter can be at least one of aortic pressure, ventricular pressure, and / or ventricular volume. According to at least one of aortic pressure, ventricular pressure, and ventricular volume, the target cardiac cycle is divided into a systolic phase and a diastolic phase.

[0093] For example, aortic pressure presents a distinct waveform, which is usually called the aortic pressure curve. During the systolic period, the aortic pressure rises rapidly from the trough to the peak, and then drops to the middle value. During the diastolic period, it rises from the middle value to the second small peak, and then drops to the trough value. Therefore, by observing the changes in the aortic pressure curve, it can be determined whether the heart is in the systolic period or the diastolic period.

[0094] For example, ventricular pressure is the pressure state inside the ventricle. During the systole, ventricular pressure rises rapidly from the trough value to the peak value, and then drops rapidly to the trough value, while during the diastole, a smoother small peak is generated near the trough value. Therefore, by monitoring the changes in ventricular pressure, the stage of the heart can also be determined.

[0095] For example, ventricular volume refers to the volume of blood in the ventricles. During systole, ventricular volume decreases as blood is expelled into the arterial system. During diastole, ventricular volume increases as the ventricles fill with blood. Therefore, changes in ventricular volume can also tell whether the heart is in systole or diastole.

[0096] Optionally, the cardiac cycle judgment parameter can also be atrial pressure. Atrial pressure reflects the filling state of the atrium. Atrial pressure is lower during diastole and increases during systole. Therefore, by monitoring the change of atrial pressure, it can be inferred whether the heart is in systole or diastole.

[0097] It should be noted that, in the embodiment of the present application, when determining whether the heart is in the systole or diastole phase, one or more of the aortic pressure, ventricular pressure, ventricular volume, and atrial pressure may be used.

[0098] In an optional embodiment, step S200 may be implemented by the following steps:

[0099] Step S210: Calculate the systolic flow and the diastolic flow according to the real-time rotation speed and the real-time current of the motor of the ventricular assist device.

[0100] In the above step S210, according to the real-time speed and real-time current of the motor of the ventricular assist device, the systolic flow rate and the diastolic flow rate are calculated, which may be achieved in the following manner: For the motor of the ventricular assist device, there is a formula: Where J is the motor moment of inertia, T e is the motor torque, T p is the load torque, B is the damping coefficient, and w is the motor angular velocity. The motor angular velocity can be obtained by converting the real-time speed. According to the characteristics of different motors, T p There may be different calculation formulas. In this embodiment, T p =0w 3 -1Fw 2 , The calculation formula for coupling current, speed and real-time flow is as follows:

[0101]

[0102] In the above formula, I is the current, w is the speed, F is the flow rate, K is b , B, a0 and a1 are the parameters of the motor and pump. The model parameters are fitted through in vitro testing and substituted into the real-time flow calculation formula:

[0103]

[0104] Please continue to refer to the real-time flow curve corresponding to the real-time flow calculated by the above method. Figure 4 , Figure 4 A real-time flow curve diagram provided by an embodiment of the present application; Figure 4 The real-time flow curve in is the relationship between the flow of the ventricular assist device and time.

[0105] Step S220: recording the systolic flow rate, the systolic flow rate data volume, the diastolic flow rate and the diastolic flow rate data volume.

[0106] In the above step S220: the real-time flow is divided into systolic flow and diastolic flow. Figure 2 The curve relationship diagram of cardiac cycle judgment parameters and cardiac cycle, the real-time flow value calculation module will Figure 4 The real-time flow in is divided to obtain the characteristic flow curve; in this process, the systolic flow, systolic flow data volume, diastolic flow and diastolic flow data volume are recorded, and a curve is drawn as shown in FIG. Figure 5 Please continue to see Figure 5 , Figure 5 A characteristic flow curve diagram provided for an embodiment of the present application; Figure 5 The interval from the first vertical line EDP to the fourth vertical line Min dp / dt is the contraction period, and the interval from Min dp / dt to the next EDP is the diastole period.

[0107] Specifically, the above step S220 can be implemented in the following manner:

[0108] Step S221: Calculate the ratio of the sum of systolic flow values ​​in the target cardiac cycle to the systolic flow data volume to obtain the mean systolic cardiac output of the ventricular assist device; calculate the ratio of the sum of diastolic flow values ​​in the target cardiac cycle to the diastolic flow data volume to obtain the mean diastolic cardiac output of the ventricular assist device.

[0109] Step S222: Calculate the average cardiac output in the target cardiac cycle according to the average systolic cardiac output and the average diastolic cardiac output.

[0110] In an optional embodiment, the above step S222 may be implemented in the following manner: calculating the average cardiac output according to the sum of the systolic cardiac output and its corresponding first weight value, and the sum of the diastolic cardiac output and its corresponding second weight value.

[0111] It should be noted that the first weight value and the second weight value are determined according to the proportion of the duration of the systolic phase and the diastolic phase in the cardiac cycle.

[0112] For example, the mean systolic cardiac output is F dia The mean diastolic cardiac output is F sys , according to the mean systolic cardiac output F dia The mean diastolic cardiac output is F sys Calculate mean cardiac output.

[0113] When the first weight value and the second weight value are both 1, the average flow F mean =(F dia +F sys ) / 2.

[0114] In practical applications, in a cardiac cycle, the diastolic period is generally longer than the systolic period. Taking this factor into consideration, the first weight value and the second weight value can be determined according to the ratio of the duration of the systolic period to the duration of the diastolic period. For example, the average flow F mean =(F dia +2*F sys ) / 3, where the first weight value is 1 and the second weight value is 2, which fully considers the actual physiological condition of the heart.

[0115] In an optional embodiment, the implementation of step S300 is specifically as follows: when the set cardiac output is higher than the characteristic cardiac output, the motor speed is controlled to decrease; when the set cardiac output is lower than the characteristic cardiac output, the motor speed is controlled to increase.

[0116] For a given ventricular assist device, different gears correspond to different set cardiac outputs F. mean_set For example, if the pump itself can generate a maximum flow rate of 10L / min, the gear can be divided into the first gear F mean_set =3L / min, second gear F mean_set =6L / min, third gear F mean_set =10L / min.

[0117] In calculating the mean cardiac output F mean Then proceed to F mean PID control, if F mean Greater than the set value F mean_set The current is reduced, which actually reduces the speed. If Fmean Less than the set value F mean_set This increases the current, which means increasing the speed.

[0118] See also Figure 8 , Figure 8 The electronic device 700 provided in the embodiment of the present application includes: a processor 701 and a memory 702, wherein the memory 702 stores machine-readable instructions executable by the processor 701, and when the machine-readable instructions are executed by the processor 701, the above method is executed.

[0119] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer program instructions, and when the computer program instructions are read and executed by a processor, the steps in any of the above implementation methods are executed.

[0120] The computer-readable storage medium may be a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or any other medium that can store program codes. The storage medium is used to store the program, and the processor executes the program after receiving the execution instruction. The method executed by the electronic terminal of the process definition disclosed in any embodiment of the present invention can be applied to the processor or implemented by the processor.

[0121] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0122] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0123] Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0124] Alternatively, the present invention may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, the present invention may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part.

[0125] The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0126] In this article, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0127] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A ventricular assist device control device, characterized in that: The control device comprises: a timing judgment module, a characteristic flow calculation module and a motor control module; The timing judgment module is used to divide the target cardiac cycle into a systolic phase and a diastolic phase; The characteristic flow calculation module is used to divide the real-time flow of the ventricular assist device in the target cardiac cycle into the systolic flow in the systolic phase and the diastolic flow in the diastolic phase, and calculate the characteristic cardiac output of the ventricular assist device in the target cardiac cycle according to the systolic flow and / or the diastolic flow; The motor control module is used to adjust the motor speed according to the set cardiac output of the ventricular assist device and the characteristic cardiac output.

2. The control device according to claim 1, characterized in that: The timing judgment module is specifically used for: The target cardiac cycle is divided into a systolic phase and a diastolic phase according to at least one of aortic pressure, ventricular pressure, and ventricular volume.

3. The control device according to claim 2, characterized in that: The control device also includes: a real-time flow value calculation module; The real-time flow calculation module is used to calculate the systolic flow and the diastolic flow according to the real-time speed and the real-time current of the motor of the ventricular assist device; and The systolic flow rate, the systolic flow rate data volume, the diastolic flow rate and the diastolic flow rate data volume are recorded.

4. The control device according to claim 3, characterized in that: The characteristic cardiac output includes the average cardiac output, and the characteristic flow calculation module is specifically used for: Calculating the ratio of the sum of the systolic flow values ​​in the target cardiac cycle to the systolic flow data volume to obtain the mean systolic cardiac output of the ventricular assist device; Calculating the ratio of the sum of the diastolic flow values ​​in the target cardiac cycle to the diastolic flow data volume to obtain the mean diastolic cardiac output of the ventricular assist device; The average cardiac output in the target cardiac cycle is calculated according to the mean systolic cardiac output and the mean diastolic cardiac output.

5. The control device according to claim 4, characterized in that: In the process of calculating the average cardiac output in the target cardiac cycle according to the sum of the systolic cardiac output and the sum of the diastolic cardiac output, the characteristic flow calculation module is specifically used for: The average cardiac output is calculated based on the sum of the systolic cardiac output and its corresponding first weight value, and the sum of the diastolic cardiac output and its corresponding second weight value; wherein the first weight value and the second weight value are determined based on the proportion of the duration of the systolic phase and the diastolic phase in the cardiac cycle.

6. The control device according to claim 1, characterized in that: The motor control module is specifically used for: When the set cardiac output is higher than the characteristic cardiac output, controlling the motor speed to decrease; When the set cardiac output flow rate is lower than the characteristic cardiac output, the motor speed is controlled to increase.

7. A ventricular assist system, characterized in that: The ventricular assist system comprises: a ventricular assist device control device and a ventricular assist device as described in any one of claims 1 to 6; The ventricular assist device control device is used to obtain the timing division result within the target cardiac cycle; The ventricular assist device control device is also used to control the motor speed of the ventricular assist device according to the timing division result, the real-time flow of the ventricular assist device in the target cardiac cycle and the set cardiac output of the ventricular assist device.

8. A ventricular assist device control method, characterized in that: The method comprises: Determine whether the heart is in systole or diastole at each moment in the target cardiac cycle; Dividing the real-time flow of the ventricular assist device in the target cardiac cycle into the systolic period and the diastolic period, and calculating the characteristic cardiac output of the ventricular assist device in the target cardiac cycle according to the systolic period flow and / or the diastolic period flow; In a subsequent cycle of the target cardiac cycle, the motor speed of the ventricular assist device is controlled according to the set cardiac output of the ventricular assist device and the characteristic cardiac output.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein program instructions are stored in the memory, and when the processor runs the program instructions, the steps in the method of claim 8 are executed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the steps in the method of claim 8 are executed.

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