Artificial heart device, control method thereof, computer readable storage medium and product

Abstract

The invention relates to an artificial heart device, a control method thereof, a computer readable storage medium and a computer program product. The device comprises a shell, an impeller assembly and a plurality of sensor modules, each sensor module at least comprises a distance sensor, every two distance sensors are symmetrically arranged with the circle center of a rotor as the center, the distance sensors are arranged on the inner wall, facing the rotor, of the shell, and each distance sensor is used for collecting distance data of the distance sensor relative to the rotor; the processing module is respectively connected with the impeller assembly and each sensor module and is used for acquiring distance data acquired by each distance sensor; and according to the distance data acquired by the two distance sensors in the same group, determining whether the two distance sensors in the same group fail or not. The device is high in reliability and safety.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and particularly to an artificial heart device, a control method thereof, a computer-readable storage medium, and a computer program product. Background Art

[0002] With the development of medical technology, artificial hearts have emerged. Their principle of action is similar to that of a mechanical pump, and they can assist the patient's own heart to build an auxiliary blood flow channel for the heart, thus simulating the heart function.

[0003] In traditional technologies, magnetic levitation artificial hearts are adopted. Magnetic levitation artificial hearts have the advantages of less mechanical support, no need for lubrication, and no friction, so they are widely used.

[0004] However, traditional magnetic levitation artificial hearts have poor reliability and stability. Summary of the Invention

[0005] Based on this, in view of the above technical problems, it is necessary to provide an artificial heart device, a control method thereof, a computer-readable storage medium, and a computer program product that can operate more reliably and stably.

[0006] An artificial heart device, characterized by comprising:

[0007] A housing, which has an accommodation cavity inside;

[0008] An impeller assembly, the rotor of which can be suspended in the accommodation cavity;

[0009] A plurality of sensor modules, each of the sensor modules at least includes a distance sensor. Every two of the distance sensors are symmetrically arranged with the center of the rotor as the center. The distance sensors are arranged on the inner wall of the housing facing the rotor, and each of the distance sensors is used to collect the distance data of itself relative to the rotor.

[0010] A processing module, which is respectively connected to the impeller assembly and each of the sensor modules, and is used to obtain the distance data collected by each of the distance sensors; according to the distance data collected by two distance sensors in the same group, it is determined whether the two distance sensors in the same group are faulty, wherein every two distance sensors symmetrically arranged with the center of the rotor as the center are used as a group.

[0011] In one embodiment, the processing module is further configured to, when determining that one of the two distance sensors in the same group is faulty and the other is normal, control the position of the rotor in the sensing radial direction corresponding to the same group of distance sensors according to the distance data measured by the normal distance sensor, where the sensing radial direction is the direction of the line passing through the center of the rotor between the two distance sensors in the same group.

[0012] In one embodiment, each of the sensor modules further includes:

[0013] An oscillation circuit, connected to the distance sensor, for generating an alternating voltage signal based on the distance data measured by the distance sensor;

[0014] A detection and filtering circuit, connected to the oscillation circuit, for performing detection and filtering processing on the alternating voltage signal to obtain a direct current signal;

[0015] An amplification circuit, connected to the detection and filtering circuit, for amplifying the direct current signal to obtain a distance detection signal;

[0016] The processing module is connected to the amplification circuit, and is configured to determine the distance value between the corresponding distance sensor and the rotor according to the distance detection signal.

[0017] In one embodiment, the distance sensor is an eddy current sensor;

[0018] The oscillation circuit includes a resonant capacitor, and the resonant capacitor is connected in parallel with the probe coil of the eddy current sensor as a resonant circuit.

[0019] In one embodiment, the number of groups of the distance sensors is two, and the sensing radial directions corresponding to the two groups of distance sensors are perpendicular to each other.

[0020] In one embodiment, the artificial heart device further includes:

[0021] An alarm module, the alarm module is connected to the processing module, and is configured to emit an alarm signal under the control of the processing module;

[0022] The processing module is further configured to:

[0023] When determining that both distance sensors in the same group are faulty, control the alarm module to emit a first alarm signal;

[0024] When determining that one distance sensor in each of the two sensor modules is faulty, control the alarm module to emit a second alarm signal;

[0025] When it is determined that one of the multiple distance sensors fails, control the alarm module to emit a third alarm signal.

[0026] A control method for an artificial heart device, which is applied to an artificial heart device. The artificial heart device includes a housing with an accommodation cavity inside; an impeller assembly, the rotor of which can be suspended in the accommodation cavity; a plurality of sensor modules, each of the sensor modules at least includes a distance sensor, and every two distance sensors are symmetrically arranged around the center of the rotor. The distance sensors are arranged on the inner wall of the housing facing the rotor, and each distance sensor is used to collect the distance data of itself relative to the rotor. Among them, every two distance sensors symmetrically arranged around the center of the rotor are taken as a group. The method includes:

[0027] Obtain the distance data collected by each of the distance sensors.

[0028] According to the distance data collected by two distance sensors in the same group, determine whether the two distance sensors in the same group are faulty.

[0029] In one embodiment, the control method of the artificial heart device further includes:

[0030] When it is determined that one of the two distance sensors in the same group is faulty and the other is normal, control the position of the rotor in the sensing radial direction corresponding to the two distance sensors in the same group according to the distance data measured by the normal distance sensor, where the sensing radial direction is the direction of the line passing through the center of the rotor between the two distance sensors in the same group.

[0031] In one embodiment, the determining whether the two distance sensors in the same group are faulty according to the distance data collected by the two distance sensors in the same group includes:

[0032] Determine whether the sum of the distance data collected by the two distance sensors in the same group is within a first preset range;

[0033] When the sum of the distance data collected by the two distance sensors in the same group exceeds the first preset range, take one of the two distance sensors as the distance sensor to be detected, and determine whether the distance data to be detected collected by the distance sensor to be detected is within a second preset range;

[0034] When the distance data to be detected is within the second preset range, control the rotor to move along the sensing radial direction and obtain new distance data to be detected;

[0035] When the difference between the new distance data to be detected and the distance data to be detected before controlling the movement of the rotor is outside the third preset range, it is determined that the distance sensor to be detected is faulty;

[0036] Take the other one of the two distance sensors as the sensor to be detected, and jump to the step of determining whether the distance data to be detected collected by the distance sensor to be detected among the two distance sensors is within the second preset range.

[0037] In one embodiment, the control method of the artificial heart device further includes: when the difference between the new distance data to be detected and the distance data to be detected before controlling the movement of the rotor is within the third preset range, it is determined that the distance sensor to be detected is normal.

[0038] In one embodiment, the control method of the artificial heart device further includes: when the sum of the distance data collected by the two distance sensors in the same group exceeds the first preset range, after a preset time interval, jump to the step of determining whether the sum of the distance data collected by the two distance sensors in the same group is within the first preset range.

[0039] In one embodiment, the control method of the artificial heart device further includes:

[0040] When the sum of the distance data collected by the two distance sensors in the same group is within the first preset range, update the two distance sensors in the current group with the two distance sensors in the next group, and jump to the step of determining whether the sum of the distance data collected by the two distance sensors in the same group is within the first preset range, until it is determined whether there is a fault in the two distance sensors of each group.

[0041] In one embodiment, when it is determined that one of the two distance sensors in the same group is faulty and the other is normal, controlling the position of the rotor in the sensing radial direction according to the distance data measured by the normal distance sensor includes:

[0042] Update the second distance data of the faulty distance sensor according to the first distance data measured by the normal distance sensor and the standard distance data sum of the two preset distance sensors;

[0043] Control the position of the rotor in the sensing radial direction according to the first distance data and the updated second distance data.

[0044] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the foregoing control method of the artificial heart device is implemented.

[0045] In one embodiment, a computer program product is provided. The computer program product includes a computer program which, when executed by a processor, implements the control method of the aforementioned artificial heart device.

[0046] The aforementioned artificial heart device, its control method, computer-readable storage medium, and computer program product. By providing a housing and an impeller assembly, the rotor of the impeller assembly is suspended in the accommodation cavity inside the housing, thereby providing a basic structure of a suspended artificial heart. A plurality of sensor modules are provided, and each sensor module includes at least a distance sensor. Every two distance sensors are symmetrically arranged with the center of the rotor as the center. The distance sensors are arranged on the inner wall of the housing facing the rotor. Each distance sensor is used to collect the distance data of itself relative to the rotor, thereby realizing the collection of the distance between the rotor and the inner wall of the housing, facilitating the subsequent control of the position of the rotor, and preventing the rotor from colliding with the inner wall of the housing. By providing a processing module, the distance data collected by each distance sensor can be obtained; according to the distance data collected by two distance sensors in the same group, it is determined whether the two distance sensors in the same group are faulty. Since every two distance sensors are symmetrically arranged with the center of the rotor as the center, the two distance sensors in each group can detect the distance of the rotor in the same rotating radial direction. Therefore, error correction judgment can be made based on the distance data collected by the two distance sensors in the same group to determine whether the two distance sensors in the same group are faulty. Secondly, two independent distance sensors are used to separately measure the distance data of the rotor in a rotating radial direction, which can also achieve the effect of redundant measurement and improve the reliability and safety of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0048] Figure 1 It is a schematic diagram of the electrical connection structure of the artificial heart device in one embodiment;

[0049] Figure 2 It is a schematic diagram of a partial mechanical structure of the artificial heart device in one embodiment;

[0050] Figure 3 It is a schematic diagram of the mechanical structure of the artificial heart device in one embodiment;

[0051] Figure 4 It is a schematic diagram of the electrical connection structure of the artificial heart device in another embodiment;

[0052] Figure 5 Schematic diagram of the principle of an eddy current sensor in an embodiment;

[0053] Figure 6 Circuit diagram of an oscillation circuit in an embodiment;

[0054] Figure 7 Circuit diagram of a detection and filtering circuit in an embodiment;

[0055] Figure 8 Circuit diagram of a sensor module in an embodiment;

[0056] Figure 9 Schematic diagram of the electrical connection structure of an artificial heart device in another embodiment;

[0057] Figure 10 Flowchart of a control method for an artificial heart device in an embodiment;

[0058] Figure 11 Second flowchart of a control method for an artificial heart device in an embodiment;

[0059] Figure 12 Third flowchart of a control method for an artificial heart device in an embodiment;

[0060] Figure 13 Fourth flowchart of a control method for an artificial heart device in an embodiment;

[0061] Figure 14 Fifth flowchart of a control method for an artificial heart device in an embodiment;

[0062] Figure 15 Sixth flowchart of a control method for an artificial heart device in an embodiment;

[0063] Figure 16 Seventh flowchart of a control method for an artificial heart device in an embodiment.

[0064] Description of reference numerals:

[0065] 10 - housing, 20 - impeller assembly, 21 - rotor, 22 - stator, 30 - sensor module, 40 - processing module, 31 - distance sensor, 32 - oscillation circuit, 33 - detection and filtering circuit, 34 - amplifier circuit, 50 - alarm module. Detailed implementation manners

[0066] To facilitate the understanding of the present application, the present application will be described more comprehensively below with reference to the relevant accompanying drawings. Embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided so that the disclosure of the present application is more thorough and comprehensive.

[0067] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0068] It can be understood that the terms "first", "second", etc. used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element.

[0069] Spatial relationship terms such as "under", "below", "beneath", "underneath", "above", "over", etc. may be used herein to describe the relationship of one element or feature shown in the drawings to other elements or features. It should be understood that, in addition to the orientation shown in the drawings, spatial relationship terms also include different orientations of the device during use and operation. For example, if the device in the drawings is flipped, an element or feature described as "under" or "beneath" or "underneath" another element will be oriented "over" the other element or feature. Thus, the exemplary terms "under" and "below" can include both an upper and a lower orientation. In addition, the device may also include additional orientations (such as, rotated 90 degrees or other orientations), and the spatial descriptors used herein are to be interpreted accordingly.

[0070] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediate element. In addition, in the following embodiments, "connection", if there is a transfer of electrical signals or data between the connected objects, should be understood as "electrical connection", "communication connection", etc.

[0071] As used herein, the singular forms "a", "an" and "the" may also include the plural forms unless the context clearly dictates otherwise. It should also be understood that the terms "comprises / include" or "has" etc. specify the presence of the stated features, wholes, steps, operations, components, parts or combinations thereof, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

[0072] In one embodiment, as Figure 1 、2 As shown, an artificial heart device is provided, including: a housing 10, an impeller assembly 20, a plurality of sensor modules 30, and a processing module 40. Among them:

[0073] The housing 10 has an accommodation cavity inside.

[0074] The rotor 21 of the impeller assembly 20 can be suspended in the accommodation cavity.

[0075] Among them, in combination Figure 3 As shown, the impeller assembly 20 may include a rotor 21 and a stator 22. The rotor 21 is located in the accommodation cavity, and the stator 22 is fixed inside the housing 10. A magnetic force is generated between the stator 22 and the rotor 21 to magnetically levitate the rotor 21 in the accommodation cavity. By adjusting the magnetism of the stator 22, the rotor 21 can be stably magnetically levitated, and the impeller rotor 21 can also be driven to rotate or move, etc.

[0076] Each sensor module 30 includes at least a distance sensor 31. Every two distance sensors 31 are symmetrically arranged with the center of the rotor 21 as the center. The distance sensors 31 are arranged inside the housing 10 facing the rotor 21, for example, on the inner wall of the housing 10. Each distance sensor 31 is used to collect distance data relative to the rotor 21.

[0077] Exemplarily, reference can be made to Figure 3 As shown in the structural schematic diagram, the rotor 21 of the impeller assembly 20 can be suspended in the accommodation cavity, and four distance sensors 31 are exemplarily designed on the inner wall of the housing 10.

[0078] Among them, every two distance sensors 31 are symmetrically arranged with the center of the rotor 21 as the center. Taking every two distance sensors 31 symmetrically arranged with the center of the rotor 21 as the center as a group, the distance data of each of the two distance sensors 31 in the same group measured in the radial direction of the same rotor 21 relative to the rotor 21 is obtained. And each sensor module 30 is relatively independent and can work independently to measure distance data. Therefore, if any one sensor module 30 fails, it will not affect other sensor modules 30.

[0079] The processing module 40 is respectively connected to the impeller assembly 20 and each sensor module 30, and is used to obtain the distance data collected by each distance sensor 31. According to the distance data collected by the two distance sensors 31 in the same group, it is determined whether the two distance sensors 31 in the same group are faulty.

[0080] Specifically, since every two distance sensors 31 are symmetrically arranged with the center of the rotor 21 as the center, the two distance sensors 31 in each group can detect the distance of the rotor 21 in the same radial direction of rotation. Therefore, error correction judgment can be performed based on the distance data collected by the two distance sensors 31 in the same group to determine whether the two distance sensors 31 in the same group are faulty.

[0081] Specifically, after the magnetic levitation artificial heart device is implanted into a patient, the patient may cause the rotor 21 to move radially in the accommodation cavity due to strenuous exercise (such as taking an accelerating elevator or a rotating device). To prevent mechanical contact between the impeller rotor 21 and the housing 10, which may cause damage to the device, the sensor module 30 is provided. When the impeller rotor 21 is radially offset, the sensor module 30 can collect distance data, and the processing module 40 can adjust the magnetic force between the stator 22 and the rotor 21 according to the distance data, so that the rotor 21 can maintain rotation at the center of the accommodation cavity. In this way, the magnetic levitation artificial heart device can work more stably and safely, ensuring the safety of the magnetic levitation artificial heart device under special circumstances (such as wrestling, taking an elevator or a rotating device), and greatly improving the suspension stability of the impeller rotor 21 in the suspended state. At the same time, the magnetic levitation artificial heart device of the present application can give the patient greater freedom of movement, that is, the patient can participate in more activities and exercises, and has less impact on the patient's life.

[0082] In this embodiment, by providing a housing 10 and an impeller assembly 20, a rotor 21 of the impeller assembly 20 is suspended in the accommodation cavity inside the housing 10, thereby providing a basic structure of a suspended artificial heart. A plurality of sensor modules 30 are provided. Each sensor module 30 includes at least a distance sensor 31. Every two distance sensors 31 are symmetrically arranged with the center of the rotor 21 as the center. The distance sensors 31 are arranged on the inner wall of the housing 10 facing the rotor 21. Each distance sensor 31 is used to collect the distance data of itself relative to the rotor 21, thereby realizing the collection of the distance between the rotor 21 and the inner wall of the housing 10, facilitating the subsequent control of the position of the rotor 21, and preventing the rotor 21 from colliding with the inner wall of the housing 10. By providing a processing module 40, the distance data collected by each distance sensor 31 can be obtained; according to the distance data collected by two distance sensors 31 in the same group, it is determined whether the two distance sensors 31 in the same group are faulty. Since every two distance sensors 31 are symmetrically arranged with the center of the rotor 21 as the center, the two distance sensors 31 in each group can detect the distance of the rotor 21 in the same rotating radial direction. Therefore, error correction judgment can be made according to the distance data collected by the two distance sensors 31 in the same group to determine whether the two distance sensors 31 in the same group are faulty. Secondly, two independent distance sensors 31 are used to measure the distance data of the rotor 21 in a rotating radial direction respectively, which can also achieve the effect of redundant measurement and improve the reliability and safety of the device.

[0083] In one embodiment, the processing module is further configured to, when determining that one of the two distance sensors in the same group is faulty and the other is normal, control the position of the rotor in the sensing radial direction corresponding to the same group of distance sensors according to the distance data measured by the normal distance sensor.

[0084] Among them, the sensing radial direction is the direction of the line passing through the center of the rotor between two distance sensors in the same group. Since the total value of the magnetic suspension gap, which is the distance between the circumferential surface of the rotor and the inner wall of the cavity, is fixed in one sensing radial direction, that is to say, the distance values represented by the distance data measured by the two distance sensors should add up to be within a fixed range, for example, between 3.8 and 4.4 (allowing for certain mechanical errors). Therefore, when it is determined that one of the two distance sensors in the same group is faulty and the other is normal, subtracting the distance data measured by the normal distance sensor from the preset distance between the circumferential surface of the rotor and the inner wall of the cavity can obtain the data that the faulty distance sensor should have measured. For example, if the distance data measured by the normal distance sensor is 2 and the preset total value of the standard magnetic suspension gap is 4, then the data that the faulty distance sensor should have measured is 4 - 2 = 2. So at this time, in this sensing radial direction, the rotor is at a distance of 2 from both distance sensors and is at the exact center of this sensing radial direction, and no adjustment is required. Similarly, if the measured distance from one distance sensor is 1 and the measured distance from the other distance sensor is 3, then the position of the rotor in the sensing radial direction corresponding to this group of distance sensors needs to be adjusted to keep it at the exact center of this sensing radial direction (at a distance of 2 from both distance sensors).

[0085] In this embodiment, by setting up the processing module, the position of the rotor in the sensing radial direction corresponding to this group of distance sensors can be controlled according to the distance data measured by the normal distance sensor. Thus, even if one distance sensor fails, the position of the rotor can still be controlled, realizing a fault-tolerant mechanism and making the reliability of this device higher.

[0086] In one embodiment, as Figure 4 shown, each sensor module 30 further includes: an oscillation circuit 32, a detection and filtering circuit 33, and an amplification circuit 34, where:

[0087] The oscillation circuit 32 is connected to the distance sensor 31 and is used to generate an alternating voltage signal based on the distance data measured by the distance sensor 31.

[0088] Exemplarily, the distance sensor 31 is an eddy current sensor; the oscillation circuit 32 includes a resonant capacitor, and the resonant capacitor is connected in parallel with the probe coil of the eddy current sensor to form a resonant circuit.

[0089] As Figure 5As shown, the principle of the eddy current sensor is introduced. When the eddy current sensor coil is passed through an alternating current I1, an alternating magnetic field H1 is generated around the coil. According to the electromagnetic induction theory, an induced current I2 of a certain depth will be formed on the surface of a metal plate at a certain distance below the coil in a metal conductor placed in the magnetic field. I2 presents a closed vortex shape, which is the eddy current. The eddy current will form a magnetic field H2, which reversely weakens the excitation magnetic field H1, causing changes in the coil impedance, inductance, and quality factor. This change will cause the amplitude of the oscillation circuit 32 to change, forming a signal to be measured. The amplitude of the signal to be measured reflects the distance value between the coil and the metal plate below.

[0090] Z=R+jωL=F(I1,ω,μ,σ,r,x)

[0091] Among them, Z: coil impedance; R: coil resistance; L: coil inductance; I1: excitation current, ω: excitation angular frequency. μ: metal magnetic permeability; σ: metal electrical conductivity; r: coil size factor, x: distance between coil and metal. In this relationship, except for the distance x and impedance Z, other parameters are known. Therefore, the distance can be characterized by the change in the impedance of the coil.

[0092] For example, Figure 6 As shown, the oscillation circuit 32 includes a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a first capacitor C1, a second capacitor C2, a third capacitor C3, a fourth capacitor C4, a fifth capacitor C5, and a transistor P1, and the distance sensor 31 includes an inductor L, wherein: the first end of the first resistor R1 is respectively connected to the first end of the third capacitor C3, the first end of the third resistor R3, the first end of the fourth capacitor C4, the first end of the first capacitor C1, and the power signal (+5V), the second end of the third capacitor C3 is grounded, and the second end of the third resistor R3 is respectively connected to the fourth capacitor C4. The second end, the first end of the fourth resistor R4, and the base of the transistor P1 are connected, the second end of the fourth resistor R4 is grounded, the second end of the first resistor R1 is respectively connected to the first end of the second resistor R2, the second end of the first capacitor C1, and the first end of the second capacitor C2, the second end of the second resistor R2 is connected to the emitter of the transistor P1, the second end of the second capacitor C2 is respectively connected to the collector of the transistor P1, the first end of the fifth capacitor C5, and the first end of the inductor L, the second end of the fifth capacitor C5 is connected to the second end of the inductor L and grounded, and the first end of the inductor L serves as the output end of the oscillation circuit 32.

[0093] Among them, the oscillation circuit 32 is a sine wave oscillation circuit 32, adopting the structure of a capacitor three-point type sine wave oscillation circuit 32, which can greatly reduce the influence of the distributed capacitance of the lead cable on the circuit. This circuit includes an amplification part, a positive feedback part, a frequency selection part, a amplitude stabilization part. The third resistor R3 and the fourth resistor R4 constitute a base bias circuit, and the second capacitor C2 and the fourth capacitor C4 constitute a filter circuit. This circuit has high frequency selection characteristics, so a pure sine wave can be obtained. The coil inductance L of the distance sensor 31 and the resonant capacitor (the fifth capacitor C5) form an LC parallel resonant circuit, which plays the role of frequency selection. The resonant frequency of this oscillation circuit 32 can be shown by the following formula:

[0094]

[0095] Among them, f is the resonant frequency, L is the coil inductance L of the distance sensor 31, and C is the resonant capacitance value. When the distance between the probe coil of the eddy current sensor and the measured surface changes, the inductance L of the coil will change accordingly, then the resonant frequency f of the oscillation circuit 32 will change accordingly, and the amplitude of the output signal will also change accordingly. The oscillation circuit 32 generates an alternating voltage signal, and the amplitude of this signal is proportional to the distance between the distance sensor 31 and the rotor 21. The eddy current sensor coil is connected to the oscillation circuit 32 as an inductive element. When the rotor 21 approaches the eddy current sensor, the equivalent inductance L of the coil changes, thereby causing a change in the resonant frequency of the oscillation circuit 32. At this time, the output voltage, frequency and amplitude of the oscillation circuit 32 composed of the sensor coil circuit all change. This is the frequency conversion amplitude modulation circuit. This circuit has a good sine waveform, and a very low harmonic content means good frequency selectivity of the signal, and the circuit is always in a resonant state. The influence of the inter-electrode capacitance of the transistor P1 on the circuit parameters is relatively small; the emitter follower composed of the transistor P1 has a high input impedance, a low output impedance, and good following characteristics. As the output stage, it can isolate the influence of the lead cable on the circuit. This circuit does not contain any inductive elements with magnetic cores and can be applied to occasions such as magnetic levitation with bias and alternating magnetic fields.

[0096] The detection and filtering circuit 33 is connected to the oscillation circuit 32 and is used to perform detection and filtering processing on the alternating voltage signal to obtain a direct current signal.

[0097] Exemplarily, such as Figure 7As shown, the detection and filtering circuit 33 includes a diode D1, a fifth resistor R5, a sixth resistor R6, a sixth capacitor C6, and a seventh capacitor C7, where: the positive electrode of the diode D1 is connected to the oscillation circuit 32, and the negative electrode of the diode D1 is respectively connected to the first end of the sixth capacitor C6 and the first end of the fifth resistor R5. The second end of the sixth capacitor C6 is grounded. The second end of the fifth resistor R5 is respectively connected to the first end of the seventh capacitor C7 and the first end of the sixth resistor R6. The second end of the seventh capacitor C7 is grounded. The second end of the sixth resistor R6 is grounded. The second end of the sixth resistor R6 serves as the output end of the detection and filtering circuit 33. After the alternating voltage signal is detected and filtered, a DC signal proportional to the amplitude of the alternating voltage signal is output.

[0098] The amplification circuit 34 is connected to the detection and filtering circuit 33 and is used to amplify the DC signal to obtain a distance detection signal.

[0099] Exemplarily, as Figure 8 shown, the amplification circuit 34 includes an operational amplifier A1.

[0100] The input and output of the amplification circuit 34 can be expressed by the following formula:

[0101] VO = G × (VX - VB)

[0102] where VO is the output of the amplification circuit 34, VB is a fixed voltage, VX is the input of the amplification circuit 34, and G is the amplification factor.

[0103] The processing module 40 is connected to the amplification circuit 34 and is used to determine the distance value between the corresponding distance sensor 31 and the rotor 21 according to the distance detection signal.

[0104] Specifically, the processing module 40 includes an analog-to-digital converter, which can perform analog-to-digital conversion processing and digital linearization processing on the distance detection signal to obtain the absolute value of the distance value.

[0105] In this embodiment, by designing the oscillation circuit 32, the detection and filtering circuit 33, and the amplification circuit 34, the acquisition and processing of the distance detection signal are realized.

[0106] In one embodiment, please continue to refer to Figure 3 , the number of groups of the distance sensors 31 is two, and the sensing radials corresponding to the two groups of distance sensors 31 are perpendicular to each other.

[0107] In this embodiment, by designing two groups of distance sensors 31, distance detection in two mutually perpendicular directions can be realized, thereby saving costs and ensuring the detection of the position of the rotor 21.

[0108] In one embodiment, as Figure 9As shown, the artificial heart device further includes: an alarm module 50. The alarm module 50 is connected to the processing module 40 and is configured to issue an alarm signal under the control of the processing module 40.

[0109] The processing module 40 is further configured to: when it is determined that both distance sensors 31 in the same group are faulty, control the alarm module 50 to issue a first alarm signal, for example, indicating that the alarm light shows red, and at this time, it cannot work properly. When it is determined that one distance sensor 31 in each of the two sensor modules 30 is faulty, control the alarm module 50 to issue a second alarm signal, for example, indicating that the alarm light shows orange, and at this time, it can work properly, reminding that if there are other faulty distance sensors in the future, it will not be able to work properly. When it is determined that one of the multiple distance sensors 31 is faulty, control the alarm module 50 to issue a third alarm signal, for example, indicating that the alarm light shows yellow, and at this time, it can work properly, reminding that if there are other faulty distance sensors in the future, it may or may not be able to work properly. When all the distance sensors are fault-free, that is, when working properly, the control module, for example, indicates that the alarm light shows green.

[0110] Specifically, the processing module 40 is not limited to the case of four distance sensors 31. As long as it is detected that both distance sensors 31 in the same group are faulty, it controls the alarm module 50 to issue a first alarm signal. When it is detected that one distance sensor 31 in each of the sensor modules 30 is faulty, it controls the alarm module 50 to issue a second alarm signal. When it is detected that one of all the distance sensors 31 is faulty, it controls the alarm module 50 to issue a third alarm signal. The first alarm signal is a severe alarm, the second alarm signal is a serious alarm, and the third alarm signal is a minor alarm.

[0111] In this embodiment, by setting the alarm module 50, different alarm signals can be issued for different fault situations, thus facilitating the user to timely learn about the faults and take corresponding measures.

[0112] In one embodiment, as Figure 10 shown, a control method for an artificial heart device is provided, which is applied to, such as Figure 1 、 2The artificial heart device shown, the artificial heart device includes a housing 10, and an accommodation cavity is provided inside the housing 10; an impeller assembly 20, and a rotor 21 of the impeller assembly 20 is suspended in the accommodation cavity; a plurality of sensor modules 30, each sensor module 30 at least includes a distance sensor 31, and every two distance sensors 31 are symmetrically arranged with the center of the rotor 21 as the center, and the distance sensors 31 are arranged on the inner wall of the housing 10 facing the rotor 21, and each distance sensor 31 is used to collect distance data relative to the rotor 21. Among them, every two distance sensors 31 symmetrically arranged with the center of the rotor 21 as the center are taken as a group, and the method includes: steps S1000 - S1010.

[0113] Step S1000, obtain the distance data collected by each distance sensor.

[0114] Step S1010, determine whether the two distance sensors in the same group are faulty according to the distance data collected by the two distance sensors in the same group.

[0115] Among them, the control method of the artificial heart device can be executed by the processing module in the above - mentioned embodiment.

[0116] In this embodiment, obtain the distance data collected by each distance sensor; determine whether the two distance sensors in the same group are faulty according to the distance data collected by the two distance sensors in the same group. Since every two distance sensors are symmetrically arranged with the center of the rotor as the center, the two distance sensors in each group can detect the distance of the rotor in the same rotating radial direction. Therefore, error - correction judgment can be made according to the distance data collected by the two distance sensors in the same group to determine whether the two distance sensors in the same group are faulty. Secondly, using two independent distance sensors to measure the distance data of the rotor in one rotating radial direction respectively can also achieve the effect of redundant measurement, improving the reliability and safety of this device.

[0117] In one embodiment, as Figure 11 shown, the control method of the artificial heart device further includes:

[0118] Step S1100, when it is determined that one of the two distance sensors in the same group is faulty and the other is normal, control the position of the rotor in the sensing radial direction corresponding to the two distance sensors in the same group according to the distance data measured by the normal distance sensor.

[0119] Among them, the sensing radial direction is the direction of the line passing through the center of the rotor between two distance sensors in the same group. Since in one sensing radial direction, the total value of the magnetic suspension gap, which is the distance between the circumferential surface of the rotor and the inner wall of the cavity, is fixed. That is to say, the sum of the distance values represented by the distance data measured by the two distance sensors should be within a fixed range, for example, between 3.8 and 4.4 (allowing for certain mechanical errors). Therefore, when it is determined that one of the two distance sensors in the same group is faulty and the other is normal, subtracting the distance data measured by the normal distance sensor from the preset distance between the circumferential surface of the rotor and the inner wall of the cavity can obtain the data that the faulty distance sensor should have measured. For example, if the distance data measured by the normal distance sensor is 2 and the preset total standard magnetic suspension gap is 4, then the data that the faulty distance sensor should have measured is 4 - 2 = 2. So at this time, in this sensing radial direction, the rotor is at an equal distance of 2 from the two distance sensors and is at the exact center of this sensing radial direction, without the need for adjustment. Similarly, if the measured distance from one distance sensor is 1 and the distance from the other distance sensor is 3, then the position of the rotor in the sensing radial direction corresponding to this same group of distance sensors needs to be adjusted so that it remains at the exact center of this sensing radial direction (at an equal distance of 2 from the two distance sensors).

[0120] In this embodiment, the position of the rotor in the sensing radial direction corresponding to the same group of distance sensors is controlled according to the distance data measured by the normal distance sensor. Thus, even if one distance sensor fails, the position of the rotor can still be controlled, realizing a fault-tolerant mechanism and improving the reliability of the device.

[0121] In one embodiment, as Figure 12 shown, step S1010 is to determine whether there is a fault in the two distance sensors in the same group according to the distance data collected by the two distance sensors in the same group. It includes:

[0122] Step S1200 is to determine whether the sum of the distance data collected by the two distance sensors in the same group is within a first preset range.

[0123] Specifically, since in one sensing radial direction, the total value of the magnetic suspension gap, which is the distance between the circumferential surface of the rotor and the inner wall of the cavity, is fixed. That is to say, the sum of the distance values represented by the distance data measured by the two distance sensors should be within a fixed range, for example, between 3.8 and 4.4 (allowing for certain mechanical errors). Therefore, by judging whether the sum of the distance data collected by the two distance sensors in the same group is within the first preset range (3.8 - 4.4), it can be determined whether there is a faulty distance sensor among these two distance sensors.

[0124] Step S1210, when the sum of the distance data collected by two distance sensors in the same group exceeds the first preset range, one of the two distance sensors is taken as the distance sensor to be detected, and it is determined whether the distance data to be detected collected by the distance sensor to be detected is within the second preset range.

[0125] Specifically, when the sum of the distance data collected by two distance sensors in the same group exceeds the first preset range, there is a faulty distance sensor among the two distance sensors. At this time, one of the distance sensors is detected first, and then it is determined whether the distance data to be detected collected by the distance sensor to be detected is within the second preset range (1.5 - 2.5). This is because for a distance sensor, when the device is working properly, its normal measurement range is a fixed preset range. If it exceeds this range, the distance sensor is judged to have a fault. Therefore, it can be preliminarily detected according to whether the distance data to be detected collected by the distance sensor to be detected is within the second preset range.

[0126] Step S1220, when the distance data to be detected is within the second preset range, control the rotor to move along the sensing radial direction and obtain new distance data to be detected.

[0127] Specifically, when the distance data to be detected is within the second preset range, it means that the distance sensor is preliminarily judged to be normal, and then it is further detected. Control the rotor to move along the sensing radial direction and obtain new distance data to be detected.

[0128] Step S1230, when the difference between the new distance data to be detected and the distance data to be detected before controlling the rotor to move is outside the third preset range, determine that the distance sensor to be detected is faulty.

[0129] Specifically, control the rotor to move along the sensing radial direction and obtain new distance data to be detected. The new distance data to be detected should be related to the moving direction of the rotor. For example, if the rotor is controlled to move along the sensing radial direction by +1, the difference between the new distance data to be detected and the distance data to be detected before controlling the rotor to move should be +1. If it is not +1 and exceeds the reasonable range (for example, between +0.9 and +1.1), it means that the distance sensor to be detected has a fault.

[0130] Step S1240, take the other of the two distance sensors as the sensor to be detected, and jump to step S1210.

[0131] Specifically, take the other of the two distance sensors as the sensor to be detected, and repeat the above steps to detect it.

[0132] Among them, after determining whether the two distance sensors in this group are faulty, the above-mentioned step principle is adopted to continue to determine whether the next group of distance sensors are faulty until all the distance sensors are determined.

[0133] In this embodiment, by detecting the two distance sensors respectively, it is possible to determine whether each of them is faulty.

[0134] In one embodiment, as Figure 13 shown, the control method of the artificial heart device further includes:

[0135] Step S1300, determine whether the difference between the new distance data to be detected and the distance data to be detected before controlling the rotor to move is within a third preset range. If the difference between the new distance data to be detected and the distance data to be detected before controlling the rotor to move is within the third preset range, then execute step S1300. If the difference between the new distance data to be detected and the distance data to be detected before controlling the rotor to move is not within the third preset range, then execute step S1230.

[0136] Step S1310, when the difference between the new distance data to be detected and the distance data to be detected before controlling the rotor to move is within the third preset range, determine that the distance sensor to be detected is normal.

[0137] In this embodiment, when the difference between the new distance data to be detected and the distance data to be detected before controlling the rotor to move is within the third preset range, it means that the distance data measured by the distance sensor to be detected meets the expectation and is normal, so it is determined that the distance sensor to be detected is normal.

[0138] In one embodiment, the control method of the artificial heart device further includes: when the sum of the distance data collected by the two distance sensors in the same group exceeds the first preset range, after an interval of a preset duration, re-execute step S1200.

[0139] Exemplarily, the preset duration can be 1 ms.

[0140] In this embodiment, if the sum of the distance data collected by the two distance sensors in the same group exceeds the first preset range, it means that there is a faulty distance sensor among the two distance sensors, but it may also be a misjudgment. Therefore, after an interval of a certain duration, confirm again to ensure the accuracy of the judgment.

[0141] In one embodiment, as Figure 14 shown, the control method of the artificial heart device further includes:

[0142] Before step S1240, there is also step S1400, which determines whether both distance sensors in the same group have been detected for faults. If both distance sensors in the same group have been detected for faults, step S1410 is executed. If at least one of the two distance sensors in the same group has not been detected for faults, step S1240 is executed.

[0143] Step S1410: When the sum of the distance data collected by the two distance sensors in the same group is within the first preset range, the two distance sensors in the next group are used to update the two distance sensors in the current group, and the process jumps to step S1200 until it is determined whether the two distance sensors in each group are faulty.

[0144] In this embodiment, when the sum of the distance data collected by the two distance sensors in the same group is within the first preset range, it means that the two distance sensors in this group are both normal, and then it can directly jump to determine whether the two distance sensors in the next group are faulty. This process continues until all distance sensors have been judged.

[0145] In one embodiment, as Figure 15 shown, step S1100: When it is determined that one of the two distance sensors in the same group is faulty and the other is normal, the position of the rotor in the sensing radial direction corresponding to the same group of distance sensors is controlled according to the distance data measured by the normal distance sensor. This includes:

[0146] Step S1500: The second distance data of the faulty distance sensor is updated according to the first distance data measured by the normal distance sensor and the standard distance data sum of the two preset distance sensors.

[0147] Specifically, since the total value of the magnetic suspension gap, i.e., the distance between the circumferential surface of the rotor and the inner wall of the cavity, is fixed in a sensing radial direction, that is to say, the distance values represented by the distance data measured by the two distance sensors respectively should add up within a fixed range, for example, between 3.8 and 4.4 (allowing for certain mechanical errors). Therefore, when it is determined that one of the two distance sensors in the same group is faulty and the other is normal, by subtracting the distance data measured by the normal distance sensor from the preset distance between the circumferential surface of the rotor and the inner wall of the cavity, the data that the faulty distance sensor should have measured can be obtained. For example, if the distance data measured by the normal distance sensor is 2 and the preset total standard magnetic suspension gap is 4, then the data that the faulty distance sensor should have measured is 4 - 2 = 2. So at this time, in this sensing radial direction, the rotor is at a distance of 2 from both distance sensors and is at the exact center of this sensing radial direction, without the need for adjustment. Similarly, if the measured distance from one distance sensor is 1 and the measured distance from the other distance sensor is 3, then the position of the rotor in the sensing radial direction corresponding to this same group of distance sensors needs to be adjusted so that it remains at the exact center of this sensing radial direction (at a distance of 2 from both distance sensors).

[0148] Step S1510: Control the position of the rotor in the sensing radial direction according to the first distance data and the updated second distance data.

[0149] Specifically, since the input of the processing module is the distance data measured by two distance sensors in the same group and the output of the processing module is the control of the magnetic force on the rotor, the position of the rotor in this sensing radial direction can be controlled according to the first distance data and the updated second distance data, so that the rotor remains suspended and rotates in the middle of this sensing radial direction, avoiding collision with the housing and ensuring the stable and reliable operation of the magnetic suspension artificial heart device. Similarly, by performing the control method in this embodiment based on the distance data measured by each group of distance sensors, the rotor can be made to rotate in the middle in each sensing radial direction, thus maximizing the avoidance of collision between the rotor and the housing.

[0150] Among them, as Figure 16 shown, it further includes step S1600: When at least one of the two distance sensors fails, issue an alarm corresponding to the number of faulty distance sensors.

[0151] In this embodiment, by updating the second distance data of the faulty distance sensor according to the first distance data measured by the normal distance sensor and the sum of the standard distance data of the two distance sensors, the reconstruction of the distance data measured by the faulty distance sensor is realized, which can avoid the collision between the rotor and the housing and improve the reliability and stability of this device.

[0152] It should be understood that althoughFigures 10 - 16 The steps in the flowchart are shown in sequence according to the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figures 10 - 16 at least a portion of the steps in Figures 10 - 16 may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a portion of other steps or steps or stages in other steps.

[0153] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0154] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0155] Those of ordinary skill in the art can understand that all or part of the processes in the above method embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above method embodiments. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0156] In the description of this specification, the description with reference to terms such as "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, structures, materials, or features described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic description of the above terms does not necessarily refer to the same embodiment or example.

[0157] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0158] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. An artificial heart device, characterized in that, Comprising: A housing having an accommodation cavity inside; An impeller assembly, the rotor of which can be suspended in the accommodation cavity; A plurality of sensor modules, each of which at least includes a distance sensor, and every two of the distance sensors are symmetrically arranged with the center of the rotor as the center, and each of the distance sensors is used to collect the distance data of itself relative to the rotor; A processing module, which is respectively connected to the impeller assembly and each of the sensor modules, and is used to obtain the distance data collected by each of the distance sensors; and determine whether there is a fault in two distance sensors of the same group according to the distance data collected by the two distance sensors of the same group, wherein every two distance sensors symmetrically arranged with the center of the rotor as the center are taken as a group.

2. The artificial heart device according to claim 1, characterized in that, The processing module is further used to, when determining that one of the two distance sensors in the same group is faulty and the other is normal, control the position of the rotor in the sensing radial direction corresponding to the two distance sensors in the same group according to the distance data measured by the normal distance sensor, wherein the sensing radial direction is the direction of the line passing through the center of the rotor between the two distance sensors in the same group.

3. The artificial heart device according to claim 1, wherein Each of the sensor modules further includes: An oscillation circuit, connected to the distance sensor, and used to generate an alternating voltage signal based on the distance data measured by the distance sensor; A detection and filtering circuit, connected to the oscillation circuit, and used to perform detection and filtering processing on the alternating voltage signal to obtain a direct current signal; An amplification circuit, connected to the detection and filtering circuit, and used to perform amplification processing on the direct current signal to obtain a distance detection signal; The processing module is connected to the amplification circuit and is used to determine the distance value between the corresponding distance sensor and the rotor according to the distance detection signal.

4. The artificial heart device according to claim 3, wherein The distance sensor is an eddy current sensor; The oscillation circuit includes a resonant capacitor, and the resonant capacitor is connected in parallel with the probe coil of the eddy current sensor as a resonant circuit.

5. The artificial heart device according to claim 2, wherein, The number of groups of the distance sensors is two, and the sensing radial directions corresponding to the two groups of distance sensors are perpendicular to each other.

6. The artificial heart device according to any one of claims 1-5, characterized in that, Further comprising: An alarm module, connected to the processing module, and used to send an alarm signal under the control of the processing module; The processing module is further used for: When determining that both of the two distance sensors in the same group are faulty, controlling the alarm module to send a first alarm signal; When determining that there is one faulty distance sensor in each of the two sensor modules, controlling the alarm module to send a second alarm signal; When determining that there is one faulty distance sensor among the plurality of distance sensors, controlling the alarm module to send a third alarm signal.

7. A control method for an artificial heart device, characterized in that, Applied to an artificial heart device, the artificial heart device includes a housing with an accommodation cavity inside; an impeller assembly, the rotor of the impeller assembly being suspendable in the accommodation cavity; a plurality of sensor modules, each sensor module including at least a distance sensor, and every two distance sensors being symmetrically arranged with the center of the rotor as the center, the distance sensors being arranged on the inner wall of the housing facing the rotor, and each distance sensor being used to collect the distance data of itself relative to the rotor. Wherein, taking every two distance sensors symmetrically arranged with the center of the rotor as the center as a group, the method includes: Obtain the distance data collected by each of the distance sensors; Determine whether there is a failure in two distance sensors of the same group according to the distance data collected by the two distance sensors of the same group.

8. The control method of the artificial heart device according to claim 7, characterized in that, The method further includes: When it is determined that one of the two distance sensors in the same group fails and the other is normal, control the position of the rotor in the sensing radial direction corresponding to the same group of distance sensors according to the distance data measured by the normal distance sensor, where the sensing radial direction is the direction of the line passing through the center of the rotor between the two distance sensors of the same group.

9. The control method of the artificial heart device according to claim 8, characterized in that, The determining whether there is a failure in two distance sensors of the same group according to the distance data collected by the two distance sensors of the same group includes: Determine whether the sum of the distance data collected by the two distance sensors of the same group is within a first preset range; When the sum of the distance data collected by the two distance sensors of the same group exceeds the first preset range, take one of the two distance sensors as the distance sensor to be detected, and determine whether the distance data to be detected collected by the distance sensor to be detected is within a second preset range; When the distance data to be detected is within the second preset range, control the rotor to move along the sensing radial direction and obtain new distance data to be detected; When the difference between the new distance data to be detected and the distance data to be detected before controlling the rotor to move is outside a third preset range, determine that the distance sensor to be detected fails; Take the other of the two distance sensors as the sensor to be detected, and jump to the step of determining whether the distance data to be detected collected by the distance sensor to be detected among the two distance sensors is within the second preset range.

10. The control method of the artificial heart device according to claim 9, characterized in that, The method further includes: when the difference between the new distance data to be detected and the distance data to be detected before controlling the rotor to move is within the third preset range, determine that the distance sensor to be detected is normal.

11. The control method of the artificial heart device according to claim 9, characterized in that, The method further includes: when the sum of the distance data collected by the two distance sensors of the same group exceeds the first preset range, after a preset time interval, jump to the step of determining whether the sum of the distance data collected by the two distance sensors of the same group is within the first preset range.

12. The control method of the artificial heart device according to claim 9, characterized in that, The method further includes: When the sum of the distance data collected by two distance sensors in the same group is within a first preset range, the two distance sensors in the next group update the two distance sensors in the current group and jump to the step of determining whether the sum of the distance data collected by the two distance sensors in the same group is within the first preset range, until it is determined whether there is a failure in the two distance sensors in each group.

13. The control method of the artificial heart device according to claim 8, characterized in that, When it is determined that one of the two distance sensors in the same group is faulty and the other is normal, controlling the position of the rotor in the sensing radial direction according to the distance data measured by the normal distance sensor includes: Updating the second distance data of the faulty distance sensor according to the first distance data measured by the normal distance sensor and the standard distance data sum of the two preset distance sensors; Controlling the position of the rotor in the sensing radial direction according to the first distance data and the updated second distance data.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method described in any one of claims 7 to 13.

15. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method described in any one of claims 7 to 13.

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