Blood treatment system and related components and methods

Abstract

The present disclosure relates to a blood treatment system, the blood treatment system including a blood treatment machine, a dialyzer configured to be coupled to the blood treatment machine, a blood line having a first end configured to be connected to the dialyzer and a second end configured to be connected to a needle for insertion into a patient, and one or more sensors operable to transmit data related to the tension along the blood line to the blood treatment machine. The blood treatment machine is configured to act in response to data received from the one or more sensors.

Description

Technical Field

[0001] The present disclosure relates to blood treatment systems and related components and methods. Background Art

[0002] Hemodialysis is a treatment method for supporting patients with renal insufficiency. During hemodialysis, the patient's blood passes through a dialyzer of a dialysis machine, and at the same time, a dialysis solution or dialysate also passes through the dialyzer. The dialyzer includes a housing and a semipermeable membrane contained within the housing of the dialyzer. The semipermeable membrane separates the blood from the dialysate within the dialyzer and allows for diffusion and osmotic exchange to occur between the dialysate and the blood stream. An arterial blood line is typically connected at one end to the dialyzer and at the opposite end to the patient to transport blood from the patient to the dialyzer during hemodialysis. A venous blood line is typically connected at one end to the dialyzer and at the opposite end to the patient to transport the filtered blood from the dialyzer back to the patient during hemodialysis. Summary of the Invention

[0003] In one aspect, a blood treatment system includes: a blood treatment machine; a dialyzer configured to be coupled to the blood treatment machine; a blood line having a first end configured to be connected to the dialyzer and a second end configured to be connected to a needle for insertion into a patient; and one or more sensors operable to transmit data related to the tension along the blood line to the blood treatment machine. The blood treatment machine is configured to act in response to data received from the one or more sensors.

[0004] Embodiments may include one or more of any combination of the following features.

[0005] In certain embodiments, the blood treatment machine includes: a treatment module including a structure for coupling to the dialyzer; a blood treatment machine console configured to control the treatment module; and an arm coupled to the treatment module and the blood treatment machine console and extending between the treatment module and the blood treatment machine console. The blood treatment machine console is configured to control the movement of the arm in response to data received from the one or more sensors to automatically reposition the treatment module.

[0006] In some embodiments, the arm is configured to move the treatment module in a direction determined based on data related to the tension along the blood line to prevent the blood line from disconnecting from the dialyzer or the needle from being removed from the patient.

[0007] In certain embodiments, the one or more sensors are configured to wirelessly transmit data related to the tension along the blood line to the blood treatment machine console.

[0008] In some embodiments, the arm includes one or more adjustable joints by which the arm can be articulated to a plurality of different positions relative to the blood treatment machine console. In certain embodiments, the arm is configured to be manually articulated to a plurality of different positions relative to the blood treatment machine console.

[0009] In some embodiments, the one or more sensors are configured to detect strain along the blood line.

[0010] In certain embodiments, the one or more sensors are attached to the treatment module of the blood treatment machine, and each of the one or more sensors is in contact with the blood line.

[0011] In some embodiments, at least one of the one or more sensors is coupled to the treatment module.

[0012] In certain embodiments, at least one of the one or more sensors is positioned along the blood line proximate to the patient end of the blood line.

[0013] In some embodiments, the one or more sensors are embedded within the blood line.

[0014] In certain embodiments, at least one of the one or more sensors is coupled to a joint of an arm that extends from and is coupled to the treatment module of the blood treatment machine.

[0015] In some embodiments, the one or more sensors are configured to detect the position of a portion of the blood line.

[0016] In certain embodiments, the one or more sensors include one or more accelerometers coupled to the blood line.

[0017] In some embodiments, the one or more sensors include one or more image sensors configured to detect the position of the portion of the blood line.

[0018] In certain embodiments, the one or more sensors are configured to detect the position of a patient connected to the blood line.

[0019] In some embodiments, the one or more sensors include image sensors configured to detect light reflected by a reflective material.

[0020] In certain embodiments, the blood treatment system further includes a device comprising a reflective material, the device being configured to be positioned on the patient's arm proximate to the blood line.

[0021] In some embodiments, the one or more sensors include an image sensor configured to track movement of a patient's arm.

[0022] In another aspect, a blood treatment machine includes: a treatment module including a structure for coupling to a dialyzer; a blood treatment machine console configured to control the treatment module; and an arm coupled to and extending between the treatment module and the blood treatment machine console. The blood treatment machine console is configured to control movement of the arm to automatically reposition the treatment module in response to data received from one or more sensors related to tension along a blood line coupled to the dialyzer.

[0023] Embodiments may include one or more of any combination of the following features.

[0024] In some embodiments, the arm includes one or more adjustable joints through which the arm can be hinged to a plurality of different positions relative to the blood treatment machine console.

[0025] In certain embodiments, the arm is configured to be manually hinged to a plurality of different positions relative to the blood treatment machine console.

[0026] In some embodiments, data received from the one or more sensors includes data related to tension along a blood line coupled to the dialyzer and a needle inserted into a patient.

[0027] In certain embodiments, the arm is configured to move the treatment module in a direction determined based on data related to tension along the blood line to prevent the blood line from disconnecting from the dialyzer or the needle from being removed from the patient.

[0028] In some embodiments, data received from the one or more sensors includes data related to strain along the blood line.

[0029] In certain embodiments, data received from the one or more sensors includes data related to the position of a portion of the blood line coupled to the dialyzer.

[0030] In some embodiments, data received from the one or more sensors includes image data related to the position of the portion of the blood line.

[0031] In certain embodiments, data received from one or more sensors includes data related to the position of a patient to whom the blood line coupled to the dialyzer is connected.

[0032] In some embodiments, the data received from the one or more sensors includes image data indicative of light reflected by a reflective material.

[0033] In certain embodiments, the data received from the one or more sensors includes image data indicative of the position of a patient's arm.

[0034] In another aspect, a device includes one or more sensors configured to detect and transmit data related to the tension along a blood line coupled to a dialyzer.

[0035] Embodiments may include one or more of any combination of the following features.

[0036] In some embodiments, the one or more sensors are configured to detect strain along the blood line.

[0037] In certain embodiments, each of the one or more sensors is in contact with the blood line.

[0038] In some embodiments, at least one of the one or more sensors is positioned to contact a portion of the blood line near the patient end of the blood line.

[0039] In certain embodiments, at least one of the one or more sensors is coupled to a treatment module coupled to the dialyzer.

[0040] In some embodiments, the one or more sensors are embedded within the blood line.

[0041] In certain embodiments, the one or more sensors are configured to detect strain along the blood line in three dimensions.

[0042] In some embodiments, the one or more sensors are configured to detect the three-dimensional position of a portion of the blood line.

[0043] In certain embodiments, the one or more sensors include one or more accelerometers coupled to the blood line.

[0044] In some embodiments, the one or more sensors are configured to detect the position of a patient connected to the blood line.

[0045] In certain embodiments, the one or more sensors include an image sensor configured to detect light reflected by a reflective material positioned on a patient's arm near the blood line.

[0046] In some embodiments, the one or more sensors include an accelerometer coupled to a patient's arm.

[0047] In some embodiments, the one or more sensors use near field communication to transmit a signal indicating the position of the patient's arm.

[0048] In some embodiments, the one or more sensors include an image sensor configured to track the movement of the patient's arm.

[0049] In another aspect, a method includes: receiving, from one or more sensors, a signal indicating the status of a blood line having a first end coupled to a dialyzer and a second end coupled to a needle inserted into a patient; and moving a blood treatment module coupled to the dialyzer based on the signal to prevent the blood line from disconnecting from the dialyzer or the needle from moving out of the patient.

[0050] Embodiments may include one or more of any combination of the following features.

[0051] In some embodiments, moving the blood treatment module includes controlling a robotic arm coupled to the blood treatment module to reposition the blood treatment module.

[0052] In some embodiments, moving the blood treatment module includes extending the robotic arm toward the patient to create slack in the blood line.

[0053] In some embodiments, moving the blood treatment module includes moving the blood treatment module in a direction to reduce the tension in the blood line.

[0054] In some embodiments, moving the blood treatment module includes moving the blood treatment module in three dimensions.

[0055] In some embodiments, moving the blood treatment module includes moving the blood treatment module at a speed determined based on a signal indicating the status of the blood line.

[0056] In some embodiments, the signal indicates strain along the blood line.

[0057] In some embodiments, the method further includes, after receiving a signal indicating strain along the blood line and before moving the blood treatment module, receiving a second signal indicating a reduction in the strain in the blood line; and in response to receiving the second signal, controlling a blood pump fluidly coupled to the blood line to stop pumping.

[0058] In some embodiments, the method further includes, in response to receiving the second signal, transmitting an alarm indicating disconnection of the blood line or removal of the needle.

[0059] In certain embodiments, the method further comprises: after the mobile blood treatment module, receiving a second signal indicating that a strain change in the blood line is below a threshold amount; and in response to receiving the second signal, transmitting an alert indicating an obstruction in the blood line.

[0060] In some embodiments, the signal indicates that a strain in the blood line is above a threshold strain.

[0061] In certain embodiments, the signal indicates the position of the patient's arm connected to the blood line.

[0062] In some embodiments, moving the blood treatment module comprises moving the blood treatment module towards a detected position of the patient's arm.

[0063] In certain embodiments, wherein the signal indicates the position of the patient end of the blood line.

[0064] In some embodiments, moving the blood treatment module comprises moving the blood treatment module towards a detected position of the patient end of the blood line.

[0065] In certain embodiments, the method further comprises receiving a signal indicating that a dialysis treatment is complete; and in response to receiving the signal indicating that the dialysis treatment is complete, moving the blood treatment module to a predetermined position.

[0066] Advantages of the systems, devices, and methods described herein can include reducing the risk of the blood line disconnecting from the dialyzer of the blood treatment machine during hemodialysis treatment. Additionally, the systems, devices, and methods described herein can reduce the risk of the needle connected to the blood line moving out of the patient during treatment. For example, during hemodialysis treatment, by using sensors to detect strain in one or more blood lines attached to the patient and the dialyzer, the position of the treatment module coupled to the dialyzer can be dynamically adjusted to reduce the tension along the blood line, which reduces the risk of the blood line disconnecting from the dialyzer and / or the needle moving out of the patient. Further, by using a sensor system to detect strain in the blood line and an operable robotic arm to dynamically adjust the position of the treatment module in response to the detected strain, the blood line can be very short compared to blood lines used in conventional blood treatment systems. The reduction in the blood line length reduces the cost of the blood line and reduces the volume of blood outside the patient, which provides improved control of the patient's blood pressure and reduces the risk of complications associated with the reduction in blood volume. Additionally, by being able to use a shorter blood line, the systems and methods described herein reduce the risk of obstruction along the blood line, which further reduces the risk of the needle moving out of the patient or the blood line disconnecting from the dialyzer.

[0067] Other aspects, features, and advantages of the present invention will be apparent from the specification, the drawings, and the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 Depicts a patient receiving extracorporeal blood treatment using a blood treatment system.

[0069] Figure 2 is Figure 1 a schematic diagram of a dialyzer of the blood treatment system of.

[0070] Figures 3 - 9 Depicts a patient receiving extracorporeal blood treatment using an alternative blood treatment system. DETAILED DESCRIPTION

[0071] Referring Figure 1 , patient 10 is depicted as receiving extracorporeal blood treatment using a blood treatment system 1, the blood treatment system 1 including a disposable kit coupled to a treatment module 220 of a blood treatment machine 200. The disposable kit includes a dialyzer 100 coupled to the treatment module 220 of the blood treatment machine 200. System 1 can be used to provide one or more types of treatment to patient 10, including hemodialysis (HD), hemodiafiltration (HDF), or some other type of blood treatment. For such treatment, blood is withdrawn from patient 10 via an arterial line 102 and, after passing through the dialyzer 100, the treated blood is returned to patient 10 via a venous line 104. Patient 10 is connected to the arterial line 102 and the venous line 104 using needles 134 and 136, respectively. The dialyzer 100, the arterial line 102, the venous line 104, and the needles 134, 136 are single-use disposable items, while the blood treatment machine 200 is a durable reusable system. In some cases, a single dialyzer 100 can be reused two or more times for a particular individual patient.

[0072] In addition to the treatment module 220, the blood treatment machine 200 also includes a blood treatment machine console 210 and an arm 280 that connects the treatment module 220 to the blood treatment machine console 210. The blood treatment machine 200 can be used in outpatient treatment centers and home environments. The blood treatment machine console 210 includes a user interface 212, a control system, a device for preparing dialysate, and the like.

[0073] The first end of the arm 280 of the blood treatment machine 200 is coupled to and extends from the blood treatment machine console 210, and the second end of the arm 280 is coupled to the treatment module 220. In this way, the treatment module 220 projects cantileveredly from the blood treatment machine console 210 through the arm 280. The arm 280 is coupled to the blood treatment machine console 210 and the treatment module 220 using any suitable mechanical fasteners, including but not limited to screws and bolts.

[0074] The arm 280 includes one or more adjustable joints that enable the arm 280 to be manually articulated to position the treatment module 220 relative to the blood treatment machine console 210 and / or relative to the patient 10 in various positions / orientations. For example (as Figure 1 shown), the arm 280 can be extended such that the treatment module 220 is positioned close to the patient 10. In some cases, the adjustable joints of the arm 280 enable three-dimensional movement such that the arm 280 can be extended and retracted, and move the treatment module 220 up and down and left and right. In this way, the arm 280 is fully articulated in three degrees of freedom. Therefore, compared to the blood lines used in most conventional blood treatment systems, the arterial line 102 and the venous line 104 (also referred to as blood lines 102, 104) can be quite short. For example, in some embodiments, the arterial line 102 and the venous line 104 have a length of less than one meter (e.g., less than 90 cm, less than 80 cm, less than 70 cm, less than 60 cm, less than 50 cm, less than 40 cm, less than 30 cm, or less than 20 cm).

[0075] In some embodiments, the arm 280 is configured to allow the treatment module 220 to tilt up or down at the end of the arm 280. For example, the treatment module 220 can tilt around the end of the arm 280 to allow the operator of the blood treatment machine 200 to better use the treatment module 220.

[0076] As Figure 1 shown, the blood treatment system 1 also includes an arterial line sensor 226 and a venous line sensor 228. The sensors 226, 228 are each positioned on the treatment module 220 and electrically coupled to the treatment module 220. As Figure 1 shown, the arterial line sensor 226 is coupled to the treatment module 220 and positioned on the treatment module 220 such that when the arterial line 102 is connected to the dialyzer 100, the arterial line sensor 226 is in physical contact with the arterial line 102. Similarly, the venous line sensor 228 is coupled to the treatment module 220 and positioned on the treatment module 220 such that when the venous line 104 is connected to the dialyzer 100, the venous line sensor 228 is in physical contact with the venous line 104.

[0077] The arterial line sensor 226 and the venous line sensor 228 are each configured to detect the tension along the respective blood lines 102, 104. For example, when the arterial line 102 contacts the arterial line sensor 226, the arterial line sensor 226 detects the strain along the arterial line 102, and when the venous line 104 contacts the venous line sensor 228, the venous line sensor 228 detects the strain along the venous line 104. The sensors 226, 228 can include any suitable type of sensor for detecting strain, including but not limited to strain gauges, resistors, load cells, and the like.

[0078] The strain detected by the sensors 226, 228 along the arterial line 102 and the venous line 104 can be transmitted by the sensors 226, 228 to the blood treatment machine console 210. For example, the sensors 226, 228 can be electrically connected to the treatment module 220 to communicate a signal indicative of the detected strain to the treatment module 220, which can be electrically connected to the blood treatment machine console 210 or otherwise communicatively coupled to the blood treatment machine console 210 and can transmit the signal received from the sensors 226, 228 to the blood treatment machine console 210. In some embodiments, the sensors 226, 228 are directly electrically connected to the blood treatment machine console 210 to communicate a signal indicative of the detected strain to the blood treatment machine console 210. In some embodiments, for example, the sensors 226, 228 are wireless sensors configured to wirelessly communicate a signal indicative of the detected strain to the blood treatment machine console 210 (e.g., via Bluetooth or WiFi). As will be described in further detail herein, the blood treatment machine console 210 can control the arm 280 to reposition the treatment module 220 to a position that reduces the strain detected by the sensors 226, 228 along the blood lines 102, 104.

[0079] Figure 2 is a schematic diagram of the dialyzer 100. As Figure 2 shown, the housing 110 of the dialyzer 100 includes a first end cap 120, a second end cap 140, and an intermediate housing portion 112 extending between the first end cap 120 and the second end cap 140. The intermediate housing portion 112 contains most of the length of the hollow fiber bundle 114. As Figure 1 shown, the arterial line 102 is connected to the first end cap 120 of the dialyzer 100, and the venous line 104 is connected to the second end cap 140 of the dialyzer 100.

[0080] Still referring to Figure 2, the first end cap 120 includes a pump housing 130. A rotatable centrifugal pump rotor 132 is enclosed or housed within the pump housing 130. Thus, the pump rotor 132 is held in a fixed position relative to the hollow fiber bundle 114. The pump rotor 132 is operated and controlled by interfacing with a controller 240 of the blood treatment machine 200. That is, the pump rotor 132 can be levitated and rotated by a magnetic field emitted from a pump drive unit during use. The illustrated embodiment includes an arterial pressure detection chamber 122 and a venous pressure detection chamber 142. Both pressure detection chambers 122 and 142 are configured to interface with corresponding pressure sensors of the treatment module 220.

[0081] The dialyzer 100 is configured to receive blood from a patient 10 and direct the blood through the housing 110 of the dialyzer 100. For example, blood flows into the first end cap 120 via an arterial line 102 (as Figure 1 shown). The fluid flow path entering the first end cap 120 is transverse to the longitudinal axis of the dialyzer 100. The blood flow path is turned to be parallel to the longitudinal axis of the dialyzer 100 to deliver the blood to the pump rotor 132. The blood is directed to the center of the pump rotor 132. The rotation of the centrifugal pump rotor 132 forces the blood to flow radially outward from the pump rotor 132. Then, after flowing radially outward from the pump rotor 132, the blood turns and flows longitudinally toward the intermediate housing portion 112. The blood enters the lumen of the hollow fiber bundle 114 and continues to flow longitudinally toward the second end cap 140. After passing through the intermediate housing portion 112, the blood exits the hollow fiber bundle 114, enters the second end cap 140, and flows laterally out of the second end cap 140 via a venous line 104.

[0082] The dialyzer 100 is also configured to receive dialysate and direct the dialysate through the housing 110. For example, in the illustrated embodiment, the second end cap 140 defines a dialysate input port 149 and the first end cap 120 defines a dialysate output port 125. The dialysate flows into the second end cap 140 via the dialysate input port 149 and then enters the intermediate housing portion 112 that contains the hollow fiber bundle 114. The dialysate flows through the intermediate housing portion 112 via the space defined between the outer diameters of the fibers of the hollow fiber bundle 114. As the blood flows through the lumen of the fibers of the hollow fiber bundle 114, the dialysate flows along the outside of the fibers. The semipermeable walls of the fibers of the hollow fiber bundle 114 separate the dialysate from the blood. The dialysate flows out of the intermediate housing portion 112 and into the first end cap 120. The dialysate exits the first end cap 120 via the dialysate output port 125. Figure 2Certain other features of the dialyzer 100 and blood treatment system 1 depicted are described in further detail in U.S. Provisional Patent Application No. 62 / 934,228, entitled "Blood Treatment Systems," filed on November 12, 2019, which is hereby incorporated by reference in its entirety.

[0083] Reference Figure 1 and 2 , a method of performing hemodialysis using the blood treatment system 1 will now be described.

[0084] Prior to the start of a hemodialysis treatment, the dialyzer 100 is attached to the control module 220, and one end of each of the blood lines 102, 104 is attached to the dialyzer 100. The opposite ends of the blood lines 102, 104 are attached to the patient 10 using needles 134, 136. Once the dialyzer 100 is connected to the treatment module 220 and the blood lines 102, 104 are attached to both the dialyzer 100 and the patient 10 (via the connections to the needles 134, 136), the hemodialysis treatment can be initiated. The patient 10 or another operator of the blood treatment machine 200 can initiate the hemodialysis treatment, for example, using the user interface 212 of the blood treatment machine console 210.

[0085] During the hemodialysis treatment, the pump rotor 132 of the dialyzer is driven such that blood in the arterial line 102 is withdrawn from the patient 10, directed through the dialyzer 100, and returned to the patient 10 through the venous line 104. For example, upon initiation of the hemodialysis treatment, blood flows from the patient 10 through the arterial line 102 into the first end cap 120 of the dialyzer 100 and through the arterial pressure detection chamber 122 to the pump rotor 132 in the pump housing 130. As previously described, the pump rotor 132 is operated and controlled by interfacing with the pump drive unit of the treatment module 220. The rotation of the pump rotor 132 creates an increased pressure within the dialyzer 100, which causes the blood within the dialyzer 100 to be pushed through the internal space (or lumen) of each hollow fiber of the hollow fiber bundle 114.

[0086] When blood flows through the dialyzer 100, the dialysate flows along the outer surface of the hollow fibers 114, for example, from the second end cap 140 of the dialyzer 100 to the first end cap 120 of the dialyzer 100 in the space defined between the hollow fibers 114. Dialysis is performed across the semi-permeable fiber membrane, the dialysate flows in the space around the fiber 114 (in the countercurrent direction), and the waste from the blood diffuses into the dialysate across the semi-permeable fiber membrane of the hollow fiber 114. Then, the blood still flows through the venous pressure detection chamber 142 in the second end cap 140 in the hollow fiber 114. The blood leaves the dialyzer 100 via the venous line 104, which transports the dialyzed or filtered blood back to the patient 10. The used dialysate flows to the first end cap 120 and leaves the dialyzer 100 via the waste dialysate tube to enter the waste dialysate conduit of the treatment module 220. The hemodialysis process continues until the treatment is completed.

[0087] Throughout the hemodialysis treatment, the sensors 226, 228 monitor the tension along the blood lines 102, 104, respectively, and transmit signals indicating the tension detected along the blood lines 102, 104 to the blood treatment machine console 210 in real time. For example, during the hemodialysis treatment, the sensors 226, 228 monitor the amount of strain along the blood lines 102, 104, respectively, and transmit signals indicating the amount of strain detected along the blood lines 102, 104 to the blood treatment machine console 210 in real time. For example, if a patient 10 receiving hemodialysis treatment moves his or her arm 12 away from the treatment module 220, the strain along the arterial line 102 and the venous line 104 attached to the patient may increase due to the movement. In addition, if the arterial line 102 or the venous line 104 is obstructed or hooked on surrounding objects, the strain in the arterial line 102 and the venous line 104 may increase. To detect these increases in strain along the blood lines 102, 104, the sensors 226, 228 continuously monitor the strain along the blood lines 102, 104 throughout the hemodialysis treatment and transmit signals indicative of the strain along the respective blood lines 102, 104 to the blood treatment machine console 210 in real time.

[0088] The signals transmitted by the sensors 226, 228 to the blood treatment machine console 210 may indicate the magnitude and direction of the strain detected along the blood lines 102, 104. For example, the arterial line sensor 226 is configured to detect strain along the X-axis, Y-axis, and Z-axis of the arterial line 102 and may convert ε x , ε y and ε zThe strain components are transmitted to the blood treatment machine console 210, which indicates the amount of strain experienced by the arterial line 102 along each of the axes. Similarly, the venous line sensor 228 is configured to detect strain along the X, Y, and Z axes of the venous line 104 and transmit the ε x , ε y , and ε z strain components to the blood treatment machine console 210, which indicates the amount of strain experienced by the venous line 104 along each of the axes.

[0089] Based on the signals received from one or more of the sensors 226, 228, the blood treatment machine console 210 moves the treatment module 220 to prevent the blood lines 102, 104 from disconnecting from the dialyzer 100 or the needles 134, 136 from being removed from the patient 10. For example, in response to detecting increased strain along the blood lines 102, 104 based on the signals received from the sensors 226, 228, the blood treatment machine console 210 controls the arm 280 to reposition the module 220 to relieve the strain in the blood lines 102, 104. For example, based on the magnitude and direction of the strain along the arterial line 102 detected by the arterial line sensor 226, the control unit 240 of the blood treatment machine 200 determines the direction and distance by which the treatment module 220 must be moved in order to reduce the strain along the arterial line 102 by an amount sufficient to prevent the arterial line 102 from disconnecting from the dialyzer 100 or the needle 134 from being removed from the patient 10. Similarly, based on the magnitude and direction of the strain along the venous line 104 detected by the venous line sensor 228, the control unit 240 of the blood treatment machine console 210 determines the direction and distance by which the treatment module 220 must be moved in order to reduce the strain along the venous line 104 by an amount sufficient to prevent the venous line 104 from disconnecting from the dialyzer 100 or the needle 136 from being removed from the patient 10.

[0090] In some embodiments, the control module of the blood treatment machine console 210 determines whether the strain along one or more of the blood lines 102, 104 detected by the sensors 226, 228 exceeds a threshold strain. In response to determining that the strain along one or more of the blood lines 102, 104 detected by the sensors 226, 228 exceeds the threshold strain, the blood treatment machine console 210 may determine the direction and distance by which the treatment module 220 must be moved to reduce the strain along the blood lines 102, 104 by an amount sufficient to prevent the blood lines 102, 104 from disconnecting from the dialyzer 100 or the needles 134, 136 from being removed from the patient 10.

[0091] In some embodiments, after receiving a first signal from sensors 226, 228 indicating strain along one or more blood lines 102, 104, and before moving the arm 280 to relieve the detected strain, the blood treatment machine console 210 receives a second signal from the respective sensors 226, 228 indicating updated strain measurements along the respective blood lines 102, 104. In response to receiving the second signal from sensors 226, 228, the blood treatment machine console 210 determines whether further action is required.

[0092] For example, in some embodiments, if the first signal received by the blood treatment machine console 210 from the arterial line sensor 226 indicates strain along the arterial line 102, and the second signal received from the arterial line sensor 226 before movement of the arm 280 indicates that the strain along the arterial line 102 has increased, then the blood treatment machine console 210 will determine whether the strain along the arterial line 102 has increased by more than a threshold amount. In response to detecting that the strain along the arterial line 102 has increased by more than the threshold amount during the time between receiving the first and second signals (i.e., before moving the arm 280), the blood treatment machine console 210 recalculates the distance and direction that the treatment module 220 must move to reduce the strain along the arterial line 102 indicated in the second signal by an amount sufficient to prevent the blood lines 102, 104 from disconnecting from the dialyzer 100 or the needles 134, 136 from being removed from the patient 10.

[0093] Similarly, in some embodiments, if the first signal received by the blood treatment machine console 210 from the venous line sensor 228 indicates strain along the venous line 104, and the second signal received from the venous line sensor 228 before movement of the arm 280 indicates that the strain along the venous line 104 has increased, then the blood treatment machine console 210 will determine whether the strain along the venous line 104 has increased by more than a threshold amount. In response to detecting that the strain along the venous line 104 has increased by more than the threshold amount during the time between receiving the first and second signals (i.e., before moving the arm 280), the blood treatment machine console 210 recalculates the distance and direction that the treatment module 220 must move to reduce the strain along the venous line 104 indicated in the second signal by an amount sufficient to prevent the blood lines 102, 104 from disconnecting from the dialyzer 100 or the needles 134, 136 from being removed from the patient 10.

[0094] In some embodiments, if a first signal received by the blood treatment machine console 210 from the arterial line sensor 226 indicates strain along the arterial line 102, and a second signal received by the blood treatment machine console 210 from the arterial line sensor 226 before movement of the arm 280 indicates no longer any strain along the arterial line 102 or a reduction in strain along the arterial line 102 that exceeds a threshold amount, then the second signal may indicate that the arterial line 102 has been disconnected from the dialyzer 100 or that the needle 134 coupled to the arterial line 102 has been removed from the patient 10. For example, if the arterial line 102 has been disconnected from the dialyzer 100 or the needle 134 coupling the arterial line 102 to the patient 10 has been removed from the patient 10 (e.g., due to a high strain level along the arterial line 102), then any previously detected strain along the arterial line will be alleviated due to the disconnect or removal. Accordingly, based on comparing the first and second signals received by the blood treatment machine console 210 from the arterial line sensor 226, once it is determined that any previously detected strain along the arterial line 102 has been eliminated or reduced before moving the treatment module 220, the blood treatment machine console 210 controls the pump drive unit of the treatment module 220 coupled to the pump rotor 132 to stop pumping so as to stop or pause hemodialysis treatment. In some embodiments, in response to determining based on the second signal that any strain along the arterial line 102 has been eliminated or reduced before moving the treatment module 220, the blood treatment machine console 210 transmits an alarm indicating the disconnection of the arterial line 102 or the removal of the needle 134 to the operator of the blood treatment machine 200. In some embodiments, a signal indicating a reduction in strain along the arterial line 102 before movement of the arm 280 may be correlated with other data sources such as pumping pressure characteristics to identify a potential disconnection of the arterial line 102 from the dialyzer 100 or the removal of the needle 134 coupled to the arterial line 102 from the patient 10.

[0095] Similarly, if a first signal received by the blood treatment machine console 210 from the venous line sensor 228 indicates strain along the venous line 104, and a second signal received by the blood treatment machine console 210 from the venous line sensor 228 before movement of the arm 280 indicates no longer any strain along the venous line 104 or that the strain along the venous line 104 has decreased by more than a threshold amount, it is determined that the venous line 104 has been disconnected from the dialyzer 100, or that the needle 136 coupled to the venous line 104 has been removed from the patient 10. Thus, based on comparing the first and second signals received by the blood treatment machine console 210 from the venous line sensor 228, once it is determined that any previously detected strain along the venous line 104 has been eliminated or reduced before moving the treatment module 220, the blood treatment machine console 210 controls the pump drive unit of the treatment module 220 coupled to the pump rotor 132 to stop pumping, so as to stop or pause the hemodialysis treatment. In some embodiments, in response to determining, based on the second signal, that any strain along the venous line 104 has been eliminated or reduced before moving the treatment module 220, the blood treatment machine console 210 transmits an alarm indicating disconnection of the venous line 104 or removal of the needle 136 to the operator of the blood treatment machine 200. In some embodiments, a signal indicating a reduction in strain along the venous line 104 before movement of the arm 280 can be correlated with other data sources such as pumping pressure characteristics to identify a potential disconnection of the venous line 104 from the dialyzer 100 or removal of the needle 136 coupled to the venous line 104 from the patient 10.

[0096] Once it is determined the direction and distance by which the treatment module 220 must be moved in order to reduce the strain along the blood lines 102, 104 by an amount sufficient to prevent disconnection of the blood lines 102, 104 from the dialyzer 100 or removal of the needles 134, 136 from the patient 10, the blood treatment machine console 210 controls the arm 280 to move the treatment module 220 the determined distance in the determined direction. For example, causing the arm 280 to extend to move the treatment module 220 in the direction in which strain is occurring along the blood lines 102, 104 creates slack in the blood lines 102, 104 by reducing the distance between the patient ends of the blood lines 102, 104 and the treatment module 220, thereby reducing the strain in the blood lines 102, 104. In some embodiments, the blood treatment machine console 210 controls the arm 280 to continue moving the treatment module 220 in the direction of the detected strain until the blood treatment machine console 210 receives signals from the sensors 226, 228 indicating that the detected strain along the blood lines 102, 104 is below a threshold level of strain, or until the arm 280 is fully extended.

[0097] As described above, the arm 280 has three degrees of freedom of movement, which allows the treatment module to move along the respective axes of the strain detected by the sensors 226, 228 (e.g., the X, Y, and Z planes of the arterial line 102 and the X, Y, and Z planes of the venous line 104). By allowing movement in three dimensions, the arm 280 can precisely position the treatment module 220 to relieve the strain along the blood lines 102, 104. For example, based on signals received from the arterial line sensor 226 indicating the strain components (ε x , ε y , and ε z ) along the X, Y, and Z axes of the arterial line 102, the arm 280 can move the treatment module 220 an appropriate distance along each axis to relieve the strain along the arterial line 102 detected by the arterial line sensor 226. Similarly, in response to signals received from the venous line sensor 228 indicating the strain components (ε x , ε y , and ε z ) along the X, Y, and Z axes of the venous line 104, the arm 280 can move the treatment module 220 an appropriate distance along each axis to relieve the strain along the venous line 104 detected by the venous line sensor 228.

[0098] In addition to controlling the distance and direction of movement of the arm 280 in response to strain detection to reposition the treatment module 220, the blood treatment machine console 210 can also control the speed at which the arm 280 moves to reposition the treatment module 220. For example, in response to signals received from one or more of the sensors 226, 228 indicating strain along one or more of the blood lines 102, 104, the blood treatment machine console 210 can determine an appropriate speed to move the arm 280 based on the detected strain. In some embodiments, the blood treatment machine console 210 controls the arm 280 to move at a speed proportional to the amount of strain detected, such that the arm 280 moves at a higher speed in response to an increase in the strain level along the blood lines 102, 104. For example, a high level of strain along the blood lines 102, 104 can result in a high risk of disconnection of the corresponding blood lines 102, 104 or removal of the needles 134, 136 from the patient 10. To counter the increased risk of removal and disconnection caused by a high level of strain along the blood lines 102, 104, the arm 280 can be controlled to move at an increased speed whenever a high level of strain is detected along the blood lines 102, 104 compared to the speed at which the arm 280 moves when a lower level of strain is detected.

[0099] After moving the arm 280 in the direction and distance determined by the blood treatment machine console 210, the blood treatment machine console 210 receives another signal from the respective sensors 226, 228. In response to receiving the second signal from the sensors 226, 228, the blood treatment machine console 210 determines whether further action is required to reduce the strain along one or more blood lines 102, 104 by an amount sufficient to prevent the blood lines 102, 104 from disconnecting from the dialyzer 100 or the needles 134, 136 from being removed from the patient 10. For example, if the second signal received from the respective sensors 226, 228 indicates no strain along either blood line 102, 104 (or indicates that the strain along the blood lines 102, 104 is below a threshold level), then the blood treatment machine console 210 stops the movement of the arm 280. Additionally, if the second signal received from the respective sensors 226, 228 indicates that the strain along the blood lines 102, 104 is less than a threshold amount of strain and does not pose a risk of disconnecting the blood lines 102, 104 from the dialyzer 100 or removing the needles 134, 136 from the patient 10, then the blood treatment machine console 210 stops the movement of the arm 280.

[0100] However, if the second signal received by the blood treatment machine console 210 from either sensor 226, 228 indicates that there is still a strain along one or more blood lines 102, 104 that is above a threshold amount and there is a risk of disconnecting the blood lines 102, 104 from the dialyzer 100 and / or removing the needles 134, 136 from the patient 10, then the blood treatment machine console 210 determines the change in strain along the blood lines 102, 104. For example, the blood treatment machine console 210 can compare the strain indicated in the first signal received from the sensors 226, 228 before moving the treatment module 220 with the strain indicated in the second signal received from the sensors 226, 228 after moving the treatment module 220 in order to determine the amount of strain reduced along the blood lines 102, 104 due to the movement of the treatment module 220.

[0101] In some embodiments, a change in strain along blood lines 102, 104 resulting from a movement of treatment module 220 below a threshold amount indicates an obstruction along the respective blood lines 102, 104. For example, if one of blood lines 102, 104 is obstructed or otherwise hooked on an object near blood treatment machine 200, such as the chair on which patient 10 is sitting, the movement of treatment module 220 may be ineffective in reducing the strain along the obstructed line. Thus, the movement of treatment module 220 via arm 280 may result in a change in strain along the obstructed blood lines 102, 104 that is less than the threshold amount. Accordingly, when it is determined, based on comparing a first signal and a second signal, that the strain along one or more blood lines 102, 104 has been reduced to less than a threshold amount after repositioning treatment module 220, blood treatment machine console 210 transmits an alert indicating an obstruction in the respective blood lines 102, 104 to an operator of blood treatment machine 200. For example, in response to detecting a potential obstruction along blood lines 102, 104, an alert message may be displayed on user interface 212 of blood treatment machine 200. In some embodiments, in response to detecting a potential obstruction along blood lines 102, 104, blood treatment machine 200 generates an audible signal emitted from a speaker of blood treatment machine 200. In some embodiments, the alert message is transmitted to one or more computing devices (e.g., mobile phone, tablet computer, laptop computer, etc.) of patient 10 or another user associated with blood treatment machine 200. In some embodiments, in response to determining that the strain along one or more blood lines 102, 104 has been reduced to less than a threshold amount after repositioning treatment module 220, blood treatment machine console 210 controls a pump drive unit of treatment module 220 coupled to pump rotor 132 to stop pumping, so as to stop the hemodialysis treatment.

[0102] Sensors 226, 228 continue to monitor the strain along blood lines 102, 104 and transmit signals to blood treatment machine console 210 in real time throughout the hemodialysis treatment. Blood treatment machine console 210 re-positions treatment module 220 in real time throughout the hemodialysis treatment in response to the strain along blood lines 102, 104 detected by sensors 226, 228.

[0103] In some embodiments, once hemodialysis treatment is complete, the blood treatment machine console 210 receives a signal indicating treatment completion, and in response, the control arm 280 moves the blood treatment module to a predetermined position. For example, upon receiving a signal from one or more sensors of the treatment module 220 indicating treatment completion, the controller 240 may transmit a signal indicating treatment completion to the blood treatment machine console 210. In some implementations, the patient 10 or another user of the blood treatment machine 200 uses the user interface 212 of the blood treatment machine 200 to select a control indicating treatment completion, and in response to that selection, the controller 240 transmits a signal indicating treatment completion to the blood treatment machine console 210. In some embodiments, after hemodialysis treatment has been completed, an operator of the blood treatment machine 200 may use the controller 240 to adjust the position of the treatment module 220. For example, after hemodialysis treatment is complete, an operator of the blood treatment machine 200 may use the user interface 212 of the blood treatment machine console 210 to position the treatment module 220 in the "original position". In some implementations, an operator of the blood treatment machine 200 may use the user interface 212 of the blood treatment machine console 210 to select an option to position the treatment module 220 in a position close to the patient after hemodialysis treatment has been completed to facilitate disconnection of the blood lines 102, 104 from the dialyzer 100 and the patient 10.

[0104] Although certain embodiments have been described above, other embodiments are possible.

[0105] For example, although the arterial line sensor 226 and the venous line sensor 228 have been described as being located on and coupled to the treatment module 220, other configurations of strain sensors may alternatively be provided. For example, Figure 3 FIG. 3 shows a blood treatment system 3 in which an arterial line sensor 326 is positioned along and in contact with the arterial line 102 near the end of the arterial line 102 that is coupled to the needle 134, the needle 134 being used to attach the arterial line 102 to the patient 10. Similar to Figure 1For the arterial line sensor 226, the arterial line sensor 326 is configured to detect strain along the arterial line 102 during hemodialysis treatment. Similarly, the venous line sensor 328 of the blood treatment system 3 is positioned along and in contact with the venous line 104 near one end of the venous line 104 that is coupled to the needle 136 for attaching the venous line 104 to the patient 10. The venous line sensor 328 is configured to detect strain along the venous line 104 during hemodialysis treatment. By positioning the sensors 326, 328 near the needles 134, 136 that connect the blood lines 102, 104 to the patient 10, the strain along the blood lines 102, 104 near the insertion points where the needles 134, 136 are inserted into the patient 10 can be detected more accurately, which allows for improved detection and prevention of the needles 134, 136 from moving out of the patient 10. The sensors 326, 328 can include any suitable type of sensor for detecting strain, including but not limited to strain gauges, resistors, load cells, and the like.

[0106] The sensors 326, 328 are communicatively coupled to the blood treatment machine console 210 and transmit signals indicative of the tension along the blood lines 102, 104 to the blood treatment machine console 210 in real time during treatment. In some embodiments, the sensors 326, 328 are wireless strain sensors that communicate signals indicative of the strain along the blood lines 102, 104 using any suitable form of wireless communication, including but not limited to WiFi, Bluetooth, and the like. By wirelessly communicating with the blood treatment machine console 210 to transmit the strain signals, the arterial line sensor 326 and the venous line sensor 328 can be positioned at any location between the treatment module 220 and the needles 134, 136 along the arterial line 102 and the venous line 104, respectively. In some examples, the sensors 326, 328 are wired to the blood treatment machine console 210 and communicate signals to the blood treatment machine console 210 through the wiring between the sensors 326, 328 and the blood treatment machine console 210.

[0107] Although the blood treatment system has been described as including a single arterial line sensor and a single venous line sensor, other numbers of arterial line sensors and venous line sensors can be used to monitor the tension along the arterial line 102 and the venous line 104 during hemodialysis treatment. For example, Figure 4 A blood treatment system 4 including two arterial line sensors 226, 326 and two venous line sensors 228, 328 is depicted. As Figure 4As shown, the first arterial line sensor 226 can be coupled to the treatment module 220. The second arterial line sensor 326 can be coupled to the arterial line 102 near the end of the arterial line 102 that connects to the needle 134 attaching the arterial line 102 to the patient 10. Similarly, the first venous line sensor 228 can be coupled to the treatment module 220 and contact the venous line 104. The second venous line sensor 328 can be coupled to the venous line 104 near the end of the venous line 104 that connects to the needle 136 attaching the venous line 104 to the patient 10.

[0108] As previously described, the arterial line sensor 326 and the venous line sensor 328 positioned along the blood lines 102, 104 near the patient ends of the blood lines 102, 104 can be wireless sensors configured to wirelessly transmit signals indicative of strain along the blood lines 102, 104 to the blood treatment machine console 210. In contrast, the arterial line sensor 226 and the venous line sensor 228 coupled to the treatment module 220 can be wire-connected to the treatment module 220 and / or the blood treatment machine console 210 and transmit signals indicative of strain along the blood lines 102, 104 to the blood treatment machine console 210 via a wired connection between the sensors 226, 228 and the blood treatment machine console 210. Alternatively, all strain sensors 226, 228, 326, 328 can be wireless strain sensors configured to wirelessly transmit signals indicative of strain along the blood lines 102, 104 to the blood treatment machine console 210. In some embodiments, all strain sensors 226, 228, 326, 328 are wire-connected to the treatment module 220 and / or the blood treatment machine console 210.

[0109] Although in Figure 1 , 3In FIGS. 3 and 4, the arterial line sensor and the venous line sensor are depicted as being in surface contact with the surfaces of the arterial line 102 and the venous line 104. However, in some embodiments, the arterial line sensor and the venous line sensor are embedded within the blood lines 102, 104 to measure the strain along the respective blood lines 102, 104. For example, the arterial line sensor and the venous line sensor can each be provided as wireless strain sensors that are respectively embedded or otherwise fabricated into the blood lines 102, 104. When the blood lines 102, 104 are subjected to strain, the embedded strain sensors detect and measure the strain along the blood lines 102, 104 and wirelessly transmit the detected strain along the blood lines 102, 104 to the blood treatment machine console 210. In some embodiments, the blood lines 102, 104 can each include an embedded conductive material that forms a strain gauge along the length of each respective blood line 102, 104, and based on the measurement of the strain experienced by the conductive material, the strain can be detected along the length of each respective blood line 102, 104. In some embodiments, a conductive coating or conductive outer layer is coated along the length of each respective blood line 102, 104, and based on the measurement of the strain experienced by the conductive coating or conductive outer layer, the strain can be detected along the length of each respective blood line 102, 104.

[0110] In addition, although the blood treatment system has been described as including strain sensors coupled to or embedded within the blood lines 102, 104, the strain sensors of the blood treatment system can alternatively or additionally be positioned to contact other parts of the blood treatment system. For example, as Figure 5 shown, the blood treatment system 5 can include strain sensors 526, 528 that are positioned within and coupled to one or more joints of the arm 280 that is coupled to the treatment module 220 and that are configured to measure the strain applied to the one or more blood lines 102, 104.

[0111] As Figure 5As shown and as previously described, the blood lines 102, 104 of the blood treatment system 5 are attached to the dialyzer 100 respectively, the dialyzer 100 is attached to the treatment module 220, and the treatment module 220 is coupled to the arm 280. Thus, when strain occurs along the blood lines 102, 104 (e.g., due to movement of the patient 10's arm 12), at least a portion of the force causing the strain along the blood lines 102, 104 is transferred to the dialyzer 100 and the treatment module 220, and then the dialyzer 100 and the treatment module 220 transfer the at least a portion of the force to the arm 280. The strain sensors 526, 528 are configured to detect the force applied to the joints of the arm 280 and transmit a signal indicating the force applied to the joints of the arm 280 to the blood treatment machine console 210. The blood treatment machine console 210 can apply a pre - determined relationship between the strain along the blood lines 102, 104 and the force transferred to the joints of the arm 280 to the signal received from the sensors 256, 258 in order to determine the strain along the blood lines 102, 104 based on the sensor signal. Based on this determination of the strain along the blood lines 102, 104, the blood treatment machine console 210 can determine the direction and distance that the treatment module 220 must move in order to reduce the detected strain along the blood lines 102, 104 by an amount sufficient to prevent the blood lines 102, 104 from disconnecting from the dialyzer 100 or the needles 134, 136 from being removed from the patient 10, as described above.

[0112] Although Figure 5 FIG. depicts two strain sensors 526, 528 coupled to the joints of the arm 280 of the blood treatment machine 200, other numbers of strain sensors coupled to the arm 280 can also be used. For example, the system 5 can include strain sensors in each joint of the arm 280 such that the number of strain sensors is equal to the total number of joints in the arm 280. In some embodiments, the blood treatment system 5 can include strain sensors in contact with the blood lines 102, 104, as well as the strain sensors 256, 258 coupled to the joints of the arm 280.

[0113] Although the sensors for detecting the tension along the blood lines 102, 104 have been described as strain sensors, other types of sensors can also be used to detect the tension along the blood lines 102, 104 of the blood treatment system. Figures 6 - 9 FIG. depicts a schematic diagram of an alternative blood treatment system having one or more sensors for detecting the tension along one or more blood lines.

[0114] In some embodiments, rather than using strain sensors to detect the tension in the blood lines 102, 104, the blood treatment system can include one or more sensors configured to detect the position of a portion of the blood lines 102, 104 to determine the tension along the blood lines 102, 104. For example, as Figure 6 shown, the blood treatment system 6 can include a pair of sensors 626, 628 attached to the blood lines 102, 104 and configured to detect the position of the portions of the blood lines 102, 104 coupled to the sensors 626, 628. The sensors 626, 628 can be any suitable type of sensor for detecting the position and / or movement of the blood lines 102, 104, including but not limited to accelerometers (e.g., 3D accelerometers), gyroscopic sensors, ultrasonic sensors, proximity sensors, optical sensors, magnetometers, global positioning sensors, radio triangulation sensors (e.g., as in a keyless access system for a vehicle or based on WiFi, Bluetooth, or similar technologies), and the like. The sensors 626, 628 are communicatively coupled to the blood treatment machine console 210 and are configured to transmit signals indicating the position, orientation, and / or movement of the portions of the blood lines 102, 104 near the sensors 626, 628 to the blood treatment machine console 210 in real time during hemodialysis treatment. In some embodiments, the sensors 626, 628 are configured to detect the position of the portions of the blood lines 102, 104 coupled to the sensors 626, 628 in three-dimensional space and transmit the coordinates indicating the position of the portions of the blood lines 102, 104 coupled to the sensors 626, 628 in three-dimensional space to the blood treatment machine console 210.

[0115] For example, the first sensor 626 can be an accelerometer attached near the end of the arterial line 102 that couples the arterial line 102 to the needle 134 connected to the patient 10. The second sensor 628 can be an accelerometer attached near the end of the venous line 104 that couples the venous line 104 to the needle 136 connected to the patient 10. The sensors 626, 628 are configured to detect the movement of the portions of the arterial line 102 and the venous line 104 near the sensors 626, 628, respectively. For example, if the patient 10 moves their arm 12, the ends of the blood lines 102, 104 near the sensors 626, 628 will accordingly move, and this movement of the blood lines 102, 104 will be detected by the sensors 626, 628. In some embodiments, the sensors 626, 682 are configured to detect the speed and direction of the movement of the portions of the blood lines 102, 104 near the sensors 626, 628.

[0116] During hemodialysis, sensors 626, 628 transmit signals indicating the position, speed, and direction of movement of portions of blood lines 102, 104 near sensors 626, 628 to the blood treatment machine console 210 in real time. In response, the blood treatment machine console 210 can determine the amount of strain along each of blood lines 102, 104 based on the signals received from sensors 626, 286 indicating the position and movement of blood lines 102, 104. For example, based on the position of portions of blood lines 102, 104 near sensors 626, 628 relative to the position of treatment module 220, the distance between the portions of blood lines 102, 104 near sensors 626, 628 and treatment module 220 can be determined. In some embodiments, the blood treatment machine console 210 determines the position of treatment module 220 based on one or more position sensors 640, 642 coupled to treatment module 220 and / or arm 280. Based on the determined distance between the portions of blood lines 102, 104 near sensors 626, 628 and the position of treatment module 220, and the length of blood lines 102, 104 between sensors 626, 628 and treatment module 220, the blood treatment machine console 210 can determine the amount of strain occurring along blood lines 102, 104.

[0117] Based on this determination of the strain along blood lines 102, 104, the blood treatment machine console 210 can determine the distance and direction that treatment module 220 must move in order to reduce the detected strain along blood lines 102, 104 by an amount sufficient to prevent blood lines 102, 104 from disconnecting from dialyzer 100 or needles 134, 136 from being removed from patient 10, as described above. In some embodiments, in response to detecting movement of portions of blood lines 102, 104 near sensors 626, 628, the blood treatment machine console 210 automatically controls arm 280 to move treatment module 220 toward the detected position of the portions of blood lines 102, 104 near sensors 626, 628 in order to create slack in blood lines 102, 104.

[0118] In some embodiments, the risk that the blood lines 102, 104 are disconnected from the dialyzer 100 or the needles 134, 136 are removed from the patient 10 is determined based on the detected distance between the position sensors 626, 628 and the position of the treatment module 220, without the need to calculate the strain along the blood lines 102, 104. For example, as described above, based on the signals received from the position sensors 626, 628, 640, 642, the blood treatment machine console 210 can determine, in real time during treatment, the distance between the portions of the blood lines 102, 104 near the sensors 626, 628 and the treatment module 220 in one or more planes. In some embodiments, if the blood treatment machine console 210 determines that the distance between the portions of the blood lines 102, 104 near the sensors 626, 628 and the treatment module 220 exceeds a threshold distance associated with an increased risk of removal or disconnection of the blood lines 102, 104, the blood treatment machine console 210 automatically controls the arm 280 to move the treatment module 220 towards the detected position of the portions of the blood lines 102, 104 near the sensors 626, 628. For example, the blood treatment machine console 210 can control the arm 280 to move the treatment module 220 towards the detected position of the portions of the blood lines 102, 104 near the sensors 626, 628 until the distance between the portions of the blood lines 102, 104 near the sensors 626, 628 and the treatment module 220 is less than the threshold distance.

[0119] In some embodiments, based on the signals received from the sensors 626, 628, the blood treatment machine console 210 can predict the future movement of the portions of the blood lines 102, 104 near the sensors 626, 628. Based on this predicted movement, the blood treatment machine console 210 can control the arm 280 to move the treatment module 220 in a direction that counteracts any increased strain that may be caused by the predicted movement.

[0120] Although Figure 6 two position sensors 626, 628 coupled to the blood lines 102, 104 are depicted, other numbers of position sensors 626, 628 can be used to determine the position, orientation, and / or movement of the blood lines 102, 104. Additionally, although Figure 6 the position sensors 626, 628 are depicted as being coupled to the portions of the blood lines 102, 104 near the patient end of the blood lines 102, 104, the position sensors can be located at other points along the blood lines 102, 104.

[0121] In some embodiments, instead of coupling a strain sensor to blood lines 102, 104, the blood treatment system includes a position sensor attached to the arm 12 of the patient 10, the position sensor being configured to track the position of the patient's arm 12 and to determine the tension along the blood lines 102, 104 based on the position of the patient's arm 12. For example, as Figure 7 shown, during hemodialysis treatment performed by the blood treatment system 7, the patient 10 may wear or otherwise attach a wearable positioning device 726 on their arm 12. The wearable positioning device 726 may be any suitable type of sensor for detecting the position and / or movement of the patient's arm 12, including but not limited to accelerometers (e.g., 3D accelerometers), gyroscopic sensors, ultrasonic sensors, proximity sensors, optical sensors, magnetometers, global positioning sensors, radio triangulation sensors (e.g., as in a keyless access system for a car or based on WiFi, Bluetooth, or similar technologies), fitness trackers, smartwatches, and the like.

[0122] The wearable positioning device 726 is configured to wirelessly transmit in real time to the blood treatment machine console 210 a signal indicating the position, orientation, and / or movement of the patient's arm 12 during hemodialysis treatment. For example, in some embodiments, the wearable positioning device 726 is configured to wirelessly transmit to the blood treatment machine console 210 a signal indicating the position, orientation, and / or movement of the patient's arm 12 using near field communication. In some embodiments, the wearable positioning device 726 is configured to detect the position in three-dimensional space of a portion of the patient's arm 12 that is proximate to the wearable positioning device 726 (e.g., the patient's wrist) and to transmit in real time to the blood treatment machine console 210 the coordinates indicating the position in three-dimensional space of the portion of the patient's arm 12 that is proximate to the wearable positioning device 726.

[0123] Based on the signal received from the wearable positioning device 726, the blood treatment machine console 210 may detect or predict the tension along the blood lines 102, 104. For example, once the blood lines 102, 104 are attached to the treatment module 220 and the patient's arm 12 (via needles 134, 136), movement of the patient's arm 12 away from the treatment module 220 may cause an increase in the tension along the blood lines 102, 104. Thus, by tracking the position of the patient's arm 12 using the wearable positioning device 726 on the patient's wrist during hemodialysis, the tension along the blood lines 102, 104 can be detected or predicted.

[0124] For example, based on the position of a portion of the wearable positioning device 726 proximate to the patient's arm 12 relative to the position of the treatment module 220, and based on the known or approximate distances between the wearable positioning device 726 and the patient ends of the respective blood lines 102, 104, the distances between the patient ends of the respective blood lines 102, 104 and the treatment module 220 can be determined based on signals received from the wearable positioning device 726. As previously described, the blood treatment machine console 210 can determine the position of the treatment module 220 based on one or more position sensors 740, 742 coupled to the treatment module 220 and / or the arm 280. Based on the determined distances between the patient ends of the respective blood lines 102, 104 and the treatment module 220 and the pre-determined lengths of the blood lines 102, 104 between the patient ends of the blood lines 102, 104 and the treatment module 220, the blood treatment machine console 210 can determine the amount of strain occurring along the blood lines 102, 104.

[0125] Based on this determination of the strain along the blood lines 102, 104, the blood treatment machine console 210 can determine the distance and direction in which the treatment module 220 must be moved in order to reduce the strain along the blood lines 102, 104 by an amount sufficient to prevent the blood lines 102, 104 from disconnecting from the dialyzer 100 or the needles 134, 136 from being removed from the patient 10, as described above. In some embodiments, in response to detecting during hemodialysis treatment that the patient 10 has moved their arm 12 away from the treatment module 220 based on signals received from the wearable positioning device 726, the blood treatment machine console 210 automatically controls the arm 280 to move the treatment module 220 towards the patient 10 (e.g., towards the detected position of the wearable positioning device 726) in order to create slack in the blood lines 102, 104.

[0126] In some embodiments, the risk that the blood lines 102, 104 become disconnected from the dialyzer 100 or that the needles 134, 136 are removed from the patient 10 is determined based on the detected distance between the wearable positioning device 726 and the position of the treatment module 220, without the need to calculate the strain along the blood lines 102, 104. For example, as previously described, based on the known or approximate distances between the wearable positioning device 726 and the patient ends of the respective blood lines 102, 104, the signals received from the wearable positioning device 726, and the signals received from the position sensors 740, 742, the blood treatment machine console 210 can determine, in real time during treatment, the distances in one or more planes between the patient ends of the respective blood lines 102, 104 and the treatment module 220. In some embodiments, if the blood treatment machine console 210 determines that the distance between the patient ends of the respective blood lines 102, 104 and the treatment module 220 exceeds a threshold distance associated with an increased risk of disconnection or removal of the blood lines 102, 104, the blood treatment machine console 210 automatically controls the arm 280 to move the treatment module 220 towards the detected position of the wearable positioning device 726. For example, the blood treatment machine console 210 can control the arm 280 to move the treatment module 220 towards the detected position of the wearable positioning device 726 until the distance between the patient ends of the respective blood lines 102, 104 (as determined based on the position of the wearable positioning device 726) and the treatment module 220 is less than the threshold distance.

[0127] In some embodiments, based on the signals received from the wearable positioning device 726 and based on the known or approximate distances between the wearable positioning device 726 and the patient ends of the respective blood lines 102, 104, the blood treatment machine console 210 can predict the future movement of the patient ends of the respective blood lines 102, 104. Based on this predicted movement, the blood treatment machine console 210 can control the arm 280 to move the treatment module 220 in a direction that counteracts any increased strain that may be caused by the predicted movement.

[0128] In some embodiments, an image sensor can be used to determine or predict the tension along the blood lines 102, 104 of the blood treatment system. For example, as Figure 8 shown, in some embodiments, the blood treatment system 8 includes an image sensor 826 that can be used to track a portion of the patient's arm 12 in order to detect or predict the tension along the blood lines 102, 104. As Figure 8As shown, the blood treatment system 8 includes an image sensor 826 positioned on the blood treatment machine console 210 and pointing at the arm 12 of the patient 10. Additionally, a passive device 830 for reflecting light is positioned on the arm 12 of the patient 10. The passive device 830 can include any suitable device or material that reflects infrared light, including but not limited to reflective tapes, retroreflectors, and the like. For example, the passive device 830 can include a reflective tape for taping and securing the needles 134, 136 to the arm 12 of the patient 10. The image sensor 826 can include any acceptable image sensor configured to detect the reflected infrared light, including but not limited to infrared sensors, digital cameras, thermal imaging cameras, video cameras, camcorders, and the like.

[0129] During hemodialysis treatment, the image sensor 826 tracks the infrared light reflected by the passive device 830 positioned on the arm 12 of the patient. The image sensor 826 is configured to transmit, in real time, a signal indicating the pattern of light reflected by the passive device 830 and detected by the image sensor 826 to the blood treatment machine console 210 via a wired connection or a wireless connection. Based on the pattern of light reflected from the passive device 830 detected by the image sensor 826, the blood treatment machine console 210 can determine the position of the portion of the patient's arm 12 proximate to the passive device 830.

[0130] By using an image sensor 826 that tracks the pattern of reflected light generated by the passive device 830 on the arm 12 of the patient during hemodialysis treatment to track the position of the arm 12 of the patient relative to the treatment module 220, strain along the blood lines 102, 104 can be detected. For example, based on the position of the portion of the patient's arm 12 proximate to the passive device 830 relative to the treatment module 220, and based on the known or approximate distances between the passive device 830 and the patient ends of the respective blood lines 102, 104, the distances between the patient ends of the respective blood lines 102, 104 and the treatment module 220 can be determined. As previously described, the blood treatment machine console 210 can determine the position of the treatment module 220 based on one or more position sensors 840, 842 coupled to the treatment module 220 and / or the arm 280. Based on the determined distances between the patient ends of the respective blood lines 102, 104 and the treatment module 220 and the pre-determined lengths of the blood lines 102, 104 between the patient ends of the blood lines 102, 104 and the treatment module 220, the blood treatment machine console 210 can determine the amount of strain occurring along the blood lines 102, 104.

[0131] Based on this determination of the strain along blood lines 102, 104, the blood treatment machine console 210 can determine the distance and direction that the treatment module 220 must move in order to reduce the detected strain along blood lines 102, 104 by an amount sufficient to prevent the blood lines 102, 104 from disconnecting from the dialyzer 100 or the needles 134, 136 from being removed from the patient 10, as described above. In some embodiments, in response to detecting, based on signals from the image sensor 826, that the patient 10 has moved their arm 12 away from the treatment module 220 during hemodialysis treatment, the blood treatment machine console 210 automatically controls the arm 280 to move the treatment module 220 towards the patient's arm 12 (e.g., towards the detection location of the passive device 830) in order to create slack in the blood lines 102, 104.

[0132] In some embodiments, the risk of the blood lines 102, 104 disconnecting from the dialyzer 100 or the needles 134, 136 being removed from the patient 10 is determined based on the detected distance between the patient ends of the blood lines 102, 104 and the position of the treatment module 220, without detecting the strain along the blood lines 102, 104. For example, as described above, based on the known or approximate distances between the passive device 830 and the patient ends of the respective blood lines 102, 104, signals from the image sensor 826 indicating the position of the passive device 830, and signals received from the position sensors 840, 842, the blood treatment machine console 210 can determine, in real time during treatment, the distance in one or more planes between the patient ends of the blood lines 102, 104 and the treatment module 220. In some embodiments, if the blood treatment machine console 210 determines that the distance between the patient ends of the blood lines 102, 104 and the treatment module 220 exceeds a threshold distance associated with an increased risk of removal or disconnection of the blood lines 102, 104, the blood treatment machine console 210 automatically controls the arm 280 to move the treatment module 220 towards the detection location of the passive device 830. For example, the blood treatment machine console 210 can control the arm 280 to move the treatment module 220 towards the detection location of the passive device 830 until the distance between the patient ends of the respective blood lines 102, 104 (as determined based on the position of the passive device 830) and the treatment module 220 is less than the threshold distance.

[0133] In some embodiments, based on signals received from the image sensor 826 and based on the known or approximate distances between the passive device 830 and the patient ends of the respective blood lines 102, 104, the blood treatment machine console 210 may predict the future movement of the patient ends of the respective blood lines 102, 104. Based on the predicted movement, the blood treatment machine console 210 may control the arm 280 to move the treatment module 220 in a direction that counteracts any increased strain that may be caused by the predicted movement.

[0134] Although Figure 8 the passive device 830 is depicted as being positioned on the arm 12 of the patient 10, the passive device 830 may alternatively or additionally be positioned on other surfaces. For example, in some embodiments, the passive device 830, such as a reflective material, may be positioned on or embedded within a portion of the respective blood lines 102, 104, and the image sensor 826 may be used to track the position of the blood lines 102, 104 to detect the tension in the blood lines 102, 104.

[0135] Although the passive device 830 has been described as a reflective material, in some embodiments, the passive device is color keyed, and the image sensor 826 is configured to detect and track the color of the passive device. For example, the image sensor 826 may be configured to transmit, in real time, a signal indicating the position of the passive device 830 detected by the image sensor 826 based on the color of the passive device to the blood treatment machine console 210 via a wired connection or a wireless connection.

[0136] In addition, although Figure 8 the image sensor 826 is depicted as being positioned on the blood treatment machine console 210, the image sensor 826 may also be positioned on other parts of the blood treatment system 8. For example, in some embodiments, the image sensor 826 is coupled to or integrated into the treatment module 220. In some embodiments, the image sensor 826 is coupled to the chair on which the patient 10 sits during treatment. In addition, although Figure 8 a single image sensor 826 is depicted, other numbers of image sensors 826 may be used.

[0137] As Figure 9As shown, for example, the blood treatment system 9 includes image sensors 926, 928 that track the position of one or more objects attached to or near the blood treatment machine 200 to detect or predict the tension along the blood lines 102, 104. For example, the image sensors 926, 928 can capture images of the patient 10 and / or the blood lines 102, 104 during hemodialysis treatment and transmit the images to a computing device (e.g., the controller 240) of the blood treatment machine console 210. The computing device of the blood treatment machine console 210 can use a trained machine learning model to process the images received from the image sensors 926, 928 to detect the position of the patient 10 and / or the blood lines 102, 104 based on the images captured by the image sensors 926, 928. The image sensors 926, 928 can include any acceptable image sensor configured to capture images, including but not limited to digital cameras, video cameras, camcorders, and the like.

[0138] For example, as Figure 9 shown, the image sensors 926, 928 can be positioned on the blood treatment machine console 210 and configured to capture images of the patient's arm 12 throughout the hemodialysis treatment. The images of the patient's arm 12 captured by the image sensors 926, 928 are communicated in real time to the computing device of the blood treatment machine console 210 via a wired or wireless connection. The computing device of the blood treatment machine console 210 uses a trained machine learning model to process the images of the patient's arm 12 received from the image sensors 926, 928 to determine the position of the patient's arm 12 in three-dimensional space. Based on the position that determines the position of the detected portion of the patient's arm 12 relative to the treatment module 220 and based on the known or approximate distance between the detected portion of the patient's arm 12 and the patient ends of the respective blood lines 102, 104, the distance between the patient ends of the respective blood lines 102, 104 and the treatment module 220 can be determined. As previously described, the blood treatment machine console 210 can determine the position of the treatment module 220 based on one or more position sensors 940, 942 coupled to the treatment module 220 and / or the arm 280. Based on the determined distance between the patient ends of the respective blood lines 102, 104 and the treatment module 220 and the pre-determined length of the blood lines 102, 104 between the patient ends of the blood lines 102, 104 and the treatment module 220, the blood treatment machine console 210 can determine the amount of strain occurring along the blood lines 102, 104.

[0139] Based on this determination of the strain along blood lines 102, 104, the blood treatment machine console 210 can determine the distance and direction that the treatment module 220 must move in order to reduce the detected strain along blood lines 102, 104 to an amount sufficient to prevent the blood lines 102, 104 from disconnecting from the dialyzer 100 or the needles 134, 136 from being removed from the patient 10, as described above. In some embodiments, in response to detecting during hemodialysis treatment that the patient 10 has moved their arm 12 away from the treatment module 220 based on signals from image sensors 926, 928, the blood treatment machine console 210 automatically controls the arm 280 to move the treatment module 220 towards the patient 10 (e.g., towards the detected position of the patient's arm 12) in order to create slack in the blood lines 102, 104.

[0140] In some embodiments, image sensors 926, 928 can be used to track the position of blood lines 102, 104 in order to determine the tension along blood lines 102, 104. For example, image sensors 926, 928 can be positioned on the blood treatment machine console 210 and configured to capture images of the ends of the respective blood lines 102, 104 that are coupled to the needles 134, 136 (i.e., the "patient ends" of the blood lines 102, 104) throughout the hemodialysis treatment. Images of the patient ends of the respective blood lines 102, 104 captured by the image sensors 926, 928 are communicated in real time via a wired or wireless connection to the computing device of the blood treatment machine console 210. The computing device of the blood treatment machine console 210 processes the images of the patient ends of the respective blood lines 102, 104 received from the image sensors 926, 928 using a trained machine learning model to determine the position of the patient ends of the respective blood lines 102, 104 in three-dimensional space. As described above, based on the position that determines the position of the patient ends of the respective blood lines 102, 104 relative to the treatment module 220, and based on the pre-determined length of the blood lines 102, 104 between the patient ends of the blood lines 102, 104 and the treatment module 220, the blood treatment machine console 210 can determine the amount of strain occurring along the blood lines 102, 104.

[0141] Based on this determination of the strain along blood lines 102, 104, the blood treatment machine console 210 can determine the distance and direction in which the treatment module 220 must be moved in order to reduce the detected strain along blood lines 102, 104 by an amount sufficient to prevent the blood lines 102, 104 from disconnecting from the dialyzer 100 or the needles 134, 136 from being removed from the patient 10, as described above. In some embodiments, in response to determining, based on signals from image sensors 926, 928, that the patient ends of the blood lines 102, 104 have moved away from the treatment module 220, the blood treatment machine console 210 automatically controls the arm 280 to move the treatment module 220 toward the detected position of the patient ends of the blood lines 102, 104 in order to create slack in the blood lines 102, 104.

[0142] In some embodiments, the risk of the blood lines 102, 104 disconnecting from the dialyzer 100 or the needles 134, 136 being removed from the patient 10 is determined based on the detected distance between the patient ends of the blood lines 102, 104 and the position of the treatment module 220, without the need to calculate the strain along the blood lines 102, 104. For example, as described above, based on signals received from image sensors 926, 928 indicating the position of the patient ends of the blood lines 102, 104 and signals received from position sensors 940, 942, the blood treatment machine console 210 can determine, in real time during treatment, the distance in one or more planes between the patient ends of the blood lines 102, 104 and the treatment module 220. In some embodiments, if the blood treatment machine console 210 determines that the distance between the patient ends of the blood lines 102, 104 and the treatment module 220 exceeds a threshold distance associated with an increased risk of removal or disconnection of the blood lines 102, 104, the blood treatment machine console 210 automatically controls the arm 280 to move the treatment module 220 toward the detected position of the patient ends of the blood lines 102, 104. For example, the blood treatment machine console 210 can control the arm 280 to move the treatment module 220 toward the detected position of the patient ends of the blood lines 102, 104 until the distance between the patient ends of each of the blood lines 102, 104 and the treatment module 220 is less than the threshold distance.

[0143] In some embodiments, based on signals received from image sensor 926, the blood treatment machine console 210 can predict the future movement of the patient ends of the respective blood lines 102, 104. Based on this predicted movement, the blood treatment machine console 210 can control the arm 280 to move the treatment module 220 in a direction that counteracts any increased strain that may be caused by the predicted movement.

[0144] Although Figure 9Image sensors 926, 928 are depicted as being positioned on the blood treatment machine console 210, but one or more of the image sensors 926, 928 can be positioned on other parts of the blood treatment system 9. For example, in some embodiments, one or more of the image sensors 926, 928 are coupled to or integrated into the treatment module 220. In some embodiments, one or more of the image sensors 926, 928 are coupled to the chair on which the patient 10 sits during treatment. Additionally, although Figure 9 two image sensors 926, 928 are depicted, other numbers of image sensors 926, 928 can be used. Additionally, although the image sensors 926, 928 have been discussed as being configured to capture images of the patient's arm and the patient end of the blood lines 102, 104, the image sensors 926, 928 can additionally or alternatively capture images of other objects in or near the blood treatment system 9 in order to determine the tension along the blood lines 102, 104.

[0145] Although the signals from the various sensors 226, 228, 326, 328, 526, 528, 626, 628, 726, 826, 926 described above have been described as being transmitted to and processed by the blood treatment machine console 210 to determine the tension along the blood lines 102, 104, the electronic devices and / or control devices that receive and interpret the output signals from the sensors 226, 228, 326, 328, 526, 626, 628, 726, 826, 926 can alternatively or additionally be located in the treatment module 220, the arm 280, and / or elsewhere.

[0146] In some embodiments, one or more of the above sensors 226, 228, 326, 328, 526, 528, 626, 628, 726, 826, 926 are wireless sensors that wirelessly communicate signals to the blood treatment machine console 210, the treatment module 220, the arm 280, and / or elsewhere using any suitable form of wireless communication, including but not limited to WiFi, Bluetooth, near field communication, etc. In some embodiments, one or more of the above sensors 226, 228, 326, 328, 526, 528, 626, 628, 726, 826, 926 are wired to one or more of the blood treatment machine console 210, the treatment module 220, and the arm 280 and communicate signals to the blood treatment machine console 210, the treatment module 220, and / or the arm 280 via the wired connection.

[0147] In some embodiments, additionally or alternatively, there are sensors located in the arm 280 to determine the position, orientation, movement, and / or rate of movement of the treatment module 220. Such sensors can be angle sensors, path sensors, range sensors, accelerometers, and / or other types of sensors, and can be used to improve the accuracy of positioning and moving the treatment module 220, as described above. For example, during repositioning of the treatment module 220 to prevent the removal of the blood lines 102, 104 or disconnection of the needles 134, 136, the sensors located in the arm 280 can transmit signals indicating the position, orientation, movement, and / or rate of movement of the module 220 in real time during the movement of the arm 280 to the blood treatment machine console 210 to ensure the precise positioning of the treatment module 220.

[0148] Although the arm 280 is depicted in Figure 1 , 3 -9 as being coupled to and extending from the front portion of the blood treatment machine console 210, the arm 280 can be coupled to other parts of the blood treatment machine console 210, such as the side or the back of the blood treatment machine console 210. Similarly, although the arm 280 is described in Figure 1 , 3 -9 as being coupled to and extending from the back of the treatment module 220, the arm 280 can be coupled to other parts of the treatment module 220, such as the side of the treatment module 220.

[0149] In addition, although the arm 280 is described as being capable of moving in three dimensions, the arm 280 can have alternative designs that allow for movement in different numbers of dimensions. Thus, the arm 280 can have different numbers of degrees of freedom in its movement. For example, in some embodiments, the arm 280 can be configured to move along a single plane. For example, the arm 280 can be configured to extend outward from the blood treatment machine console 210 and retract inward toward the blood treatment machine console 210 in a single plane. In some embodiments, in response to detecting strain along the blood lines 102, 104, the blood treatment machine console 210 automatically controls the arm coupled to the treatment module 220 to extend outward from the blood treatment machine console 210 along a single plane.

[0150] Although the blood treatment system discussed above has been described as including a dialyzer with an internal blood pump, the blood pump can alternatively or additionally be located outside the dialyzer. For example, in some embodiments, the treatment module 220 includes a blood pump, such as a peristaltic pump, that interacts with the arterial line 102 to pump blood through the dialyzer.

[0151] Although the blood treatment system discussed above has been described as a machine that performs hemodialysis and / or hemodiafiltration, the concepts described herein can be applied to any of a variety of other types of blood treatment systems, including systems for performing hemofiltration, ultrafiltration, peritoneal dialysis, blood separation, and extracorporeal circulation procedures.

[0152] Multiple embodiments have been described. However, it should be understood that various modifications can be made without departing from the spirit and scope of the present disclosure. Accordingly, other embodiments are within the scope of the appended claims.

Claims

1. A blood treatment system, which comprises: a blood treatment machine, the blood treatment machine including an arm; a dialyzer, the dialyzer being configured to be coupled to the blood treatment machine; a blood pipeline, the blood pipeline having a first end configured to be connected to the dialyzer and a second end configured to be connected to a needle for insertion into a patient; and one or more sensors, the one or more sensors being operable to transmit data related to the tension along the blood pipeline to the blood treatment machine, wherein the blood treatment machine further includes a treatment module and a blood treatment machine console configured to control the treatment module, and the arm is coupled to the treatment module and the blood treatment machine console, and the blood treatment machine is configured to control the movement of the arm based on data related to the tension along the blood pipeline.

2. The system according to claim 1, wherein, the treatment module includes a structure for coupling to the dialyzer, and the arm extends between the treatment module and the blood treatment machine console, wherein the blood treatment machine console is configured to control the movement of the arm based on data related to the tension along the blood pipeline to automatically reposition the treatment module.

3. The system according to claim 2, wherein, the arm is configured to move the treatment module in a direction determined based on data related to the tension along the blood pipeline to prevent the blood pipeline from disconnecting from the dialyzer or the needle from being removed from the patient.

4. The system according to claim 2 or 3, wherein, the one or more sensors are configured to wirelessly transmit data related to the tension along the blood pipeline to the blood treatment machine console.

5. The system according to claim 2 or 3, wherein, the arm includes one or more adjustable joints through which the arm can be hinged to multiple different positions relative to the blood treatment machine console.

6. The system according to any one of claims 1-3, wherein, the one or more sensors are configured to detect the strain along the blood pipeline.

7. The system according to claim 6, wherein: the one or more sensors are attached to the treatment module of the blood treatment machine, and each of the one or more sensors is in contact with the blood pipeline.

8. The system according to claim 7, wherein, at least one of the one or more sensors is coupled to the treatment module.

9. The system according to claim 7 or 8, wherein, at least one of the one or more sensors is positioned along the blood pipeline near the second end of the blood pipeline.

10. The system according to claim 6, wherein, the one or more sensors are embedded within the blood pipeline.

11. The system according to claim 6, wherein, at least one of the one or more sensors is coupled to a joint of the arm that extends from and is coupled to the treatment module of the blood treatment machine.

12. The system according to claim 1, wherein, the one or more sensors are configured to detect the position of a portion of the blood line.

13. The system according to claim 12, wherein, the one or more sensors include one or more accelerometers coupled to the blood line.

14. The system according to claim 12 or 13, wherein, the one or more sensors include one or more image sensors configured to detect the position of the portion of the blood line.

15. The system according to claim 1, wherein, the one or more sensors are configured to detect the position of a patient connected to the blood line.

16. The system according to claim 15, wherein, the one or more sensors include an image sensor configured to detect light reflected by a reflective material.

17. The system according to claim 16, wherein, the system further includes a device including the reflective material, the device being configured to be positioned on the patient's arm proximate to the blood line.

18. The system according to any one of claims 15 - 17, wherein, the one or more sensors include an image sensor configured to track the movement of the patient's arm.

19. A blood treatment machine, which comprises: a treatment module, the treatment module including a structure for coupling with a dialyzer, a blood treatment machine console configured to control the treatment module; and an arm, the arm being coupled to the treatment module and the blood treatment machine console and extending between the treatment module and the blood treatment machine console, wherein the blood treatment machine console is configured to control the movement of the arm to automatically reposition the treatment module in response to data received from one or more sensors related to the tension along a blood line coupled to the dialyzer.

20. The blood treatment machine according to claim 19, wherein, the arm includes one or more adjustable joints through which the arm is adapted to be hinged to a plurality of different positions relative to the blood treatment machine console.

21. The blood treatment machine according to claim 19, wherein, the data received from one or more sensors includes data related to the tension along a blood line coupled to the dialyzer and a needle inserted into a patient.

22. The blood treatment machine according to claim 21, wherein, the arm is configured to move the treatment module in a direction determined based on the data related to the tension along the blood line to prevent the blood line from disconnecting from the dialyzer or the needle from moving out of the patient.

23. The blood treatment machine according to claim 21, wherein, the data received from the one or more sensors includes data related to the strain along the blood line.

24. The blood treatment machine according to any one of claims 19 - 23, wherein, the data received from the one or more sensors includes data related to the position of a portion of the blood line coupled to the dialyzer.

25. The blood treatment machine according to claim 24, wherein, the data received from the one or more sensors includes image data related to the position of the portion of the blood line.

26. The blood treatment machine according to any one of claims 19-23, 25, wherein, the data received from the one or more sensors includes data related to the position of the patient connected to the blood line coupled to the dialyzer.

27. The blood treatment machine according to claim 26, wherein, the data received from the one or more sensors includes image data indicating light reflected by the reflective material.

28. The blood treatment machine according to claim 26, wherein, the data received from the one or more sensors includes image data indicating the position of the patient's arm.

Images