A right ventricular catheter pump system and a control method of a right ventricular catheter pump

Abstract

This application provides a right ventricular catheter pump system and a control method for the right ventricular catheter pump, relating to the field of medical device technology. The controller is used to control a target motor in the drive assembly. The controller includes a speed control component, a current control component, and a motor drive component. The current control component is used to determine a first mapping component and a second mapping component of the current current of the target motor; to fuse the first and second mapping components to obtain a target current; to calculate the current difference between the target current and the desired current; and to calculate the control voltage of the target motor based on the current difference. The stator coils are then turned on according to the coil conduction sequence and the control voltage to control the target motor. Applying the solution provided in this embodiment can improve the control accuracy of the right ventricular catheter pump.

Description

Technical Field

[0001] This application relates to the field of brushless motor technology, and in particular to a right ventricular catheter pump system and a control method for the right ventricular catheter pump. Background Technology

[0002] A right ventricular catheter pump system (LVCP) is a system that assists in pumping blood into the right ventricle. The system consists of a right ventricular catheter pump and a controller. The pump is implanted inside the heart, while the controller is located outside the patient's body to control it. In the unique environment of the human body, the LVCP requires fast response, stable operation, and high efficiency. Therefore, to meet these requirements, a brushless coreless motor is selected as the core component of the LVCP.

[0003] To better integrate the brushless coreless motor into the right ventricular catheter pump, the brushless coreless motor has undergone appropriate optimization. Traditional motor control schemes are not suitable for the optimized brushless coreless motor, resulting in significant deviations in the motor control of the right ventricular catheter pump. Summary of the Invention

[0004] The purpose of this application is to provide a right ventricular catheter pump system and a control method for the right ventricular catheter pump, so as to achieve precise control of the right ventricular catheter pump motor. The specific technical solution is as follows:

[0005] In a first aspect, embodiments of this application provide a right ventricular catheter pump system, the system including a right ventricular catheter pump and a controller;

[0006] The right ventricular catheter pump includes a bleeding cage, an inlet cage, a drive assembly, and a pumping assembly. The inlet cage, drive assembly, and pumping assembly are located in the inferior vena cava, and the bleeding cage is located in the pulmonary artery. The drive assembly drives the pumping assembly to rotate clockwise, pushing blood from the inlet cage into the bleeding cage until it is discharged into the pulmonary artery.

[0007] The target motor in the drive assembly is a brushless coreless motor, which is composed of a rotor and a stator; the angle between the magnetic field lines of the rotor and the magnetic field lines of the stator is a fixed angle, which is between 40 and 50 degrees.

[0008] The controller is used to control the target component in the drive assembly. The controller includes a speed control component, a current control component, and a motor drive assembly, wherein:

[0009] The speed control component is used to obtain the current speed of the target motor, calculate the speed difference between the current speed and the desired speed, calculate the desired current based on the calculated speed difference, and input the desired current into the current control component.

[0010] The current control component includes:

[0011] The current determination module is used to determine the first mapping component and the second mapping component of the current current of the target motor. The first mapping component is the current component mapped to the first coordinate axis in the preset coordinate system, and the second mapping component is the current component mapped to the second coordinate axis in the preset coordinate system. The preset coordinate system is a coordinate system constructed with the rotor center as the origin, the direction of the rotor magnetic field as the first coordinate axis, and the direction perpendicular to the rotor magnetic field as the second coordinate axis.

[0012] A current fusion module is used to fuse the first mapping component and the second mapping component to obtain the target current;

[0013] A voltage calculation module is used to calculate the current difference between the target current and the desired current, and to calculate the control voltage of the target motor based on the current difference;

[0014] The motor drive assembly is used to acquire the current magnetic field direction of the rotor, determine the target direction of the stator's clockwise magnetic field rotation along the current magnetic field direction, determine the coil conduction sequence of the stator corresponding to the target magnetic field rotation direction, and conduct the stator coils according to the coil conduction sequence and control voltage to control the target motor.

[0015] In one embodiment of this application, the aforementioned motor drive component is specifically configured to iteratively execute the acquisition of the current magnetic field direction of the rotor as a reference direction, determine a preset sub-magnetic field direction that is closest to the reference direction in a clockwise direction, and determine the preset sub-magnetic field direction determined in each iteration as the target direction of magnetic field rotation; determine the conduction sequence of the stator coils corresponding to the target direction of magnetic field rotation according to the preset relationship between the magnetic field rotation direction and the coil conduction sequence; and conduct the stator coils according to the conduction sequence and the control voltage to control the target motor.

[0016] In one embodiment of this application, the current control component further includes an angle prediction module;

[0017] The angle prediction module is used to predict the parameter value of the angle between the rotor magnetic field lines and the stator magnetic field lines based on the first mapping component and the second mapping component before the current fusion module, and use it as the predicted angle; if the predicted angle is consistent with the fixed angle, the current fusion module is triggered.

[0018] In one embodiment of this application, the above-mentioned current control loop further includes a current calculation module; if the predicted angle is inconsistent with the fixed angle, the current calculation module is triggered.

[0019] The current calculation module includes:

[0020] The current prediction submodule is used to predict the current component of the current current mapped onto the first coordinate axis based on the second mapping component and a fixed angle, as the first prediction component, and to predict the current component of the current current mapped onto the second coordinate axis based on the first mapping component and a fixed angle, as the second prediction component.

[0021] The current determination submodule is used to determine the target current based on the first prediction component and the second prediction component.

[0022] In one embodiment of this application, the aforementioned current determination submodule is specifically configured to: update the first mapping component based on the first predicted component, determine the updated first mapping component as the first updated component, and update the second mapping component based on the second predicted component, determine the updated second mapping component as the second updated component; fuse the first predicted component and the second predicted component to obtain a first fused current, and fuse the first updated component and the second updated component to obtain a second fused current; fuse the first fused current and the second fused current to obtain a target current.

[0023] Secondly, embodiments of this application provide a control method for a right ventricular catheter pump, the method being applied to a controller of a right ventricular catheter pump system, the right ventricular catheter pump system further comprising a right ventricular catheter pump;

[0024] The right ventricular catheter pump includes a bleeding cage, an inlet cage, a drive assembly, and a pumping assembly. The inlet cage, drive assembly, and pumping assembly are located in the inferior vena cava, and the bleeding cage is located in the pulmonary artery. The drive assembly drives the pumping assembly to rotate clockwise, pushing blood from the inlet cage into the bleeding cage until it is discharged into the pulmonary artery.

[0025] The target motor in the drive assembly is a brushless coreless motor, which is composed of a rotor and a stator; the angle between the magnetic field lines of the rotor and the magnetic field lines of the stator is a fixed angle, which is between 40 and 50 degrees.

[0026] The method includes:

[0027] Obtain the current speed of the target motor, calculate the speed difference between the current speed and the desired speed, and calculate the desired current based on the calculated speed difference;

[0028] Determine the first mapping component and the second mapping component of the current current of the target motor, wherein the first mapping component is the current component mapped to the first coordinate axis in the preset coordinate system, and the second mapping component is the current component mapped to the second coordinate axis in the preset coordinate system. The preset coordinate system is a coordinate system constructed with the rotor center as the origin, the direction of the rotor magnetic field as the first coordinate axis, and the direction perpendicular to the rotor magnetic field as the second coordinate axis.

[0029] The first and second mapping components are fused to obtain the target current;

[0030] Calculate the current difference between the target current and the desired current, and calculate the control voltage of the target motor based on the current difference;

[0031] Obtain the current magnetic field direction of the rotor, determine the target direction of the stator's clockwise magnetic field rotation along the current magnetic field direction; determine the coil conduction sequence of the stator corresponding to the target magnetic field rotation direction; and conduct the stator coils according to the coil conduction sequence and control voltage to control the target motor.

[0032] In one embodiment of this application, obtaining the current magnetic field direction of the rotor and determining the target direction of clockwise magnetic field rotation of the stator along the current magnetic field direction includes:

[0033] The current magnetic field direction of the rotor is obtained through iterative execution and used as a reference direction. A preset sub-magnetic field direction that is closest to the reference direction and is clockwise along the reference direction is determined. The preset sub-magnetic field direction determined by each iteration is determined as the target direction of magnetic field rotation.

[0034] The determination of the stator coil conduction sequence corresponding to the target direction of the magnetic field rotation includes:

[0035] Based on the preset relationship between the magnetic field rotation direction and the coil conduction sequence, the conduction sequence of the stator coil corresponding to the target magnetic field rotation direction is determined.

[0036] In one embodiment of this application, before fusing the first mapping component and the second mapping component to obtain the target current, the method further includes:

[0037] Based on the first mapping component and the second mapping component, the parameter value of the angle between the rotor magnetic field lines and the stator magnetic field lines is predicted as the predicted angle; if the predicted angle is consistent with the fixed angle, the first mapping component and the second mapping component are fused to obtain the target current.

[0038] In one embodiment of this application, if the predicted angle is inconsistent with the fixed angle, before calculating the current difference between the target current and the expected current, the method further includes:

[0039] Based on the second mapping component and a fixed angle, the current component of the current current mapped onto the first coordinate axis is predicted as the first predicted component, and based on the first mapping component and a fixed angle, the current component of the current current mapped onto the second coordinate axis is predicted as the second predicted component.

[0040] The target current is determined based on the first and second predicted components.

[0041] In one embodiment of this application, determining the target current based on the first prediction component and the second prediction component includes:

[0042] Based on the first predicted component, the first mapping component is updated, and the updated first mapping component is determined as the first updated component. Based on the second predicted component, the second mapping component is updated, and the updated second mapping component is determined as the second updated component.

[0043] The first predicted component and the second predicted component are fused to obtain a first fused current, and the first updated component and the second updated component are fused to obtain a second fused current.

[0044] The first fusion current and the second fusion current are fused together to obtain the target current.

[0045] As can be seen from the above, the system provided in this application, by incorporating a first mapping component and a second mapping component in the current control component of the controller, and the first mapping component reflecting the information of the rotor magnetic field direction, and the second mapping component reflecting the information of the direction perpendicular to the rotor magnetic field direction, the target current obtained by fusing the first and second mapping components can fully reflect the information of both the rotor magnetic field direction and the direction perpendicular to the rotor magnetic field direction. Furthermore, since the angle between the rotor magnetic field lines and the stator magnetic field lines is a fixed angle between 40 and 50 degrees, the direction of the optimal rotor torque is related to both the rotor magnetic field direction and the direction perpendicular to the rotor magnetic field direction. Therefore, the target current can accurately reflect the direction information of the optimal rotor torque. Using this target current to determine the control voltage, and then controlling the right ventricular catheter pump, high-precision control of the right ventricular catheter pump is achieved.

[0046] Furthermore, since the current direction of the rotor's magnetic field is used as a reference, and the target direction of the stator's magnetic field rotation is determined based on the clockwise direction of the rotor's current magnetic field, the rotation direction of the stator's magnetic field can be maintained in a clockwise direction. Since the stator drives the rotor to rotate, the rotor's rotation direction remains clockwise, meaning the drive assembly of the right ventricular catheter pump rotates clockwise. The drive assembly of the right ventricular catheter pump drives the pumping assembly to rotate in a clockwise direction, thereby generating thrust that pushes blood from the inferior vena cava from the inlet cage into the outlet cage, until it is discharged into the pulmonary artery, precisely realizing the auxiliary pumping function of the right ventricular catheter pump.

[0047] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0049] Figure 1a A schematic diagram of a right ventricular catheter pump provided in an embodiment of this application;

[0050] Figure 1b A schematic diagram of a right ventricular catheter pump implanted in the heart, provided as an embodiment of this application;

[0051] Figure 2 This is a schematic diagram of a dual closed-loop structure of a controller provided in an embodiment of this application;

[0052] Figure 3 This is a schematic diagram of the structure of the first current control component provided in the embodiments of this application;

[0053] Figure 4 This is a schematic diagram of the structure of the second current control component provided in the embodiments of this application;

[0054] Figure 5 A schematic diagram illustrating a predicted angle provided in an embodiment of this application;

[0055] Figure 6 This is a schematic diagram of the structure of the third current control component provided in the embodiments of this application;

[0056] Figure 7 This is a flowchart illustrating a control method for a right ventricular catheter pump provided in an embodiment of this application. Detailed Implementation

[0057] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0058] Before introducing the various embodiments of this application, the application scenarios of this application will be described.

[0059] This application relates to a right ventricular catheter pump system, which includes a right ventricular catheter pump and a controller, and also includes a flushing device.

[0060] The right ventricular catheter pump is used to assist the patient's heart in pumping blood into the right ventricle; the flushing device is used to flush the blood around the right ventricular catheter pump to prevent blood from entering the right ventricular catheter pump; the controller is used to control the right ventricular catheter pump and the flushing device.

[0061] by Figure 1a Taking the right ventricular catheter pump as an example, the structure will be explained. Figure 1a The structure of the right ventricular catheter pump is shown, including a blood inlet cage 101, a blood outlet cage 102, a pumping assembly 103, and a drive assembly 104.

[0062] Specifically, the drive assembly includes a motor, the pumping assembly includes an impeller, the inlet cage represents the blood inlet, and the outlet cage represents the blood outlet.

[0063] After the right ventricular catheter pump is implanted in the heart, the blood inlet cage, pumping assembly, and drive assembly are located in the inferior vena cava, while the blood outlet cage 101 is located in the pulmonary artery. The drive assembly drives the pumping assembly to rotate clockwise, generating thrust to push blood from the blood inlet cage to the blood outlet cage, until it is discharged into the pulmonary artery. Based on the blood pumping function of the right ventricular catheter pump, it assists the right ventricle in pumping blood, thereby reducing the workload of the right ventricle.

[0064] The target motor in the drive assembly of the right ventricular catheter pump is a brushless coreless motor. This target motor consists of a stator and a rotor, and a simplified structural diagram of the target motor is shown below. Figure 1b As shown. In Figure 1b The rotor consists of two layers: an outer stator made of coils and an inner rotor. The core component of the rotor is the rotor permanent magnet, which has N and S poles.

[0065] In the system provided in this application embodiment, the brushless coreless motor is improved for adapting to the right ventricular catheter pump by: the angle between the rotor magnetic field lines and the stator magnetic field lines is a fixed angle, and this fixed angle is between 40 degrees and 50 degrees. For example, the fixed angle can be 40 degrees, 41 degrees, ... 45 degrees, 46 degrees, ... 50 degrees.

[0066] The angle between the magnetic field lines of the rotor and the magnetic field lines of the stator indicates the relative position between the rotor and the stator. When the angle is fixed, it means that the relative position between the rotor and the stator is constant.

[0067] The improvement to the brushless coreless motor in this application can be caused by a combination of a specific magnetization method for the rotor permanent magnet and a specific winding method for the stator coil. For example, the rotor permanent magnet is radially magnetized and the stator coil is wound with a specific slant angle, so that the angle between the rotor magnetic field lines and the stator magnetic field lines is a fixed angle between 40 and 50 degrees.

[0068] In the system provided in this application embodiment, the controller adopts a dual closed-loop structure to control the target motor, such as... Figure 2 As shown, the outer loop is the speed control loop, called the speed outer closed loop, and the inner loop is the current control loop, called the current inner closed loop.

[0069] In the speed control loop, the speed control component mainly uses the motor speed feedback data to calculate the relevant current parameters and inputs the calculation results into the current control loop.

[0070] In the current control loop, the main component is the current control component, which uses the motor current feedback data to calculate the control voltage and inputs the calculated control voltage into the motor drive component. The motor drive component then controls the target motor according to the control voltage.

[0071] The speed control component, current control component, and motor drive component described above will be explained in detail below.

[0072] (1) Speed ​​control component: used to obtain the current speed of the target motor, calculate the speed difference between the current speed and the desired speed, calculate the desired current based on the calculated speed difference, and input the desired current into the current control component.

[0073] The current speed mentioned above represents the current real-time operating speed of the target motor, while the expected speed refers to the speed that the target motor is expected to achieve. The expected speed can be pre-input by medical staff.

[0074] The speed control component mentioned above can be a PI / PID (proportional-integral / proportional-integral-derivative) controller with pre-integrated parameters. Based on this, in one embodiment, when calculating the desired current, the desired current can be calculated using a preset PI / PID model based on the speed difference mentioned above.

[0075] In another approach to calculating the desired current, a correspondence between the speed difference and the current can be pre-established. Based on this correspondence, the current corresponding to the calculated speed difference can be determined as the desired current.

[0076] (2) The current control component includes a current determination module, a current fusion module, and a voltage calculation module. A schematic diagram of the current control component is shown below. Figure 3 As shown. Wherein:

[0077] The current determination module 301 is used to determine the first and second mapping components of the current current of the target motor.

[0078] The current current mentioned above refers to the current currently being used by the target motor.

[0079] The first mapping component is the current component mapped to the first coordinate axis in the preset coordinate system. The second mapping component is the current component mapped to the second coordinate axis in the preset coordinate system.

[0080] The aforementioned preset coordinate system is a coordinate system constructed with the rotor center as the origin, the direction of the rotor's magnetic field as the first coordinate axis, and the direction perpendicular to the rotor's magnetic field as the second coordinate axis. Figure 4 Taking the above-mentioned preset coordinate system as an example, let's explain it. Figure 4 Point O is the center of the rotor, which is also the origin of the coordinate system. The x-axis is in the direction of the rotor magnetic field, which is the first coordinate axis. The y-axis is in the direction perpendicular to the rotor magnetic field.

[0081] The current current is currently measured in the abc-axis coordinate system corresponding to the stator coils. After the motor starts, the rotor motion causes the current value in the abc-axis coordinate system to change dynamically in real time, resulting in complex parameters and a large computational load. Therefore, to efficiently utilize computational resources, the current current is mapped to the aforementioned preset coordinate system. Since this preset coordinate system is established with the rotor center as the origin, mapping the current current to this coordinate system decouples various dynamic changes in the current. Control parameters are then calculated based on the decoupled mapped components, thereby achieving efficient utilization of computational resources.

[0082] In determining the first mapping component and the second mapping component, in one embodiment, the current component of the first coordinate axis corresponding to the current current can be determined as the first mapping component according to the mapping relationship between the coordinate system corresponding to the current current and the preset coordinate system, and the current component of the second coordinate axis corresponding to the current current can be determined as the second mapping component.

[0083] The current fusion module 302 is used to fuse the first mapping component and the second mapping component to obtain the target current.

[0084] When fusing the above current components, the vector sum of the first and second current components can be calculated, and the calculated vector sum can be determined as the target current.

[0085] Because the angle between the rotor magnetic field lines and the stator magnetic field lines is a fixed angle between 40 and 50 degrees, this fixed angle indicates that there is always magnetic field cutting between the rotor and stator magnetic field lines. In this situation, through extensive simulation experiments and experimental data, the inventors discovered that the direction of the optimal torque generated for the rotor is not only related to the perpendicular direction of the rotor magnetic field, but also to the direction of the rotor magnetic field itself. Therefore, if traditional motor control methods are still used, the generated torque will not be the optimal torque, and may even affect rotor rotation.

[0086] Based on the above analysis, since the first mapping component is related to the direction of the rotor magnetic field and the second mapping component is related to the direction perpendicular to the direction of the rotor magnetic field, the target current obtained by fusing the first and second mapping components can more accurately reflect the information of the optimal torque direction of the rotor, thereby realizing high-precision motor control.

[0087] The voltage calculation module 303 is used to calculate the current difference between the target current and the desired current, and to calculate the control voltage of the target motor based on the current difference;

[0088] In one implementation of calculating the control voltage, the correspondence between current difference and voltage can be pre-established, the voltage corresponding to the calculated current difference can be determined, and the voltage can be transformed into a voltage in the coordinate system corresponding to the stator, which is then used as the control voltage.

[0089] Since the target current is in a coordinate system with the rotor center point as the origin, and the control voltage controls the conduction of the stator coils, the control voltage needs to be related to the stator coordinate system. Therefore, a coordinate system transformation of the voltage is required. Based on this, the determined voltage can be transformed according to the correspondence between the rotor coordinate system and the stator coordinate system, and the transformed voltage can be determined as the control voltage.

[0090] When performing the conversion, you can use the following formula:

[0091] ;

[0092] in, Indicates the first voltage component. Indicates the second voltage component. This indicates the determined voltage. This represents a fixed angle. The first voltage component mentioned above... Second voltage component As the control voltage for the motor.

[0093] (3) Motor drive assembly, used to obtain the current magnetic field direction of the rotor, determine the target direction of the stator rotating clockwise along the current magnetic field direction; determine the coil conduction sequence of the stator corresponding to the target direction of the magnetic field rotation; and conduct the coils of the stator according to the coil conduction sequence and control voltage to control the target motor.

[0094] When the motor rotates, the rotor is constantly rotating, and the direction of the rotor's magnetic field is also constantly changing. The current magnetic field direction reflects the rotor's current magnetic field direction. The current magnetic field direction of the rotor can be collected by a position sensor, which is used to collect the rotor's current position; the position indicates the magnetic field direction.

[0095] The right ventricular catheter pump needs to generate thrust to push blood into the pulmonary artery. Therefore, the impeller in the pumping assembly of the right ventricular catheter pump needs to rotate clockwise. Since the pumping assembly is driven by the drive assembly, the rotor of the motor that drives the pumping assembly also needs to rotate clockwise. The rotor is driven by the stator, so the stator magnetic field rotates clockwise.

[0096] In determining the target direction of the magnetic field rotation corresponding to the stator, in one embodiment, the current magnetic field direction of the rotor can be obtained iteratively as a reference direction, and the clockwise direction along the reference direction and the preset stator magnetic field direction closest to the reference direction can be determined. The preset stator magnetic field direction determined in each iteration is then determined as the target direction of the magnetic field rotation.

[0097] Specifically, in this embodiment, multiple stator magnetic field directions can be predetermined. In the current iteration, the direction closest to the reference direction along the clockwise direction can be determined from the multiple predetermined stator magnetic field directions as the predetermined stator magnetic field direction determined in the current iteration.

[0098] The conduction sequence of the stator coils corresponds to the rotation direction of the stator's magnetic field. Based on this, the above correspondence can be pre-constructed. Based on the preset relationship between the rotation direction of the magnetic field and the conduction sequence of the coils, the conduction sequence of the stator coils corresponding to the target rotation direction of the magnetic field can be determined.

[0099] According to the above coil conduction sequence and control voltage, the stator coil of the motor is turned on, so that the stator coil conducts in the above coil conduction sequence. Since the coil conduction sequence corresponds to the clockwise direction of the magnetic field rotation target, after the coil is turned on, the rotation direction of the stator magnetic field is clockwise. Under the drive of the stator magnetic field, the rotor also rotates in the clockwise direction, thereby realizing the motor control of the right ventricular catheter pump.

[0100] As can be seen from the above, in the system provided by this embodiment, the current control component in the controller integrates the first mapping component and the second mapping component. The first mapping component reflects the information of the rotor magnetic field direction, and the second mapping component reflects the information of the direction perpendicular to the rotor magnetic field direction. The target current obtained by integrating the first and second mapping components can fully reflect the information of both the rotor magnetic field direction and the direction perpendicular to the rotor magnetic field direction. Furthermore, since the angle between the rotor magnetic field lines and the stator magnetic field lines is a fixed angle between 40 and 50 degrees, the direction of the optimal rotor torque is related to both the rotor magnetic field direction and the direction perpendicular to the rotor magnetic field direction. Therefore, the target current can accurately reflect the direction information of the optimal rotor torque. Using the above target current to determine the control voltage, and then controlling the right ventricular catheter pump, high-precision control of the right ventricular catheter pump can be achieved.

[0101] Furthermore, since the current direction of the rotor's magnetic field is used as a reference, and the target direction of the stator's magnetic field rotation is determined based on the clockwise direction of the rotor's current magnetic field, the rotation direction of the stator's magnetic field can be maintained in a clockwise direction. Since the stator drives the rotor to rotate, the rotor's rotation direction remains clockwise, meaning the drive assembly of the right ventricular catheter pump rotates clockwise. The drive assembly of the right ventricular catheter pump drives the pumping assembly to rotate in a clockwise direction, thereby generating thrust that pushes blood from the inferior vena cava from the inlet cage into the outlet cage, until it is discharged into the pulmonary artery, precisely realizing the auxiliary pumping function of the right ventricular catheter pump.

[0102] The foregoing Figure 3 In a corresponding embodiment, in addition to including the aforementioned modules, one embodiment of this application further includes an angle prediction module for the current control component. Based on this, see... Figure 4 , Figure 4 This is a schematic diagram of the structure of a second current control component provided in an embodiment of this application.

[0103] The current determination module 401 is used to determine the first and second mapping components of the current current of the target motor.

[0104] The first mapping component is the current component mapped to the first coordinate axis in the preset coordinate system, and the second mapping component is the current component mapped to the second coordinate axis in the preset coordinate system.

[0105] The aforementioned preset coordinate system is a coordinate system constructed with the rotor center as the origin, the direction of the rotor magnetic field as the first coordinate axis, and the direction perpendicular to the rotor magnetic field as the second coordinate axis.

[0106] Angle prediction module 402 is used to predict the parameter value of the angle between the rotor magnetic field magnetic field lines and the stator magnetic field magnetic field lines based on the first mapping component and the second mapping component before the current fusion module, and use it as the predicted angle; if the predicted angle is consistent with the fixed angle, the current fusion module is triggered.

[0107] The fixed angle mentioned above is the actual parameter value of the angle between the rotor magnetic field lines and the stator magnetic field lines, while the predicted angle in this embodiment is an estimated parameter value.

[0108] The predicted angle mentioned above is obtained using current real-time data. When the predicted angle matches the fixed angle, it indicates that the accuracy of the current current being collected is high; when the predicted angle does not match the fixed angle, it indicates that the accuracy of the current current being collected is low.

[0109] Combination Figure 5 The prediction methods for the above prediction angles will be explained. Figure 5 I located on the d-axis d Represents the first mapped component, located on the q-axis, I. q Indicates the second mapping component; with I d I q Two sides of the triangle are represented by the dashed line I. The third side of the triangle is represented by the dashed line I. b I b The direction is the direction of the stator magnetic field lines, I d The direction in which the magnetic field lines of the rotor are located is the direction in which I can be calculated. q with I d The ratio between the two is the tan function value of the predicted angle. Using trigonometric relationships, the angle between them can be calculated and used as the predicted angle.

[0110] When determining whether the predicted angle is consistent with the fixed angle, it can be determined whether the predicted angle and the fixed angle are the same. Alternatively, the predicted angle can be extended forward and backward by a preset prediction angle error as the center to obtain the prediction angle range. Then, it can be determined whether the fixed angle is within the above prediction angle range. If yes, it means that the predicted angle and the fixed angle are consistent; if no, it means that the predicted angle and the fixed angle are inconsistent.

[0111] The current fusion module 403 is used to fuse the first mapping component and the second mapping component to obtain the target current.

[0112] The voltage calculation module 404 is used to calculate the current difference between the target current and the desired current, and based on the current difference, calculate the control voltage of the target motor.

[0113] As can be seen from the above, since the prediction angle is determined based on the first and second mapping components, the accuracy of the currently collected current can be determined by utilizing the relationship between the prediction angle and the fixed angle. When the prediction angle and the fixed angle are consistent, the mapping components are directly fused. This method can improve the accuracy of the target current determination and increase efficiency, thereby improving the accuracy and efficiency of motor control.

[0114] In the foregoing Figure 4 In the corresponding embodiment's angle prediction module, if the predicted angle is inconsistent with the fixed angle, it indicates that the currently collected current is abnormal and its accuracy is low. Therefore, in one embodiment of this application, when the predicted angle is inconsistent with the fixed angle, the current calculation module is triggered. See also... Figure 6 , Figure 6 This is a schematic diagram of the structure of the third current control component provided in the embodiments of this application. The current calculation module includes 603-604.

[0115] The current determination module 601 is used to determine the first and second mapping components of the current current of the target motor.

[0116] The first mapping component is the current component mapped to the first coordinate axis in the preset coordinate system, and the second mapping component is the current component mapped to the second coordinate axis in the preset coordinate system.

[0117] The aforementioned preset coordinate system is a coordinate system constructed with the rotor center as the origin, the direction of the rotor magnetic field as the first coordinate axis, and the direction perpendicular to the rotor magnetic field as the second coordinate axis.

[0118] Angle prediction module 602 is used to predict the parameter value of the angle between the rotor magnetic field magnetic field lines and the stator magnetic field magnetic field lines based on the first mapping component and the second mapping component before the current fusion module, and use it as the predicted angle; if the predicted angle is inconsistent with the fixed angle, the current calculation module 603 is triggered.

[0119] The current calculation module 603 includes a current prediction submodule and a current determination submodule, wherein:

[0120] The current prediction submodule 6031 is used to predict the current component of the current mapped onto the first coordinate axis based on the second mapping component and a fixed angle, as the first prediction component, and to predict the current component of the current mapped onto the second coordinate axis based on the first mapping component and a fixed angle, as the second prediction component.

[0121] When the predicted angle differs from the fixed angle, it indicates that the accuracy of the currently acquired current is low. Naturally, there will be a current error between the first and second acquired current components determined based on the acquired current. In this case, the first and second mapped components are decoupled, and current prediction is performed separately based on the current components. This reduces the problem of low accuracy in determining the target current caused by the acquisition current error.

[0122] When predicting current components, based on a preset trigonometric function relationship, the current component corresponding to the first coordinate axis can be predicted as the first predicted component, with the second mapping component as the reference. Then, based on the first mapping component, the current component corresponding to the second coordinate axis can be predicted as the second predicted component.

[0123] For example, the second mapping component can be calculated with The product between them is used as the first predicted component, and the first mapped component is calculated with... The product between them is used as the second prediction component.

[0124] The current determination submodule 6032 is used to determine the target current based on the first prediction component and the second prediction component.

[0125] Since the target current is obtained by fusing the first prediction component and the second prediction component, which are obtained by decoupling the mapped current component and predicting based on the two mapped components and a fixed angle, the obtained prediction component has higher accuracy than the initial current classification. Therefore, the target current determined based on the above prediction component has higher accuracy.

[0126] In determining the target current, one implementation may calculate the vector sum between the first predicted component and the second predicted component, and determine the calculated value as the target current.

[0127] In another implementation of determining the target current, the first mapping component can be updated based on the first predicted component, and the updated first mapping component can be determined as the first updated component. The second mapping component can be updated based on the second predicted component, and the updated second mapping component can be determined as the second updated component. The first predicted component and the second predicted component are fused to obtain the first fused current. The first updated component and the second current component are fused to obtain the second fused current. The first fused current and the second fused current are fused, and the fused current is determined as the target current.

[0128] When updating the first / second mapping component based on the first / second predicted component, the average value between the first / second predicted component and the first / second mapping component can be calculated, and the calculated average value can be determined as the first / second updated component.

[0129] When determining the first / second fusion current, the vector sum between the current components used can be calculated, and the calculated vector sum can be used as the first / second fusion current.

[0130] When merging the first merging current and the second merging current, the average value between the two merging currents can be calculated, and the calculated value can be determined as the target current.

[0131] Since the updated component is obtained by updating the mapped component based on the predicted component, and combines the information of the two current components, the information reflected by the determined updated component is richer. Therefore, the second fused current determined based on the updated component reflects richer current information, while the first fused current is obtained by fusing the predicted components, and the accuracy of the first fused current is more ideal. Thus, fusing the above two types of fused current can further improve the accuracy of the target current.

[0132] The voltage calculation module 604 is used to calculate the current difference between the target current and the desired current, and based on the current difference, calculate the control voltage of the target motor.

[0133] Corresponding to the aforementioned right ventricular catheter pump system, this application also provides a control method for the right ventricular catheter pump.

[0134] See Figure 7 , Figure 7 This is a flowchart illustrating a control method for a right ventricular catheter pump provided in an embodiment of this application. The method is applied to a controller of a right ventricular catheter pump system, which further includes a right ventricular catheter pump.

[0135] The right ventricular catheter pump includes a bleeding cage, an inlet cage, a drive assembly, and a pumping assembly. The inlet cage, drive assembly, and pumping assembly are located in the inferior vena cava, and the bleeding cage is located in the pulmonary artery. The drive assembly drives the pumping assembly to rotate clockwise, pushing blood from the inlet cage into the bleeding cage until it is discharged into the pulmonary artery.

[0136] The target motor in the drive assembly is a brushless coreless motor, which is composed of a rotor and a stator; the angle between the magnetic field lines of the rotor and the magnetic field lines of the stator is a fixed angle, which is between 40 and 50 degrees.

[0137] The method includes:

[0138] Step S701: Obtain the current speed of the target motor, calculate the speed difference between the current speed and the desired speed, and calculate the desired current based on the calculated speed difference;

[0139] Step S702: Determine the first mapping component and the second mapping component of the current current of the target motor.

[0140] Wherein, the first mapping component is: the current component of the current mapped to the first coordinate axis in the preset coordinate system, and the second mapping component is: the current component of the current mapped to the second coordinate axis in the preset coordinate system. The preset coordinate system is: a coordinate system constructed with the rotor center as the origin, the direction of the rotor magnetic field as the first coordinate axis, and the direction perpendicular to the rotor magnetic field as the second coordinate axis.

[0141] Step S703: Fuse the first mapping component and the second mapping component to obtain the target current;

[0142] Step S704: Calculate the current difference between the target current and the desired current, and calculate the control voltage of the target motor based on the current difference;

[0143] Step S705: Obtain the current magnetic field direction of the rotor, determine the target direction of the stator's clockwise magnetic field rotation along the current magnetic field direction; determine the coil conduction sequence of the stator corresponding to the target magnetic field rotation direction; conduct the stator coils according to the coil conduction sequence and control voltage to control the target motor.

[0144] In one embodiment of this application, step S705, which involves obtaining the current magnetic field direction of the rotor and determining the target direction for the stator to rotate clockwise along the current magnetic field direction, includes:

[0145] The current magnetic field direction of the rotor is obtained through iterative execution and used as a reference direction. A preset sub-magnetic field direction that is closest to the reference direction and is clockwise along the reference direction is determined. The preset sub-magnetic field direction determined by each iteration is determined as the target direction of magnetic field rotation.

[0146] The determination of the stator coil conduction sequence corresponding to the target direction of the magnetic field rotation includes:

[0147] Based on the preset relationship between the magnetic field rotation direction and the coil conduction sequence, the conduction sequence of the stator coil corresponding to the target magnetic field rotation direction is determined.

[0148] In one embodiment of this application, before fusing the first mapping component and the second mapping component in step S703 to obtain the target current, the method further includes:

[0149] Based on the first mapping component and the second mapping component, the parameter value of the angle between the rotor magnetic field lines and the stator magnetic field lines is predicted as the predicted angle; if the predicted angle is consistent with the fixed angle, the first mapping component and the second mapping component are fused to obtain the target current.

[0150] In one embodiment of this application, if the predicted angle is inconsistent with the fixed angle, before calculating the current difference between the target current and the expected current, the method further includes:

[0151] Based on the second mapping component and a fixed angle, the current component of the current current mapped onto the first coordinate axis is predicted as the first predicted component, and based on the first mapping component and a fixed angle, the current component of the current current mapped onto the second coordinate axis is predicted as the second predicted component.

[0152] The target current is determined based on the first and second predicted components.

[0153] In one embodiment of this application, determining the target current based on the first prediction component and the second prediction component includes:

[0154] Based on the first predicted component, the first mapping component is updated, and the updated first mapping component is determined as the first updated component. Based on the second predicted component, the second mapping component is updated, and the updated second mapping component is determined as the second updated component.

[0155] The first predicted component and the second predicted component are fused to obtain a first fused current, and the first updated component and the second updated component are fused to obtain a second fused current.

[0156] The first fusion current and the second fusion current are fused together to obtain the target current.

[0157] As can be seen from the above, by applying the method provided in this embodiment, since the current control component in the controller integrates the first mapping component and the second mapping component, and the first mapping component reflects the information of the rotor magnetic field direction, while the second mapping component reflects the information of the direction perpendicular to the rotor magnetic field direction, the target current obtained by integrating the first and second mapping components can fully reflect the information of both the rotor magnetic field direction and the direction perpendicular to the rotor magnetic field direction. Furthermore, since the angle between the rotor magnetic field lines and the stator magnetic field lines is a fixed angle between 40 and 50 degrees, in this case, the direction of the optimal rotor torque is related to both the rotor magnetic field direction and the direction perpendicular to the rotor magnetic field direction. Therefore, the target current can accurately reflect the direction information of the optimal rotor torque. Using the aforementioned target current to determine the control voltage, and then controlling the right ventricular catheter pump, high-precision control of the right ventricular catheter pump can be achieved.

[0158] Furthermore, since the current direction of the rotor's magnetic field is used as a reference, and the target direction of the stator's magnetic field rotation is determined based on the clockwise direction of the rotor's current magnetic field, the rotation direction of the stator's magnetic field can be maintained in a clockwise direction. Since the stator drives the rotor to rotate, the rotor's rotation direction remains clockwise, meaning the drive assembly of the right ventricular catheter pump rotates clockwise. The drive assembly of the right ventricular catheter pump drives the pumping assembly to rotate in a clockwise direction, thereby generating thrust that pushes blood from the inferior vena cava from the inlet cage into the outlet cage, until it is discharged into the pulmonary artery, precisely realizing the auxiliary pumping function of the right ventricular catheter pump.

[0159] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0160] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0161] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the method, computer-readable storage medium, and computer program product embodiments are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0162] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A right ventricular catheter pump system, characterized in that, The system includes a right ventricular catheter pump and a controller; The right ventricular catheter pump includes a bleeding cage, an inlet cage, a drive assembly, and a pumping assembly. After implantation, the inlet cage, drive assembly, and pumping assembly are located in the inferior vena cava, and the bleeding cage is located in the pulmonary artery. The drive assembly drives the pumping assembly to rotate clockwise, generating thrust to push blood from the inlet cage into the bleeding cage until it is discharged into the pulmonary artery. The target motor in the drive assembly is a brushless coreless motor, which is composed of a rotor and a stator; the angle between the magnetic field lines of the rotor and the magnetic field lines of the stator is a fixed angle, which is between 40 and 50 degrees. The controller is used to control the target motor in the drive assembly. The controller includes a speed control assembly, a current control assembly, and a motor drive assembly, wherein: The speed control component is used to obtain the current speed of the target motor, calculate the speed difference between the current speed and the desired speed, calculate the desired current based on the calculated speed difference, and input the desired current into the current control component. The current control component includes: The current determination module is used to determine a first mapping component and a second mapping component of the current current of the target motor. The first mapping component is the current component mapped to a first coordinate axis in a preset coordinate system, and the second mapping component is the current component mapped to a second coordinate axis in the preset coordinate system. The preset coordinate system is a coordinate system constructed with the rotor center as the origin, the direction of the rotor magnetic field as the first coordinate axis, and the direction perpendicular to the rotor magnetic field as the second coordinate axis. The current current refers to the current actually running current of the target motor. A current fusion module is used to fuse the first mapping component and the second mapping component to obtain the target current; A voltage calculation module is used to calculate the current difference between the target current and the desired current, and to calculate the control voltage of the target motor based on the current difference; The motor drive assembly is used to acquire the current magnetic field direction of the rotor, determine the target direction of the stator's clockwise magnetic field rotation along the current magnetic field direction, determine the coil conduction sequence of the stator corresponding to the target magnetic field rotation direction, and conduct the stator coils according to the coil conduction sequence and control voltage to control the target motor. The current control component also includes an angle prediction module; The angle prediction module is used to predict the parameter value of the angle between the rotor magnetic field lines and the stator magnetic field lines based on the first mapping component and the second mapping component before the current fusion module, and use it as the predicted angle; if the predicted angle is consistent with the fixed angle, the current fusion module is triggered.

2. The system according to claim 1, characterized in that, The motor drive component is specifically used to iteratively obtain the current magnetic field direction of the rotor as a reference direction, determine the clockwise direction along the reference direction and the preset sub-magnetic field direction that is closest to the reference direction, and determine the preset sub-magnetic field direction determined in each iteration as the target direction of magnetic field rotation; determine the conduction sequence of the stator coils corresponding to the target direction of magnetic field rotation according to the preset relationship between the magnetic field rotation direction and the coil conduction sequence; and conduct the stator coils according to the conduction sequence and the control voltage to control the target motor.

3. The system according to claim 1, characterized in that, The current control component further includes a current calculation module; if the predicted angle is inconsistent with the fixed angle, the current calculation module is triggered. The current calculation module includes: The current prediction submodule is used to predict the current component of the current current mapped onto the first coordinate axis based on the second mapping component and a fixed angle, as the first prediction component, and to predict the current component of the current current mapped onto the second coordinate axis based on the first mapping component and a fixed angle, as the second prediction component. The current determination submodule is used to determine the target current based on the first prediction component and the second prediction component.

4. The system according to claim 3, characterized in that, The current determination submodule is specifically used to update the first mapping component based on the first predicted component, determine the updated first mapping component as the first updated component, and update the second mapping component based on the second predicted component, determine the updated second mapping component as the second updated component. The first predicted component and the second predicted component are fused to obtain a first fused current, and the first updated component and the second updated component are fused to obtain a second fused current. The first fusion current and the second fusion current are fused together to obtain the target current.

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