Rotating speed adjusting device, method and equipment, readable medium and ventricular assist system

Abstract

The embodiment of the invention discloses a rotating speed adjusting device, method and equipment for controlling backflow of a catheter pump, a readable medium and a ventricular assist system. The rotating speed adjusting device comprises a pressure difference estimation module, a rotating speed estimation module and a rotating speed adjusting module, and the pressure difference estimation module can calculate the current anti-reflux pressure difference according to the current heart rate, the heart temperature, the pressure difference between the artery and the ventricle and an anti-reflux pressure difference estimation model; the rotating speed estimation module can calculate the anti-backflow rotating speed according to the current estimated anti-backflow pressure difference; the rotating speed adjusting module can generate an adjusting instruction according to the current target rotating speed and the anti-backflow rotating speed and issue the adjusting instruction to the executing mechanism. According to the scheme, the backflow phenomenon can be avoided or reduced by adjusting and controlling the conduit pump through the rotating speed.

Description

Technical Field

[0001] The present specification relates to the field of blockchain technology, and in particular to a speed regulating device, method, equipment, readable medium and ventricular assist system for controlling catheter pump reflux. Background Art

[0002] In the control process based on the ventricular assist system, when the catheter pump runs at the preset speed, the arterial pressure changes periodically and the aortic valve opens and closes periodically. When the aortic valve is closed, it means that the arterial pressure is higher than the ventricular pressure. However, due to the presence of the catheter pump, the aortic valve may not close completely, resulting in a path for blood flow from the artery to the ventricle, forming aortic valve regurgitation, and aortic valve regurgitation will cause certain structural damage to the aortic valve itself.

[0003] Based on the above reasons, how to provide a speed regulating device and method that can be used to control the backflow of the catheter pump has become a technical problem that urgently needs to be solved. Summary of the invention

[0004] The purpose of the embodiments of this specification is to address the above-mentioned problems and to provide a speed regulating device, a ventricular assist system, and a speed regulating method, equipment, and readable medium for controlling the backflow of a catheter pump.

[0005] To solve the above technical problems, the embodiments of this specification are implemented as follows:

[0006] In a first aspect, a speed regulating device for controlling backflow of a catheter pump is provided, comprising:

[0007] The pressure difference estimation module can calculate the current anti-reflux pressure difference based on the current heart rate, heart temperature, pressure difference between artery and ventricle, and anti-reflux pressure difference estimation model;

[0008] A speed estimation module, capable of calculating the anti-reflux speed based on the current estimated anti-reflux pressure difference;

[0009] The speed regulating module can generate a regulating instruction according to the current target speed and the anti-backflow speed, and send the regulating instruction to the actuator.

[0010] Furthermore, before calculating the current anti-reflux pressure difference, it also includes: acquiring simulation data so that the anti-reflux pressure difference estimation model is trained by the simulation data; the simulation data is simulated by the human body coupling system of the ventricular assist system, and the human body coupling system includes heart rate, heart temperature and pressure difference between arteries and ventricles.

[0011] Furthermore, obtaining simulation data of the human body coupling system includes: obtaining data of a time series and a corresponding heart rate series, a heart temperature series, and a pressure difference series between arteries and ventricles, so as to obtain simulation data of the corresponding anti-reflux pressure difference between arteries and ventricles.

[0012] Furthermore, the pressure difference estimation module can also: obtain the original pressure difference between the artery and the ventricle when the artery is in diastole, wherein the pressure difference between the artery and the ventricle is the difference between the arterial pressure and the ventricular pressure when the catheter pump is installed in the human body and the speed of the catheter pump motor is zero; and,

[0013] The current heart rate, heart temperature and the pressure difference between the artery and the ventricle are input into the anti-reflux pressure difference estimation model, and the current anti-reflux pressure difference is calculated and output.

[0014] Furthermore, the rotation speed estimation module can also: convert the current anti-reflux pressure difference into a corresponding anti-reflux rotation speed according to the catheter pump HQ curve obtained in advance.

[0015] Furthermore, according to the catheter pump HQ curve obtained in advance, the current anti-reflux pressure difference is converted into a corresponding anti-reflux speed, including:

[0016] Get the pressure difference sequence generated by the HQ curve at different speeds;

[0017] Obtaining a minimum pressure difference that is greater than or equal to the current anti-backflow pressure difference from the pressure difference sequence;

[0018] The rotation speed corresponding to the minimum pressure difference is determined as the anti-backflow rotation speed.

[0019] Furthermore, according to the magnitude relationship between the current target speed and the anti-backflow speed, a corresponding adjustment instruction is generated, including:

[0020] If the current target speed is greater than or equal to the anti-backflow speed, the generated adjustment instruction includes keeping the current target speed unchanged;

[0021] If the current target speed is less than the anti-backflow speed, the generated adjustment instruction includes adjusting the target speed to the anti-backflow speed, or adjusting the target speed to the lowest speed greater than the anti-backflow speed, or adjusting the target speed to periodically change between the current target speed and the anti-backflow speed.

[0022] In the second aspect, a ventricular assist system is proposed, comprising a sensor, a catheter pump and a speed regulating device as described in the first aspect for controlling the backflow of the catheter pump; the sensor at least comprises a sensor for obtaining heart rate, temperature and pressure; the catheter pump comprises a motor and an impeller; the speed regulating device is used to adjust the speed of the motor, and comprises a pressure difference estimation module, a speed estimation module and a speed regulating module; the sensor is used to respectively obtain the current heart rate, heart temperature and pressure difference between the artery and the ventricle, and send them to the pressure difference estimation module.

[0023] In a third aspect, a speed regulation method for controlling the backflow of a catheter pump is proposed, comprising:

[0024] Get the current heart rate, heart temperature and pressure difference between arteries and ventricles;

[0025] Calculate the current anti-reflux pressure difference according to the current heart rate, heart temperature, pressure difference between artery and ventricle, and anti-reflux pressure difference estimation model;

[0026] Calculate the anti-reflux speed according to the current estimated anti-reflux pressure difference;

[0027] An adjustment instruction is generated according to the current target speed and the anti-backflow speed, and the adjustment instruction is sent to the actuator.

[0028] Furthermore, the method further includes: training the anti-reflux pressure difference estimation model based on simulation data.

[0029] In a fourth aspect, an electronic device is provided, comprising: a processor; and

[0030] A memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method of the third aspect.

[0031] In a fifth aspect, a computer-readable storage medium is proposed, which stores one or more programs. When the one or more programs are executed by an electronic device including multiple application programs, the electronic device executes the method described in the third aspect.

[0032] An embodiment of the above invention has the following advantages or beneficial effects: The present invention provides a speed regulation device and a speed regulation method, and a ventricular assist system that can be used to control the backflow of a catheter pump. The scheme of the present invention can calculate the current anti-reflux pressure difference based on the current heart rate, heart temperature, pressure difference between the artery and the ventricle, and the anti-reflux pressure difference estimation model, and then calculate the anti-reflux speed based on the current estimated anti-reflux pressure difference. The current target speed and anti-reflux speed generate adjustment instructions and are sent to the actuator to control or reduce the reflux by adjusting the speed.

[0033] The further effects of the above-mentioned non-conventional optional manner will be described below in conjunction with the specific implementation manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0035] Figure 1 This is a schematic diagram of the speed regulation device architecture provided in the embodiments of this specification.

[0036] Figure 2 This is a working diagram of the speed estimation module in the speed regulation device provided in the embodiment of this specification.

[0037] Figure 3 This is a working diagram of the speed regulation module in the speed regulation device provided in the embodiment of this specification.

[0038] Figure 4 This is a schematic diagram of the architecture of the backflow control device provided in the embodiments of this specification.

[0039] Figure 5 This is a working diagram of the anti-backflow speed acquisition module in the backflow control device provided in the embodiment of this specification.

[0040] Figure 6 This is a graph showing the relationship between the motor current and time function in the reverse flow control device provided in the embodiment of this specification.

[0041] Figure 7 This is a curve diagram of the speed-time function relationship in the backflow control device provided in the embodiment of this specification.

[0042] Figure 8 This is one of the structural schematic diagrams of the ventricular assist system provided in the embodiments of this specification.

[0043] Fig. 9 This is the second structural schematic diagram of the ventricular assist system provided in the embodiment of this specification.

[0044] Fig.10 This is a flow chart of the speed regulation method provided in the embodiments of this specification.

[0045] Fig.11 A schematic diagram of an implementation method of anti-reflux control of a ventricular assist system provided in an embodiment of this specification.

[0046] Fig.12A schematic diagram of the structure of an electronic device provided for one embodiment of the present specification. DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this specification.

[0048] A speed regulation scheme for controlling the backflow of a catheter pump involved in this specification is described in detail below through a specific example.

[0049] A ventricular assist system is a mechanical circulatory support device, that is, an invasive mechanical pump that pumps blood from the heart's ventricles to the rest of the body. Therefore, a ventricular assist device can be used for patients with weak heart or heart failure.

[0050] The basic principle of the ventricular assist system is that when heart failure occurs, a catheter pump connected to an external power supply is inserted between the aorta and the left ventricle or between the pulmonary artery and the right ventricle, that is, at the aortic valve or the pulmonary artery. The catheter pump has an impeller driven by a motor to rotate at high speed, which pumps blood from the left heart into the aorta, or pumps blood from the pulmonary artery into the right ventricle, to supplement the part of the cardiac output that the original heart cannot provide.

[0051] In the control process based on the ventricular assist system, when the catheter pump runs at the preset speed, the arterial pressure changes periodically and the aortic valve opens and closes periodically. When the aortic valve is closed, it means that the arterial pressure is higher than the ventricular pressure. However, due to the presence of the catheter pump, the aortic valve may not close completely, resulting in a path for blood flow from the artery to the ventricle, forming aortic valve regurgitation, and aortic valve regurgitation will cause certain structural damage to the aortic valve itself.

[0052] Based on the above shortcomings, Figure 1 As shown, an embodiment of the present invention provides a speed regulating device 100 for controlling backflow of a catheter pump, comprising a pressure difference estimation module 110 , a speed estimation module 120 and a speed regulating module 130 .

[0053] In one embodiment of the present invention, the speed regulating device 100 is used in a ventricular assist system, and the speed regulating device directly acts on the motor of the catheter pump of the ventricular assist system to adjust the motor speed.

[0054] In one embodiment of the present invention, the pressure difference estimation module 110 is used to calculate the current anti-reflux pressure difference based on the current heart rate, heart temperature, the pressure difference between the artery and the ventricle, and the anti-reflux pressure difference estimation model.

[0055] It should be noted that the pressure difference between the artery and the ventricle is related to the specific location and method of catheter pump implantation. When the catheter pump is implanted in the aorta and left ventricle of the heart, the pressure difference between the artery and the ventricle is the pressure difference between the aorta pressure and the left ventricle pressure; when the catheter pump is implanted in the pulmonary artery and right ventricle, the pressure difference between the artery and the ventricle is the pressure difference between the pulmonary aorta pressure and the right ventricle pressure.

[0056] In one embodiment of the present invention, the ventricular assist system includes sensors, which may include heart rate sensors, temperature sensors and pressure sensors according to their functions. The current heart rate, heart temperature, arterial pressure and ventricular pressure can be obtained through the sensors, so that the pressure difference between the artery and the ventricle can be obtained through the obtained arterial pressure and ventricular pressure.

[0057] In one embodiment of the present invention, the above-mentioned pressure difference estimation module 110 also includes acquiring simulation data before calculating the current anti-reflux pressure difference; the simulation data is obtained by simulating the human body coupling system of the ventricular assist system, and the human body coupling system includes heart rate, heart temperature and pressure difference between arteries and ventricles.

[0058] In one embodiment of the present invention, obtaining simulation data of the human body coupling system includes: obtaining data of a time series and a corresponding heart rate series, a heart temperature series, and a pressure difference series between arteries and ventricles, so as to obtain simulation data of the corresponding anti-reflux pressure difference between arteries and ventricles.

[0059] In one embodiment of the present invention, in addition to the above-mentioned simulation data obtained by simulating the human coupling system of the ventricular assist system, it can also be obtained by experimental testing using in vitro tooling equipment, including setting parameters such as heart rate and temperature, and then starting the catheter pump to obtain arterial flow data, so as to test and obtain the pressure difference between the artery and the ventricle that can prevent reflux.

[0060] In one embodiment of the present invention, the anti-reflux pressure difference estimation model is obtained by training with the simulation data.

[0061] Specifically, an anti-reflux pressure difference estimation model is obtained in the experimental stage, wherein the input independent variables of the above model are the obtained heart rate, heart temperature, and the pressure difference between the artery and the ventricle when the catheter pump is not started as parameters, and the output variable is the estimated anti-reflux pressure difference critical value. In one embodiment of the present invention, the above anti-reflux pressure difference estimation model can be constructed based on a neural network model including a BP neural network model, so as to construct a nonlinear relationship between the input independent variables and the output variables.

[0062] In one embodiment of the present invention, the pressure difference estimation module 110 is also used to obtain the original pressure difference between the artery and the ventricle when the artery is in diastole. The pressure difference between the artery and the ventricle is the difference between the arterial pressure and the ventricular pressure when the catheter pump is installed in the human body and the speed of the catheter pump motor is zero.

[0063] It should be noted that the difference between arterial pressure and ventricular pressure when the catheter pump motor speed is zero is essentially the pressure difference between the artery and the ventricle; that is, the pressure difference obtained when the catheter pump speed is zero and in the diastolic period can be approximately equal to the arterial pressure.

[0064] In one embodiment of the present invention, the current heart rate, heart temperature and the pressure difference between the artery and the ventricle are input into the anti-reflux pressure difference estimation model, and the current anti-reflux pressure difference is calculated and output.

[0065] In one embodiment of the present invention, the rotation speed estimation module 120 is used to calculate the anti-reflux rotation speed according to the current estimated anti-reflux pressure difference.

[0066] In one embodiment of the present invention, the rotation speed estimation module 120 is further configured to convert the current anti-reflux pressure difference into a corresponding anti-reflux rotation speed according to a previously obtained catheter pump HQ curve.

[0067] Specifically, the HQ curve of the catheter pump is obtained in the scenario of in vitro testing, and is used to reflect the relationship between flow rate and pressure head, which is related to the structure, size, speed and flow rate of the catheter pump itself. Under a certain speed, the relationship between pressure head and flow rate can be obtained; under a certain flow rate, the relationship between pressure head and speed can be obtained. Therefore, in one embodiment, the corresponding anti-reflux speed value can be obtained according to the current anti-reflux pressure difference.

[0068] In one embodiment of the present invention, Figure 2 As shown, according to the catheter pump HQ curve obtained in advance, the current anti-reflux pressure difference is converted into the corresponding anti-reflux speed, including:

[0069] S211: Obtain a pressure difference sequence generated by the HQ curve at different rotation speeds.

[0070] S212: Obtaining a minimum pressure difference that is greater than or equal to the current anti-backflow pressure difference from the pressure difference sequence.

[0071] S213: Determine that the rotation speed corresponding to the minimum pressure difference is the anti-backflow rotation speed.

[0072] The implementation process of step S212 to step S213 is illustrated by example. First, the current anti-reflux pressure difference is obtained according to the above anti-reflux pressure difference estimation model, which is assumed to be 25 mmHg; then, the maximum pressure difference that can be generated by the HQ curve at different speeds is obtained, for example: when the speed is 5000 rpm, the maximum pressure difference that can be generated is 20 mmHg; when the speed is 8000 rpm, the maximum pressure difference that can be generated is 30 mmHg; then, based on the above current anti-reflux pressure difference of 25 mmHg, the corresponding speed should be between 5000 rpm and 8000 rpm. If the speed control can be accurately achieved, then according to the catheter pump HQ curve, it can be accurately converted to the speed value corresponding to the pressure difference value equal to the above current anti-reflux pressure difference of 25 mmHg. If the speed control cannot be accurately achieved, that is, the speed value can only be selected from the existing preset gears, then the lowest gear with a pressure difference value greater than or equal to the above current anti-reflux pressure difference of 25 mmHg is selected.

[0073] In one embodiment of the present invention, the speed regulating module 130 is used to generate a regulating instruction according to the current target speed and the anti-backflow speed, and send the regulating instruction to the actuator.

[0074] In one embodiment of the present invention, Figure 3 As shown, the speed adjustment module 130 generates corresponding adjustment instructions according to the magnitude relationship between the current target speed and the anti-backflow speed, including:

[0075] S311: If the current target speed is greater than or equal to the anti-backflow speed, the generated adjustment instruction includes keeping the current target speed unchanged.

[0076] S312: If the current target speed is less than the anti-backflow speed, the generated adjustment instruction includes adjusting the target speed to the anti-backflow speed, or adjusting the target speed to the lowest speed greater than the anti-backflow speed, or adjusting the target speed to periodically change between the current target speed and the anti-backflow speed.

[0077] Specifically, the target speed is a speed target value obtained based on the actual cardiac physiological state of the ventricular assist system user. The setting of the speed target value first hopes to obtain accurate cardiac output, reduce the user's adverse cardiac reactions, and consider avoiding or reducing the occurrence of reflux. Therefore, the size relationship between the target speed and the anti-reflux speed determines the speed adjustment instruction generated. If the current target speed itself is greater than or equal to the anti-reflux speed, then the current target speed is the optimal speed value, that is, the generated speed adjustment instruction still maintains the current target speed; if the current target speed is less than the anti-reflux speed, there are the following situations: the first situation is to directly adjust the target speed to the anti-reflux speed. The premise of this situation is that the speed value can be accurately adjusted to be equal to the anti-reflux speed; the second situation is that the anti-reflux speed is not a speed value that can be adjusted exactly, for example, there is no equal gear value in the speed adjustment gear, then the target speed value should be adjusted to the lowest speed gear greater than the anti-reflux speed value; the third situation is to comprehensively consider the cardiac physiological state of the user of the ventricular assist system, give priority to obtaining accurate cardiac output and reducing the speed that can reduce the user's adverse cardiac reactions, and on this basis, minimize the occurrence of reflux. Therefore, the speed adjustment instruction should be able to make the speed change periodically between the current anti-reflux speed and the target speed, so as to minimize the reflux phenomenon.

[0078] In one embodiment of the present invention, Figure 4 As shown, the embodiment of the present invention realizes the control of backflow based on the acquisition of the anti-backflow speed. Figure 4 The backflow control device 400 shown includes: an anti-backflow rotation speed acquisition module 410 and a rotation speed control module 420 .

[0079] In one embodiment of the present invention, the anti-reflux speed acquisition module 410 is used to obtain a target anti-reflux speed according to the current anti-reflux speed.

[0080] In one embodiment of the present invention, the anti-reflux speed acquisition module 410 is further used to obtain the target anti-reflux speed according to the magnitude relationship between the current anti-reflux speed and the target speed, such as Figure 5 As shown, including:

[0081] S511: If the current anti-backflow speed is less than or equal to the target speed, determine that the target anti-backflow speed is equal to the target speed.

[0082] S512: If the current anti-backflow speed is greater than the target speed, determine the minimum value of the effective anti-backflow speed greater than the target speed as the target anti-backflow speed.

[0083] Specifically, one of the implementation methods of obtaining the target anti-reflux speed is to obtain it based on the size relationship between the current anti-reflux speed and the target speed when the target speed is obtained. It should be noted that the target speed is a speed target value obtained based on the actual cardiac physiological state of the user of the ventricular assist system. The setting of the speed target value first hopes to obtain accurate cardiac output and reduce the user's adverse cardiac reactions, while considering avoiding or reducing the occurrence of reflux. Therefore, the size relationship between the target speed and the current anti-reflux speed determines how the target anti-reflux speed value is determined.

[0084] Specifically, if the current anti-backflow speed is less than or equal to the target speed, then the target speed can meet the speed requirement of the anti-backflow, that is, the target anti-backflow speed is equal to the target speed.

[0085] If the current anti-backflow speed is greater than the target speed, there are the following situations: the first situation is that the target anti-backflow speed can be accurately controlled to be equal to the current anti-backflow speed; the second situation is that the target anti-backflow speed value is not able to be controlled to the exact value of the speed, for example, there is no such gear in the speed control gear, then at this time the target anti-backflow value should be adjusted to the lowest speed gear that is greater than the target speed and can achieve anti-backflow control.

[0086] Specifically, another implementation method for obtaining the target anti-reflux speed includes directly obtaining the target anti-reflux speed based on the current anti-reflux speed. Since the current anti-reflux speed can be directly obtained, for example, directly obtained from a running ventricular assist system, then, based on the human physiological coupling system of the user of the ventricular assist system, such as the current heart rate, heart temperature, and even the pressure difference between the artery and the ventricle, etc., the target anti-reflux speed of the user of the ventricular assist system is obtained through simulation or in vitro equipment testing. The current anti-reflux speed can be obtained by a preset adjustment method to obtain the current anti-reflux speed, for example, by multiplying the current anti-reflux speed by an empirical coefficient. However, it should be understood that the implementation method for obtaining the target anti-reflux speed based on the current anti-reflux speed is not limited to the present embodiment, and any method that can obtain the target anti-reflux speed through the current anti-reflux speed is within the protection scope of the present invention.

[0087] In one embodiment of the present invention, the speed control module 420 is used to generate a speed control instruction according to the target speed and the target anti-backflow speed, and send the speed control instruction to the actuator to control the backflow degree.

[0088] In one embodiment of the present invention, the speed control instruction is generated based on the target speed and the target anti-reflux speed, including: inputting the target speed and the target anti-reflux speed into a preset speed control model, so as to generate the speed control instruction based on the speed output by the above speed control model.

[0089] In one embodiment of the present invention, when the target anti-backflow speed is greater than the target speed, the above-mentioned speed control model is determined to control the current speed to periodically change between the target speed and the target anti-backflow speed; when the target anti-backflow speed is less than or equal to the target speed, the speed is controlled to reach the target speed.

[0090] Specifically, if the target anti-backflow speed is less than or equal to the target speed, then the target speed can meet the speed requirement of the anti-backflow, that is, the generated speed control instruction is used to maintain the target speed value. If the target anti-backflow speed is greater than the target speed, the current speed is controlled by the determined speed control model to periodically change between the target speed and the target anti-backflow speed.

[0091] In one embodiment of the present invention, when the target anti-backflow speed is greater than the target speed, determining the speed control model includes: obtaining the speed time function by segmenting the speed time function relationship curve and setting control parameters according to the speed change trend, wherein the speed time function is a periodic function.

[0092] In one embodiment of the present invention, the speed control module 420 is further configured to instruct the actuator to adjust the motor current value accordingly according to the generated speed control instruction, so as to control the periodic change of the speed.

[0093] Specifically, the embodiment of the present invention is described by controlling the periodic change of the speed by controlling the motor current value. Since the larger the motor current value, the faster the speed of the catheter pump; conversely, the smaller the motor current value, the slower the speed of the catheter pump; that is, the change trend of the motor current value I is linearly positively correlated with the change trend of the catheter pump speed. Therefore, the problem of establishing a speed control model can be transformed into the problem of establishing a motor current control model.

[0094] In one embodiment of the present invention, the speed-time function relationship curve is configured as a trapezoidal wave; the trapezoidal wave is determined based on the slope change of the current speed between the target speed and the target anti-reflux speed, including: dividing the trapezoidal wave into 4 line segments with different slopes; the control parameters of the speed control model corresponding to the line segments include the time length corresponding to the change process of controlling the current speed value, and the sum of the time lengths corresponding to the 4 line segments of the trapezoidal wave is one cardiac cycle.

[0095] Specifically, based on the fact that the change trend of the motor current value I is linearly positively correlated with the change trend of the catheter pump speed N, and the problem of establishing a speed control model can be transformed into the problem of establishing a motor current control model, the motor current control model obtained in the embodiment of the present invention, that is, the motor current time function relationship curve is as follows:

[0096] I=f(A,B,C,D,N set , N nfo )

[0097] Among them, A, B, C, and D are feedback control parameters set according to the control strategy, and N nfo is the target anti-backflow speed, N set is the target speed. The control strategy is based on the actual cardiac physiological state of the ventricular assist system user, so that accurate cardiac output can be obtained while reducing the user's adverse cardiac reactions and avoiding or reducing the reflux phenomenon. Specifically, parameter A is Figure 6 During a cardiac cycle, the current changes from a low current value I l Rising to a high current value I h The time proportion of Figure 6 During a cardiac cycle, the current is at a high current value I h The time proportion of Figure 6 During one cardiac cycle, the current changes from a high current value I h Reduce to low current value I l The parameter D is Figure 6 During a cardiac cycle, the current is at a low current value I l The overall change cycle of the current is a cardiac cycle, which is obtained through the heart rate sensor.

[0098] For example, assuming that the overall change cycle of the current, i.e., one cardiac cycle, is 0.8s, the parameters A, B, C, and D are selected as: 0.2, i.e., 20%, 0.35, i.e., 35%, 0.1, i.e., 10%, 0.35, i.e., 35%, i.e., the durations corresponding to the parameters A, B, C, and D are 0.16s, 0.28s, 0.08s, and 0.28s, respectively. Based on the experience of anti-reflux control in the catheter pump, it is recommended that the duration corresponding to the parameter A be smaller than the duration corresponding to the parameter C, and the larger the duration corresponding to the parameter B, the better the anti-reflux effect.

[0099] Reference Figure 6 The motor current time function relationship curve shown in FIG. 1 is based on the fact that the change trend of the motor current value I is linearly positively correlated with the change trend of the catheter pump speed N. Figure 7 The speed control model shown is the speed-time function curve. Figure 6 The high current value I in the motor current time function curve h Corresponds to Figure 7 The target anti-backflow speed N nfo , Figure 6 Medium and low current value I l Corresponds to Figure 7 The target speed N set Assuming that one cardiac cycle is 0.8s, the target anti-reflux speed N nfo The target speed N is 8000 rpm.set is 6000rpm. Therefore, it corresponds to Figure 6 When the selected parameters A, B, C and D are 0.2, 0.35, 0.1 and 0.35 respectively, Figure 7 In the test, the time for the speed to increase from 6000rpm to 8000rpm is 0.16s, and the time to maintain 8000rpm is 0.28s. The time for decreasing from 8000rpm to 6000rpm is 0.08s, and the time to maintain 6000rpm is 0.28s.

[0100] It should be noted that the configuration of the above speed-time function relationship curve as a trapezoidal wave is one implementation of the embodiment of the present invention. According to different catheter pump speed control strategies, the above speed-time function relationship curve can also be configured as different forms such as sine waves, square waves, etc., which will not be repeated here. It should be understood that any speed control strategy that can periodically control the speed between the target anti-backflow speed and the target speed and its corresponding speed-time function relationship curve are in line with the technical features of the embodiment of the present invention.

[0101] It should be noted that the above speed control model does not achieve absolute anti-reflux, but reduces reflux to a certain extent. In one embodiment, reflux may still exist during the low-speed period but not during the high-speed period; this solution achieves the function and effect of reducing reflux compared to a cardiac cycle with a full low-speed period.

[0102] An embodiment of the present invention provides a ventricular assist system, such as Figure 8 As shown, it includes a sensor 200, a catheter pump 300 and a speed regulating device 100. Among them,

[0103] The above-mentioned sensors include, according to their functions, a heart rate sensor 210 capable of acquiring real-time heart rate, a temperature sensor 220 capable of acquiring heart temperature, and a pressure sensor 230 capable of acquiring pressure values; the above-mentioned sensors are used to respectively acquire the heart rate, heart temperature, and the pressure difference between the artery and the ventricle and send them to the pressure difference estimation module 110 of the speed regulation device 100.

[0104] The catheter pump 300 includes a motor 310 and an impeller 320 . The motor 310 drives the impeller to rotate to realize the catheter pump to obtain a desired cardiac output.

[0105] The speed regulating device 100 is used to regulate the speed of the motor, and includes a pressure difference estimation module 110 , a speed estimation module 120 and a speed regulating module 130 .

[0106] In one embodiment of the present invention, Fig. 9As shown, a ventricular assist system may further include a reflux control device 400. The reflux control device 400 is used to control reflux, and includes an anti-reflux speed acquisition module 410 and a speed control module 420.

[0107] refer to Fig.10 The embodiment of the present invention provides a speed regulation method for controlling the backflow of a catheter pump, comprising:

[0108] S1001: Obtain the current heart rate, heart temperature, and pressure difference between the artery and the ventricle.

[0109] S1002: Calculate the current anti-reflux pressure difference based on the current heart rate, heart temperature, pressure difference between the artery and the ventricle, and the anti-reflux pressure difference estimation model.

[0110] S1003: Calculate the anti-reflux rotation speed according to the current estimated anti-reflux pressure difference.

[0111] S1004: Generate an adjustment instruction according to the current target speed and the anti-backflow speed, and send the adjustment instruction to the actuator.

[0112] Specifically, the heart rate, heart temperature and pressure difference between the artery and the ventricle are obtained through the sensors provided by the ventricular assist system. It should be noted that the pressure difference between the artery and the ventricle is related to the specific location and method of implantation of the catheter pump. When the catheter pump is implanted in the aorta and left ventricle of the heart, the pressure difference between the artery and the ventricle is the pressure difference between the aorta pressure and the left ventricle pressure; when the catheter pump is implanted in the pulmonary artery and the right ventricle, the pressure difference between the artery and the ventricle is the pressure difference between the pulmonary aorta pressure and the right ventricle pressure.

[0113] In one embodiment of the present invention, based on obtaining the heart rate, heart temperature and the pressure difference between the artery and the ventricle, before calculating the current anti-reflux pressure difference, the method further includes: training the anti-reflux pressure difference estimation model based on simulation data. Specifically, the anti-reflux pressure difference estimation model is obtained in the experimental stage, wherein the input independent variables of the above model are the obtained heart rate, heart temperature, and the pressure difference between the artery and the ventricle when the catheter pump is not started as parameters, and the output variable is the estimated anti-reflux pressure difference critical value. In one embodiment of the present invention, the above anti-reflux pressure difference estimation model can be constructed based on a neural network model including a BP neural network model, so as to construct a nonlinear relationship between the input independent variables and the output variables.

[0114] In one embodiment of the present invention, obtaining simulation data of the human coupling system includes: obtaining data of a time series and a corresponding heart rate series, a heart temperature series, and a pressure difference series between the artery and the ventricle, so as to obtain simulation data of the corresponding anti-reflux pressure difference between the artery and the ventricle. In addition, in addition to the above simulation data obtained by simulating the human coupling system of the ventricular assist system, it can also be obtained by experimental testing using an in vitro tooling device, including setting parameters such as heart rate and temperature, and then starting a catheter pump to obtain arterial flow data, so as to test and obtain the pressure difference between the artery and the ventricle that can prevent reflux.

[0115] In one embodiment of the present invention, when estimating the pressure difference, the original pressure difference between the artery and the ventricle is obtained when the artery is in the diastolic period. The pressure difference between the artery and the ventricle is the difference between the arterial pressure and the ventricular pressure when the catheter pump is installed in the human body and the speed of the catheter pump motor is zero. It should be noted that the difference between the arterial pressure and the ventricular pressure when the speed of the catheter pump motor is zero is essentially the pressure difference between the artery and the ventricle; that is, the pressure difference obtained when the speed of the catheter pump is zero and in the diastolic period can be approximately equal to the arterial pressure.

[0116] In one embodiment of the present invention, the anti-reflux speed is calculated based on the current estimated anti-reflux pressure difference. Specifically, based on the previously obtained catheter pump HQ curve, the current anti-reflux pressure difference is converted into the corresponding anti-reflux speed. It should be noted that the catheter pump HQ curve is obtained in the scenario of in vitro testing, which is used to reflect the relationship between flow rate and pressure head. This is related to the structure, size, speed and flow rate of the catheter pump itself. Under a certain speed, the relationship between pressure head and flow rate can be obtained; under a certain flow rate, the relationship between pressure head and speed can be obtained. Therefore, in one embodiment, the corresponding anti-reflux speed value can be obtained according to the current anti-reflux pressure difference. The specific process includes: obtaining the pressure difference sequence generated by the HQ curve at different speeds; obtaining the minimum pressure difference greater than or equal to the current anti-reflux pressure difference from the pressure difference sequence; determining the speed corresponding to the minimum pressure difference as the anti-reflux speed.

[0117] In one embodiment of the present invention, a corresponding adjustment instruction is generated based on the relationship between the current target speed and the anti-backflow speed, including: if the current target speed is greater than or equal to the anti-backflow speed, the generated adjustment instruction includes keeping the current target speed unchanged; if the current target speed is less than the anti-backflow speed, the generated adjustment instruction includes adjusting the target speed to the anti-backflow speed, or adjusting the target speed to the lowest speed greater than the anti-backflow speed, or adjusting the target speed to periodically change between the current target speed and the anti-backflow speed.

[0118] The present invention provides a speed regulating device and a speed regulating method, and a ventricular assist system that can be used to control the backflow of a catheter pump. The device can calculate the current anti-reflux pressure difference based on the current heart rate, heart temperature, the pressure difference between the artery and the ventricle, and the anti-reflux pressure difference estimation model, and then calculate the anti-reflux speed based on the current estimated anti-reflux pressure difference. The current target speed and anti-reflux speed generate adjustment instructions and are sent to the actuator to control or reduce the reflux by adjusting the speed.

[0119] like Fig.11 FIG. 1 is a schematic diagram of an implementation method of anti-reflux control of a ventricular assist system according to an embodiment of the present invention. Fig.11 When the catheter pump is placed in the human body, the user's heart rate, heart temperature and arterial-ventricular pressure difference are obtained as inputs through the human body coupling system and input into the anti-reflux pressure difference estimation model to obtain the target arterial-ventricular pressure difference that can control reflux; combined with the previously obtained catheter pump HQ curve, the target arterial-ventricular pressure difference that can control reflux is converted into a target anti-reflux speed, so as to generate a corresponding speed adjustment instruction based on the target anti-reflux speed. Fig.11 One of the implementation methods of the actuator that responds to the speed adjustment instruction can include a current controller and a catheter pump, a current control model running in the current controller, and the current controller controls the catheter pump motor current to achieve the control of the motor speed; further, to achieve the target anti-backflow speed, it can be specifically implemented by adjusting the current controller control parameters, specifically including constructing a current control model, that is, a current-time relationship curve, so as to achieve the periodic control of the motor current value by comparing it with the pre-set target current value when the target anti-backflow current value is obtained; since the change trend of the motor current value is linearly positively correlated with the change trend of the motor speed value, the periodic control of the motor current value can correspond to the periodic control of the motor speed. Specifically, it can also be implemented as follows: when the catheter pump is initially running, the motor current gear can select a low current gear value, and after the anti-backflow speed estimation module outputs the target anti-backflow speed value, the corresponding gear is further adjusted to a high current gear value.

[0120] Fig.12 This is a schematic diagram of the structure of an electronic device according to an embodiment of this specification. Fig.12 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. The memory may include a memory, such as a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage. Of course, the electronic device may also include hardware required for other services.

[0121] The processor, network interface and memory can be interconnected through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.12 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0122] The memory is used to store the program. Specifically, the program may include a program code, and the program code includes a computer operation instruction. The memory may include a memory and a non-volatile memory, and provides instructions and data to the processor.

[0123] The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, forming a shared resource access control device at the logical level. The processor executes the program stored in the memory and is specifically used to perform the following operations:

[0124] Get the current heart rate, heart temperature and pressure difference between arteries and ventricles;

[0125] Calculate the current anti-reflux pressure difference according to the current heart rate, heart temperature, pressure difference between artery and ventricle, and anti-reflux pressure difference estimation model;

[0126] Calculate the anti-reflux speed according to the current estimated anti-reflux pressure difference;

[0127] An adjustment instruction is generated according to the current target speed and the anti-backflow speed, and the adjustment instruction is sent to the actuator.

[0128] The above is as in this manual Fig.10The speed regulation method for controlling the reflux of the catheter pump disclosed in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The various methods, steps and logic block diagrams disclosed in the embodiments of this specification can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of this specification can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0129] Of course, in addition to software implementation, the electronic device of the embodiments of this specification does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0130] The embodiment of the present specification also provides a computer-readable storage medium, which stores one or more programs, wherein the one or more programs include instructions, which, when executed by a portable electronic device including a plurality of application programs, enable the portable electronic device to execute Fig.10 The speed regulation method for controlling the backflow of the catheter pump in the illustrated embodiment is specifically used to perform the following method:

[0131] Get the current heart rate, heart temperature and pressure difference between arteries and ventricles;

[0132] Calculate the current anti-reflux pressure difference according to the current heart rate, heart temperature, pressure difference between artery and ventricle, and anti-reflux pressure difference estimation model;

[0133] Calculate the anti-reflux speed according to the current estimated anti-reflux pressure difference;

[0134] An adjustment instruction is generated according to the current target speed and the anti-backflow speed, and the adjustment instruction is sent to the actuator.

[0135] In short, the above description is only a preferred embodiment of this specification and is not intended to limit the protection scope of this specification. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification shall be included in the protection scope of this specification.

[0136] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0137] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0138] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0139] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

Claims

1. A speed regulating device for controlling the backflow of a catheter pump, It is characterized in that include: The pressure difference estimation module can calculate the current anti-reflux pressure difference based on the current heart rate, heart temperature, pressure difference between artery and ventricle, and anti-reflux pressure difference estimation model; A speed estimation module, capable of calculating the anti-reflux speed based on the current estimated anti-reflux pressure difference; The speed regulating module can generate a regulating instruction according to the current target speed and the anti-backflow speed, and send the regulating instruction to the actuator.

2. The device according to claim 1, It is characterized in that Before calculating the current anti-reflux pressure difference, it also includes: acquiring simulation data so that the anti-reflux pressure difference estimation model is trained by the simulation data; the simulation data is simulated by the human body coupling system of the ventricular assist system, and the human body coupling system includes heart rate, heart temperature and pressure difference between arteries and ventricles.

3. The device according to claim 2, It is characterized in that Acquiring simulation data of the human body coupling system includes: acquiring data of a time series and a corresponding heart rate series, a heart temperature series, and a pressure difference series between an artery and a ventricle, so as to obtain simulation data of a corresponding anti-reflux pressure difference between an artery and a ventricle.

4. The device according to claim 1, It is characterized in that The pressure difference estimation module can also: when the artery is in diastolic period, obtain the original pressure difference between the artery and the ventricle, the pressure difference between the artery and the ventricle is the difference between the arterial pressure and the ventricular pressure when the catheter pump is installed in the human body and the speed of the catheter pump motor is zero; and, The current heart rate, heart temperature and the pressure difference between the artery and the ventricle are input into the anti-reflux pressure difference estimation model, and the current anti-reflux pressure difference is calculated and output.

5. The device according to claim 4, It is characterized in that The speed estimation module can also convert the current anti-reflux pressure difference into a corresponding anti-reflux speed according to the catheter pump HQ curve obtained in advance.

6. The device according to claim 5, It is characterized in that According to the catheter pump HQ curve obtained in advance, the current anti-reflux pressure difference is converted into the corresponding anti-reflux speed, including: Get the pressure difference sequence generated by the HQ curve at different speeds; Obtaining a minimum pressure difference that is greater than or equal to the current anti-backflow pressure difference from the pressure difference sequence; The rotation speed corresponding to the minimum pressure difference is determined as the anti-backflow rotation speed.

7. The device according to any one of claims 5 or 6, It is characterized in that According to the relationship between the current target speed and the anti-backflow speed, the corresponding adjustment instructions are generated, including: If the current target speed is greater than or equal to the anti-backflow speed, the generated adjustment instruction includes keeping the current target speed unchanged; If the current target speed is less than the anti-backflow speed, the generated adjustment instruction includes adjusting the target speed to the anti-backflow speed, or adjusting the target speed to the lowest speed greater than the anti-backflow speed, or adjusting the target speed to periodically change between the current target speed and the anti-backflow speed.

8. A ventricular assist system, It is characterized in that The invention comprises a sensor, a catheter pump and a speed regulating device for executing any one of claims 1 to 7 for controlling the backflow of the catheter pump; the sensor comprises at least a sensor for obtaining heart rate, temperature and pressure; the catheter pump comprises a motor and an impeller; the speed regulating device is used to adjust the speed of the motor, and comprises a pressure difference estimation module, a speed estimation module and a speed regulating module; the sensor is used to respectively obtain the current heart rate, heart temperature and pressure difference between the artery and the ventricle, and send them to the pressure difference estimation module.

9. A speed regulation method for controlling backflow of a catheter pump, It is characterized in that include: Get the current heart rate, heart temperature and pressure difference between arteries and ventricles; Calculate the current anti-reflux pressure difference according to the current heart rate, heart temperature, pressure difference between artery and ventricle, and anti-reflux pressure difference estimation model; Calculate the anti-reflux speed according to the current estimated anti-reflux pressure difference; An adjustment instruction is generated according to the current target speed and the anti-backflow speed, and the adjustment instruction is sent to the actuator.

10. The method according to claim 9, It is characterized in that Also includes: The anti-reflux pressure difference estimation model is trained based on simulation data.

11. An electronic device, It is characterized in that include: processor; as well as A memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method of any one of claims 8 to 9.

12. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores one or more programs, which, when executed by an electronic device including a plurality of application programs, cause the electronic device to execute the method according to any one of claims 8 to 9.

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