Speed regulation device, method, apparatus, readable medium and ventricular assist system

Abstract

The embodiment of the specification discloses a kind of for controlling the speed regulating device of catheter pump reflux, method, equipment, readable medium and ventricular assist system;The speed regulating device includes differential pressure estimation module, speed estimation module and speed regulation module, the current anti-reflux pressure difference can be calculated according to current heart rate, heart temperature, arterial and ventricular pressure difference and anti-reflux pressure difference estimation model;The speed estimation module can calculate the anti-reflux speed according to the current estimated anti-reflux pressure difference;The speed regulation module can generate adjustment instruction according to current target speed and anti-reflux speed, and issue the adjustment instruction to actuating mechanism.The present application scheme can avoid or reduce reflux phenomenon by speed regulation control catheter pump.

Description

Technical Field

[0001] This specification relates to the field of blockchain technology, and in particular to a speed regulation device, method, apparatus, readable medium, and ventricular assist system for controlling backflow in a catheter pump. Background Technology

[0002] During the control process of a ventricular assist system, the arterial pressure changes periodically when the catheter pump operates at a preset speed, and the arterial valves also open and close periodically. When the arterial valves are closed, it means that the arterial pressure is higher than the ventricular pressure. However, due to the presence of the catheter pump, the arterial valves may not close completely, resulting in a pathway for blood flow from the artery to the ventricle, which leads to arterial regurgitation. Arterial regurgitation can cause structural damage to the arterial valves themselves.

[0003] For the reasons mentioned above, how to provide a speed regulation device and method for controlling backflow in a duct pump has become a pressing technical problem that needs to be solved. Summary of the Invention

[0004] The purpose of the embodiments in this specification is to address the above-mentioned problems by providing a speed regulating device, a ventricular assist system, a speed regulating method, an apparatus, and a readable medium for controlling reflux in a catheter pump.

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

[0006] Firstly, a speed regulating device for controlling backflow in a duct pump is proposed, comprising:

[0007] The differential pressure estimation module can calculate the current anti-reflux differential pressure based on the current heart rate, heart temperature, pressure difference between arteries and ventricles, and anti-reflux differential pressure estimation model.

[0008] The speed estimation module can calculate the anti-backflow speed based on the currently estimated anti-backflow pressure difference;

[0009] The speed regulation module can generate regulation commands based on the current target speed and the anti-backflow speed, and send the regulation commands to the actuator.

[0010] Furthermore, before calculating the current anti-backflow pressure differential, the method further includes: acquiring simulation data so that the anti-backflow pressure differential estimation model is trained from the simulation data; 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 differential between the artery and the ventricle.

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

[0012] Furthermore, the pressure differential estimation module is also capable of: obtaining the raw pressure differential between the artery and the ventricle when the artery is in diastole, wherein the pressure differential between the artery and the ventricle is the difference between the arterial pressure and the ventricular pressure when the catheter pump is inserted into the body and the motor speed of the catheter pump is zero; and,

[0013] Input the current heart rate, heart temperature, and pressure difference between the artery and ventricle into the anti-backflow pressure difference estimation model, and calculate and output the current anti-backflow pressure difference.

[0014] Furthermore, the speed estimation module can also convert the current anti-backflow pressure difference into the corresponding anti-backflow speed based on the pre-obtained duct pump HQ curve.

[0015] Furthermore, based on the previously obtained HQ curve of the duct pump, the current anti-backflow pressure differential is converted into the corresponding anti-backflow speed, including:

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

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

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

[0019] Furthermore, based on the relationship between the current target speed and the anti-backflow speed, corresponding adjustment commands are generated, including:

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

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

[0022] In a second aspect, a ventricular assist system is proposed, comprising sensors, a catheter pump, and a speed regulation device for controlling reflux of the catheter pump, as described in the first aspect; the sensors include at least sensors for acquiring heart rate, temperature, and pressure; the catheter pump includes a motor and an impeller; the speed regulation device is used to regulate the speed of the motor, including a differential pressure estimation module, a speed estimation module, and a speed regulation module; the sensors are used to acquire the current heart rate, heart temperature, and differential pressure between the artery and ventricle, respectively, and send them to the differential pressure estimation module.

[0023] Thirdly, a speed regulation method for controlling backflow in a duct pump is proposed, including:

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

[0025] Calculate the current anti-reflux pressure gradient based on the current heart rate, heart temperature, pressure gradient between the artery and ventricle, and the anti-reflux pressure gradient estimation model;

[0026] Calculate the anti-backflow rotation speed based on the current estimated anti-backflow pressure difference;

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

[0028] Furthermore, the method also includes: training the anti-backflow differential pressure estimation model based on simulation data.

[0029] Fourthly, an electronic device is proposed, comprising: a processor; and

[0030] A memory configured to store computer-executable instructions, which, when executed, cause the processor to perform the method described in the third aspect.

[0031] Fifthly, a computer-readable storage medium is provided that stores one or more programs, which, when executed by an electronic device including multiple applications, cause the electronic device to perform the method described in the third aspect.

[0032] One embodiment of the above invention has the following advantages or beneficial effects: The present invention provides a speed adjustment device and speed adjustment method for controlling reflux in a catheter pump, and a ventricular assist system. The solution 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 an anti-reflux pressure difference estimation model. Then, it calculates the anti-reflux speed based on the current estimated anti-reflux pressure difference. After generating an adjustment command based on the current target speed and the anti-reflux speed, it sends it to the actuator so as to control or reduce reflux by adjusting the speed.

[0033] The further effects of the aforementioned unconventional alternative methods will be explained below in conjunction with specific implementation methods. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[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 flowchart illustrating the operation of the speed estimation module in the speed regulation device provided in the embodiments of this specification.

[0037] Figure 3 This is a flowchart illustrating the operation of the speed regulation module in the speed regulation device provided in the embodiments of this specification.

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

[0039] Figure 5 A flowchart illustrating the workflow of the anti-backflow speed acquisition module in the backflow control device provided in the embodiments of this specification.

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

[0041] Figure 7 The graph showing the relationship between rotational speed and time in the reverse flow control device provided in the embodiments 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] Figure 9 This is the second schematic diagram of the ventricular assist system provided in the embodiments of this specification.

[0044] Figure 10 This is a schematic flowchart of the speed adjustment method provided in the embodiments of this specification.

[0045] Figure 11 This is a schematic diagram illustrating one implementation of the anti-reflux control method for the ventricular assist system provided in the embodiments of this specification.

[0046] Figure 12This is a schematic diagram of the structure of an electronic device provided as an embodiment of this specification. Detailed Implementation

[0047] 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 with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0048] The following detailed description, through specific examples, illustrates a speed regulation scheme for controlling backflow in a duct pump, as described in this manual.

[0049] A ventricular assist system is a mechanical circulatory support device, which acts as an interventional mechanical pump that pumps blood from the ventricles of the heart to other parts of the body. Therefore, ventricular assist devices can be used for patients with heart weakness or heart failure.

[0050] The basic principle of a ventricular assist system is that, in cases of heart failure, a catheter pump connected to an external power source is inserted between the aorta and the left ventricle or between the pulmonary artery and the right ventricle, i.e., at the aortic valve or the pulmonary artery. This catheter pump has an impeller that is driven by a motor to rotate at high speed, pumping blood from the left ventricle into the aorta or blood from the pulmonary artery into the right ventricle to supplement the cardiac output that the heart cannot provide.

[0051] During the control process of a ventricular assist system, the arterial pressure changes periodically when the catheter pump operates at a preset speed, and the arterial valves also open and close periodically. When the arterial valves are closed, it means that the arterial pressure is higher than the ventricular pressure. However, due to the presence of the catheter pump, the arterial valves may not close completely, resulting in a pathway for blood flow from the artery to the ventricle, which leads to arterial regurgitation. Arterial regurgitation can cause structural damage to the arterial valves themselves.

[0052] Based on the above shortcomings, such as Figure 1 As shown, this embodiment of the invention provides a speed regulation device 100 for controlling backflow in a duct pump, including a differential pressure estimation module 110, a speed estimation module 120, and a speed regulation module 130.

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

[0054] In one embodiment of the present invention, the pressure difference estimation model 110 is used to 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.

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

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

[0057] In one embodiment of the present invention, the pressure difference estimation module 110 further includes acquiring simulation data before calculating the current anti-backflow pressure difference; the simulation data is obtained by simulating the human body coupling system of the ventricular assist system, the human body coupling system including 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 time series data and corresponding heart rate series, heart temperature series, and pressure difference series between arteries and ventricles, so as to obtain simulation data of the corresponding anti-backflow pressure difference between arteries and ventricles.

[0059] In one embodiment of the present invention, in addition to the simulation of the human coupling system of the ventricular assist system described above, experimental testing can also be conducted using external tooling equipment, including setting parameters such as heart rate and temperature, and then turning on 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, a backflow differential pressure estimation model is obtained by training the simulation data to enable the above-mentioned anti-backflow differential pressure estimation model.

[0061] Specifically, an anti-backflow pressure differential estimation model is obtained during the experimental phase. The input variables of this model are the obtained heart rate, heart temperature, and the pressure difference between the artery and ventricle when the catheter pump is not activated, used as parameters. The output variable is the estimated critical value of the anti-backflow pressure differential. In one embodiment of the invention, the above-mentioned anti-backflow pressure differential estimation model can be constructed based on a neural network model, including a BP neural network model, to establish a nonlinear relationship between the input 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 inserted into 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 diastole 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 to calculate and output the current anti-reflux pressure difference.

[0065] In one embodiment of the present invention, the speed estimation module 120 is used to calculate the anti-backflow speed based on the currently estimated anti-backflow pressure difference.

[0066] In one embodiment of the present invention, the speed estimation module 120 is further configured to convert the current anti-backflow pressure difference into the corresponding anti-backflow speed based on the previously obtained duct pump HQ curve.

[0067] Specifically, the HQ curve of the ducted pump is obtained under in vitro testing conditions and mainly reflects the relationship between flow rate and head. This is related to the structure, size, rotational speed, and flow rate of the ducted pump itself. Under a certain rotational speed, the relationship between head and flow rate can be obtained; under a certain flow rate, the relationship between head and rotational speed can be obtained. Therefore, in one embodiment, the corresponding anti-backflow rotational speed value can be obtained based on the current anti-backflow pressure differential.

[0068] In one embodiment of the present invention, such as Figure 2 As shown, based on the previously obtained HQ curve of the duct pump, the current anti-backflow pressure difference is converted into the corresponding anti-backflow speed, including:

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

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

[0071] S213: Determine the rotational speed corresponding to the minimum pressure difference as the anti-backflow rotational speed.

[0072] The implementation process of steps S212 to S213 is illustrated below. First, the current backflow differential pressure is obtained based on the aforementioned backflow differential pressure estimation model, assumed to be 25 mmHg. Then, the maximum differential pressure that the HQ curve can generate at different speeds is obtained. For example, when the speed is 5000 rpm, the maximum differential pressure is 20 mmHg; when the speed is 8000 rpm, the maximum differential pressure is 30 mmHg. Therefore, based on the current backflow differential pressure of 25 mmHg, the corresponding speed should be between 5000 rpm and 8000 rpm. If speed control can be accurately achieved, then the speed value corresponding to the differential pressure equal to the current backflow differential pressure of 25 mmHg can be accurately determined according to the HQ curve of the duct pump. If speed control cannot be accurately achieved, i.e., the speed value can only be selected from existing preset gears, then the lowest gear among the selectable speed values ​​when the differential pressure is greater than or equal to the current backflow differential pressure of 25 mmHg should be selected.

[0073] In one embodiment of the present invention, the speed adjustment module 130 is used to generate an adjustment command based on the current target speed and the anti-backflow speed, and to send the adjustment command to the actuator.

[0074] In one embodiment of the present invention, such as Figure 3 As shown, the speed regulation module 130 generates corresponding regulation commands based on the 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 command includes keeping the current target speed unchanged.

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

[0077] Specifically, the target rotational speed is a target value obtained based on the actual cardiac physiological state of the ventricular assist system user. The setting of this target speed aims to achieve accurate cardiac output, reduce adverse cardiac reactions in the user, and simultaneously avoid or minimize regurgitation. Therefore, the relationship between the target rotational speed and the anti-regurgitation rotational speed determines the generated rotational speed adjustment command. If the current target speed is greater than or equal to the anti-reflux speed, then the current target speed is the optimal speed value, meaning the generated speed adjustment command will maintain the current target speed. If the current target speed is less than the anti-reflux speed, there are several possibilities: First, the target speed is directly adjusted to the anti-reflux speed, provided that the speed value can be precisely adjusted to equal the anti-reflux speed. Second, the anti-reflux speed is not a value that can be precisely adjusted, for example, if there is no matching speed adjustment range, then the target speed should be adjusted to the lowest speed range greater than the anti-reflux speed. Third, considering the cardiac physiological state of the ventricular assist system user, priority is given to obtaining accurate cardiac output and reducing adverse cardiac reactions in the user, while minimizing the occurrence of reflux. Therefore, the speed adjustment command should enable the speed to periodically change between the current anti-reflux speed and the target speed to minimize reflux.

[0078] In one embodiment of the present invention, such as Figure 4 As shown, this embodiment of the invention achieves backflow control based on obtaining the anti-backflow rotation speed. (Refer to...) Figure 4 The backflow control device 400 shown includes: an anti-backflow speed acquisition module 410 and a speed control module 420.

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

[0080] In one embodiment of the present invention, the aforementioned anti-backflow speed acquisition module 410 is further configured to obtain the target anti-backflow speed based on the relationship between the current anti-backflow speed and the target speed, such as... Figure 5 As shown, it includes:

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

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

[0083] Specifically, one way to obtain the target anti-reflux speed is to determine it based on the relationship between the current anti-reflux speed and the target speed, given the target speed is already known. It should be noted that the target speed is a target value derived from the actual cardiac physiological state of the ventricular assist system user. The goal of setting this target speed is primarily to achieve accurate cardiac output and reduce adverse cardiac reactions in the user, while also considering the avoidance or reduction of regurgitation. Therefore, the 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 anti-backflow speed requirement, 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 several possibilities: The first possibility is that the target anti-backflow speed can be precisely controlled to be equal to the current anti-backflow speed; the second possibility is that the target anti-backflow speed value cannot be precisely controlled to the exact speed value, for example, if there is no such speed control setting. In this case, the target anti-backflow value should be adjusted to the lowest speed setting that is greater than the target speed and can achieve anti-backflow control.

[0086] Specifically, another 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, from an operating ventricular assist system (VAS), the target anti-reflux speed for the VAS user can be obtained through simulation or external device testing based on the VAS user's physiological coupling system, such as current heart rate, heart temperature, and even the pressure difference between the arteries and ventricles. This current anti-reflux speed can be obtained through a preset adjustment method, such as multiplying the current anti-reflux speed by an empirical coefficient. However, it should be understood that this embodiment is not the only way to obtain the target anti-reflux speed based on the current anti-reflux speed; any method that can obtain the target anti-reflux speed from the current anti-reflux speed is within the protection scope of this invention.

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

[0088] In one embodiment of the present invention, the above-mentioned generation of speed control command based on target speed and target anti-backflow speed includes: inputting the target speed and target anti-backflow speed into a preset speed control model, so as to generate speed control command based on the speed output by the 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 change periodically 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 anti-backflow speed requirement, meaning the generated speed control command 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 a 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, the speed control model is determined 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 based on the generated speed control command, so as to control the periodic change of speed.

[0093] Specifically, this embodiment of the invention illustrates controlling the periodic change in rotational speed by controlling the motor current value. Since a larger motor current value results in a faster duct pump speed, and vice versa, a smaller motor current value results in a slower duct pump speed; that is, the trend of the motor current value I is linearly positively correlated with the trend of the duct 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 above-mentioned 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-backflow speed, including: dividing the trapezoidal wave into 4 segments with different slopes; the control parameters of the speed control model corresponding to the above-mentioned segments include the duration corresponding to the change process of the current speed value, and the sum of the durations corresponding to the 4 segments of the trapezoidal wave is one cardiac cycle.

[0095] Specifically, based on the linear positive correlation between the changing trend of the motor current value I and the changing trend of the duct pump speed N, and the fact that 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 this embodiment of the invention, i.e., the motor current time function relationship curve, is as follows:

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

[0097] Where A, B, C, and D are feedback control parameters set according to the control strategy, and N... nfo To prevent backflow, the target rotational speed, N set The target rotational speed is [value missing]. The control strategy is based on the actual cardiac physiological state of the ventricular assist system user, aiming to achieve accurate cardiac output while reducing adverse cardiac reactions in the user and considering the avoidance or reduction of regurgitation. Specifically, parameter A is [value missing]. Figure 6 During one cardiac cycle, the current decreases from a low current value I. l Rise to high current value I h Time percentage; parameter B is Figure 6 During one cardiac cycle, the current is at a high current value I. h The time percentage of time; parameter C is Figure 6 During one cardiac cycle, the current changes from a high current value I h Reduce to low current value I l The time percentage; parameter D is Figure 6 During one cardiac cycle, the current is at a low current value I. l The time percentage. The overall current change cycle is one cardiac cycle, obtained through a heart rate sensor.

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

[0099] Reference Figure 6 The motor current-time function curve shown is derived based on the linear positive correlation between the changing trend of the motor current value I and the changing trend of the duct 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 current-time function curve of the motor h Corresponding to Figure 7 The target anti-backflow speed N nfo , Figure 6 Medium and low current value I l Corresponding to Figure 7 The target rotational speed N set Still assuming a cardiac cycle of 0.8s, and a target anti-reflux rotational speed N... nfo The target speed is 8000 rpm.set It is 6000 rpm. Therefore, it corresponds to Figure 6 With parameters A, B, C, and D set to 0.2, 0.35, 0.1, and 0.35 respectively, as follows: Figure 7 In the test, the time it took for the engine speed to increase from 6000 rpm to 8000 rpm was 0.16 s, the time it took to maintain 8000 rpm was 0.28 s, the time it took to decrease from 8000 rpm to 6000 rpm was 0.08 s, and the time it took to maintain 6000 rpm was 0.28 s.

[0100] It should be noted that configuring the above-mentioned speed-time function curve as a trapezoidal wave is one implementation method of this invention. Depending on different duct pump speed control strategies, the above-mentioned speed-time function curve can also be configured as different forms such as sine waves or square waves, which will not be elaborated further here. It should be understood that any speed control strategy capable of periodically controlling the speed between the target anti-backflow speed and the target speed, and its corresponding speed-time function curve, conforms to the technical features of this invention.

[0101] It should be noted that the above-described speed control model does not achieve absolute anti-reflux, but rather reduces reflux to a certain extent. In one embodiment, reflux may still exist during the low-speed phase but not during the high-speed phase; this scheme achieves the effect of reducing reflux compared to a cardiac cycle consisting entirely of low-speed phases.

[0102] This invention provides a ventricular assist system, such as... Figure 8 As shown, it includes a sensor 200, a duct pump 300, and a speed regulating device 100. Among them,

[0103] The aforementioned 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 aforementioned sensors are used to acquire heart rate, heart temperature, and pressure difference between arteries and ventricles respectively, and then send them to the pressure difference estimation module 110 of the speed regulation device 100.

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

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

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

[0107] refer to Figure 10 This invention provides a speed regulation method for controlling backflow in a duct pump, comprising:

[0108] S1001: Obtain current heart rate, heart temperature, and pressure difference between arteries and ventricles.

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

[0110] S1003: Calculate the anti-backflow rotation speed based on the current estimated anti-backflow pressure difference.

[0111] S1004: Generate adjustment commands based on the current target speed and anti-backflow speed, and issue the adjustment commands to the actuator.

[0112] Specifically, sensors in the ventricular assist system acquire heart rate, heart temperature, and the pressure difference between the arteries and ventricles. It should be noted that the pressure difference between the arteries and ventricles depends on the specific location and method of catheter pump implantation. When the catheter pump is implanted in the aorta and left ventricle, the pressure difference between the arteries and ventricles is the pressure difference between the aortic pressure and the left ventricular pressure; when the catheter pump is implanted in the pulmonary artery and right ventricle, the pressure difference between the arteries and ventricles is the pressure difference between the pulmonary aortic pressure and the right ventricular pressure.

[0113] In one embodiment of the present invention, before calculating the current anti-reflux pressure differential based on the obtained heart rate, heart temperature, and pressure difference between the artery and ventricle, the method further includes: training the anti-reflux pressure differential estimation model based on simulation data. Specifically, the anti-reflux pressure differential estimation model is obtained in the experimental stage, wherein the input independent variables of the model are the obtained heart rate, heart temperature, and pressure difference between the artery and ventricle when the catheter pump is not started as parameters, and the output variable is the estimated critical value of the anti-reflux pressure differential. In one embodiment of the present invention, the above-mentioned anti-reflux pressure differential estimation model can be constructed based on a neural network model, including a BP neural network model, 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 body coupling system includes: obtaining time series data and corresponding heart rate series, heart temperature series, and pressure difference series between arteries and ventricles, so as to obtain simulation data of the corresponding anti-reflux pressure difference between arteries and ventricles. In addition to obtaining simulation data from the human body coupling system simulation of the ventricular assist system described above, experimental testing can also be conducted using external tooling equipment. This includes setting parameters such as heart rate and temperature, and then turning on the catheter pump to obtain arterial flow data, so as to test and obtain the pressure difference between arteries and ventricles 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 diastole. This pressure difference is the difference between the arterial pressure and the ventricular pressure when the catheter pump is inserted into the body and the pump motor speed is zero. It should be noted that the difference between the arterial pressure and the 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 the patient is in diastole can be approximately equal to the arterial pressure.

[0116] In one embodiment of the present invention, the anti-backflow speed is calculated based on the currently estimated anti-backflow pressure difference. Specifically, the current anti-backflow pressure difference is converted into the corresponding anti-backflow speed based on the previously obtained HQ curve of the ducted pump. It should be noted that the HQ curve of the ducted pump is obtained under in vitro testing conditions and mainly reflects the relationship between flow rate and head. This is related to the structure, size, speed, and flow rate of the ducted pump itself. Under a certain speed, the relationship between head and flow rate can be obtained; under a certain flow rate, the relationship between head and speed can be obtained. Therefore, in one embodiment, the corresponding anti-backflow speed value can be obtained based on the current anti-backflow 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-backflow pressure difference from the pressure difference sequence; and determining the speed corresponding to the minimum pressure difference as the anti-backflow speed.

[0117] In one embodiment of the present invention, a corresponding adjustment command 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 command includes keeping the current target speed unchanged; if the current target speed is less than the anti-backflow speed, the generated adjustment command includes adjusting the target speed to the anti-backflow speed, or adjusting the target speed to a minimum speed greater than the anti-backflow speed, or adjusting the target speed to change periodically between the current target speed and the anti-backflow speed.

[0118] This invention provides a speed regulation device and method for controlling reflux in a catheter pump, as well as a ventricular assist system. It can calculate the current anti-reflux pressure difference based on the current heart rate, heart temperature, pressure difference between the artery and ventricle, and an anti-reflux pressure difference estimation model. Then, it calculates the anti-reflux speed based on the current estimated anti-reflux pressure difference. After generating an adjustment command from the current target speed and the anti-reflux speed, it sends it to the actuator so as to control or reduce reflux by adjusting the speed.

[0119] like Figure 11 The diagram shown illustrates one implementation of anti-reflux control in a ventricular assist system according to an embodiment of the present invention. (Refer to...) Figure 11 After the catheter pump is inserted into the human body, the user's heart rate, heart temperature, and arterial-ventricular pressure difference are obtained through the human body coupling system as inputs. These inputs are fed into the anti-reflux pressure difference estimation model to obtain the target arterial-ventricular pressure difference that can control reflux. Combined with the pre-obtained catheter pump HQ curve, the target arterial-ventricular pressure difference that can control reflux is then converted into a target anti-reflux speed, so that a corresponding speed adjustment command can be generated based on the target anti-reflux speed. (Refer to...) Figure 11 One implementation method for the actuator responding to speed regulation commands is to include a current controller and a duct pump. The current controller operates a current control model, controlling the motor current of the duct pump to control the motor speed. Further, to achieve the target anti-backflow speed, this can be achieved by adjusting the control parameters of the current controller. Specifically, this involves constructing a current control model, i.e., a current-time relationship curve, to achieve periodic control of the motor current value by comparing it with a pre-set target current value when the target anti-backflow current value is obtained. Since the trend of motor current value change is linearly positively correlated with the trend of motor speed value change, the periodic control of the motor current value can correspond to the periodic control of the motor speed. Alternatively, it can be implemented as follows: when the duct pump initially runs, the motor current setting can be selected as a low current setting. After the anti-backflow speed estimation module outputs the target anti-backflow speed value, the corresponding setting is further adjusted to a high current setting.

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

[0121] The processor, network interface, and memory can be interconnected via 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, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 12 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0122] Memory is used to store programs. Specifically, programs may include program code, which includes computer operation instructions. Memory may include main memory and non-volatile memory, and provides instructions and data to the processor.

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

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

[0125] Calculate the current anti-reflux pressure gradient based on the current heart rate, heart temperature, pressure gradient between the artery and ventricle, and the anti-reflux pressure gradient estimation model;

[0126] Calculate the anti-backflow rotation speed based on the current estimated anti-backflow pressure difference;

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

[0128] The above is as described in this instruction manual. Figure 10The speed regulation method for controlling the backflow of a duct pump disclosed in the illustrated embodiments can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The 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 gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this specification. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this specification can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0129] Of course, in addition to the software implementation, the electronic devices in the embodiments of this specification do not exclude other implementation methods, such as logic devices or a combination of hardware and software, 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] This specification also provides an embodiment of a computer-readable storage medium that stores one or more programs, the programs including instructions that, when executed by a portable electronic device including multiple applications, enable the portable electronic device to perform... Figure 10 The speed regulation method for controlling backflow in a duct pump, as shown in the embodiment, is specifically used to perform the following method:

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

[0132] Calculate the current anti-reflux pressure gradient based on the current heart rate, heart temperature, pressure gradient between the artery and ventricle, and the anti-reflux pressure gradient estimation model;

[0133] Calculate the anti-backflow rotation speed based on the current estimated anti-backflow pressure difference;

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

[0135] In summary, the above description is merely a preferred embodiment of this specification and is not intended to limit the scope of protection of this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

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

[0137] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0138] It should also be noted that 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 limitation, 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.

[0139] The various embodiments in this specification are described in a progressive 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 system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

Claims

1. A speed regulating device for controlling backflow in a duct pump, characterized in that, include: The differential pressure estimation module can calculate the current anti-reflux differential pressure based on the current heart rate, heart temperature, pressure difference between arteries and ventricles, and anti-reflux differential pressure estimation model. The anti-reflux differential pressure estimation model is obtained by training simulation data, which is obtained by simulating the human coupling system of the ventricular assist system. The human coupling system includes heart rate, heart temperature, and pressure difference between arteries and ventricles. The speed estimation module can calculate the anti-backflow speed based on the currently estimated anti-backflow pressure difference; The speed adjustment module can generate corresponding adjustment commands based on the relationship between the current target speed and the anti-reflux speed. Specifically, if the current target speed is greater than or equal to the anti-reflux speed, the generated adjustment command includes keeping the current target speed unchanged; if the current target speed is less than the anti-reflux speed, the generated adjustment command includes adjusting the target speed to the anti-reflux speed, or adjusting the target speed to a minimum speed greater than the anti-reflux speed, or adjusting the target speed to change periodically between the current target speed and the anti-reflux speed. The current target speed is a target value obtained based on the actual cardiac physiological state of the user of the ventricular assist system, intended to obtain accurate cardiac output. The speed adjustment module can also send the adjustment command to the actuator.

2. The apparatus according to claim 1, characterized in that, Obtaining simulation data of the human body coupling system includes: obtaining time series data and corresponding heart rate series, heart temperature series, and pressure difference series between arteries and ventricles, so as to obtain simulation data of the corresponding anti-backflow pressure difference between arteries and ventricles.

3. The apparatus according to claim 1, characterized in that, The differential pressure estimation module is also capable of: obtaining the raw differential pressure between the artery and the ventricle when the artery is in diastole, wherein the differential pressure between the artery and the ventricle is the difference between the arterial pressure and the ventricular pressure when the catheter pump is inserted into the body and the motor speed of the catheter pump is zero; and... Input the current heart rate, heart temperature, and pressure difference between the artery and ventricle into the anti-backflow pressure difference estimation model, and calculate and output the current anti-backflow pressure difference.

4. The apparatus according to claim 3, characterized in that, The speed estimation module can also convert the current anti-backflow pressure difference into the corresponding anti-backflow speed based on the pre-obtained duct pump HQ curve.

5. The apparatus according to claim 4, characterized in that, Based on the pre-obtained HQ curve of the duct pump, the current anti-backflow pressure differential is converted into the corresponding anti-backflow speed, including: Obtain the pressure difference sequence generated by the HQ curve at different rotational speeds; Obtain the minimum differential pressure that is greater than or equal to the current anti-backflow differential pressure from the differential pressure sequence; The rotational speed corresponding to the minimum pressure difference is determined as the anti-backflow rotational speed.

6. A ventricular assist system, characterized in that, The device includes a sensor, a catheter pump, and a speed regulating device for controlling backflow in the catheter pump, as described in any one of claims 1 to 5; the sensor includes at least sensors for acquiring heart rate, temperature, and pressure; the catheter pump includes a motor and an impeller; the speed regulating device is used to regulate the speed of the motor and includes a differential pressure estimation module, a speed estimation module, and a speed regulating module; the sensor is used to acquire the current heart rate, heart temperature, and differential pressure between the artery and ventricle, respectively, and send them to the differential pressure estimation module.

7. An electronic device, characterized in that, include: processor; as well as A memory configured to store computer-executable instructions, which, when executed, cause the processor to perform the functions implemented by the apparatus of any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs that, when executed by an electronic device including multiple applications, cause the electronic device to perform the functions implemented by the apparatus of any one of claims 1-5.

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