Speed ​​adaptive method and device for biventricular assist system

Abstract

The present application proposes a speed adaptive method and device for a biventricular assist system, which determines whether the current operation of the biventricular assist system is abnormal based on the difference between the pumping flow of the left ventricular assist device and the pumping flow of the right ventricular assist device. When the operation is abnormal, the speed of the left ventricular assist device and / or the right ventricular assist device is adaptively adjusted to keep the left heart output and the right heart output balanced, prevent suction problems and over-priming problems in the left ventricle or the right ventricle, and improve the operating safety of the biventricular assist system.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a speed adaptation method and device for a biventricular assist system. Background Art

[0002] A Ventricular Assist Device (VAD) can be used to assist the heart of a subject with a condition that impairs the heart's ability to pump. The heart is healed by the assistance provided by the VAD, which assists the heart in its pumping function by pumping on either or both sides of the user's heart. For example, for a condition that impairs the left side of the heart's ability to pump blood into the systemic circulation, the user may be provided with a left ventricular assist device; for a condition that impairs the right side of the heart's ability to pump blood into the pulmonary circulation, the user may be provided with a right ventricular assist device; and for a condition that impairs both sides of the heart, the user may be provided with a biventricular assist system.

[0003] During the long-term operation of the ventricular assist device, the pumping flow of the left and right ventricular assist devices may not be able to meet the user's medical needs in real time. The blood output from one side of the heart is received by the other side of the heart. The different output volumes between the two sides may cause blood accumulation on the side of the heart with lower output and suction on the side of the heart with higher output, resulting in imbalance in the pulmonary circulation and / or systemic circulation.

[0004] Therefore, how to balance pulmonary circulation and systemic circulation during the operation of the biventricular assist system is an urgent issue to be solved. Summary of the invention

[0005] An embodiment of the present application provides a speed adaptation method and device for a biventricular assist system, which can balance the left heart output and the right heart output by adjusting the speed of the left ventricular assist device and / or the right ventricular assist device when abnormal operation of the biventricular assist system is detected, thereby avoiding excessive priming or suction of the left ventricular assist device and / or the right ventricular assist device.

[0006] In a first aspect, an embodiment of the present application provides a speed adaptive method for a biventricular assist system, wherein the biventricular assist system includes a left ventricular assist device and a right ventricular assist device, wherein the left ventricular assist device is used to pump fluid from the left ventricle to the aorta, and the right ventricular assist device is used to pump fluid from the right ventricle to the pulmonary artery;

[0007] The method comprises:

[0008] Acquire a first left pumping flow and a first right pumping flow, wherein the first left pumping flow is an average pumping flow of the left ventricular assist device in a first cycle, and the first right pumping flow is an average pumping flow of the right ventricular assist device in the first cycle;

[0009] Determining a target flow difference according to a first heart failure degree and a second heart failure degree, wherein the first heart failure degree is a current heart failure degree of the left ventricle, and the second heart failure degree is a current heart failure degree of the right ventricle;

[0010] determining whether the biventricular assist system operates abnormally according to the target flow difference and a first flow difference, wherein the first flow difference is a difference between the first left pumping flow and the first right pumping flow;

[0011] When the biventricular assist system operates abnormally, the rotation speed of the left ventricular assist device and / or the right ventricular assist device is adjusted to keep the left heart output and the right heart output balanced.

[0012] In a second aspect, an embodiment of the present application provides a control device for a biventricular assist system, the biventricular assist system comprising a left ventricular assist device and a right ventricular assist device, the left ventricular assist device being used to pump fluid from the left ventricle to the aorta, the right ventricular assist device being used to pump fluid from the right ventricle to the pulmonary artery, the control device being communicatively connected with the left ventricular assist device and the right ventricular assist device, the control device comprising one or more processors, the one or more processors being used to:

[0013] Acquire a first left pumping flow and a first right pumping flow, wherein the first left pumping flow is an average pumping flow of the left ventricular assist device in a first cycle, and the first right pumping flow is an average pumping flow of the right ventricular assist device in the first cycle;

[0014] Determining a target flow difference according to a first heart failure degree and a second heart failure degree, wherein the first heart failure degree is a current heart failure degree of the left ventricle, and the second heart failure degree is a current heart failure degree of the right ventricle;

[0015] determining whether the biventricular assist system operates abnormally according to the target flow difference and a first flow difference, wherein the first flow difference is a difference between the first left pumping flow and the first right pumping flow;

[0016] When the biventricular assist system operates abnormally, the rotation speed of the left ventricular assist device and / or the right ventricular assist device is adjusted to keep the left heart output and the right heart output balanced.

[0017] In a third aspect, an embodiment of the present application provides a biventricular assist system, the biventricular assist system comprising:

[0018] a left ventricular assist device, which pumps fluid from the left ventricle to the aorta;

[0019] a right ventricular assist device, which pumps fluid from the right ventricle to the pulmonary artery;

[0020] A control device communicatively connected to the left ventricular assist device and the right ventricular assist device, the control device being used to execute the steps in the method described in the first aspect above.

[0021] In a fourth aspect, an embodiment of the present application provides a medical device, comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing some or all of the steps described in the method described in the first aspect above.

[0022] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute some or all of the steps described in the method described in the first aspect above.

[0023] In a sixth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the method described in the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0024] The technical solution provided by the present application obtains a first left pumping flow and a first right pumping flow, the first left pumping flow is the average pumping flow of the left ventricular assist device in the first cycle, and the first right pumping flow is the average pumping flow of the right ventricular assist device in the first cycle; determines a target flow difference according to a first heart failure degree and a second heart failure degree, the first heart failure degree is the current heart failure degree of the left ventricle, and the second heart failure degree is the current heart failure degree of the right ventricle; determines whether the biventricular assist system is operating abnormally according to the target flow difference and the first flow difference, the first flow difference is the difference between the first left pumping flow and the first right pumping flow; when the biventricular assist system is operating abnormally, adjusts the rotation speed of the left ventricular assist device and / or the right ventricular assist device to keep the left heart output balanced with the right heart output. The present application determines whether the current operation of the biventricular assist system is abnormal based on the difference between the pumping flow of the left ventricular assist device and the pumping flow of the right ventricular assist device. When the operation is abnormal, the rotation speed of the left ventricular assist device and / or the right ventricular assist device is adaptively adjusted to keep the left heart output and the right heart output balanced, thereby preventing suction problems and over-priming problems in the left ventricle or the right ventricle, and improving the operating safety of the biventricular assist system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 is a schematic diagram of a biventricular assist system provided in an embodiment of the present application;

[0027] Figure 2 It is a flow chart of a speed adaptation method of a biventricular assist system provided in an embodiment of the present application;

[0028] Figure 3 It is a structural schematic diagram of a medical device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to help those skilled in the art better understand the technical solutions of the present application, the following is a clear and complete description of the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the description of the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0030] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, software, product, or device that includes a series of steps or units is not limited to the listed steps or units, but also includes steps or units that are not listed, or also includes other steps or units inherent to these processes, methods, products, or devices.

[0031] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0032] The medical device and pump involved in the present application may be a ventricular assist device (VAD), such as an implantable ventricular assist device, an interventional ventricular assist device, etc.; the ventricular assist device may include at least one blood pump, wherein the blood pump may be a centrifugal pump, an axial flow pump, a magnetic levitation pump, etc.

[0033] "Current" in this application refers to the current driving the motor or motor, which is related to the power of the motor or motor when the supply voltage remains unchanged. "Speed" refers to the rotational speed of the motor or motor, which is related to the rotational speed of the rotor or impeller of the ventricular assist device and can be defined as revolutions per minute. "Flow", "fluid flow", "pumping flow" refers to the volume of fluid delivered by the ventricular assist device per time unit, which can be estimated and measured in liters per minute.

[0034] See also Figure 1 , Figure 1 A biventricular assist system is provided in an embodiment of the present application, and the biventricular assist system includes a left ventricular assist device, a right ventricular assist device and a control device. The left ventricular assist device is arranged in the left ventricle, and is used to pump blood from the left ventricle to the aorta; the right ventricular assist device is arranged in the right ventricle, and is used to pump blood from the right ventricle to the pulmonary artery.

[0035] From the perspective of blood flow, the fluid systems are arranged in series with each other. The blood first flows to the lungs through the pulmonary artery. The pulmonary system is in direct fluid communication with the left ventricle. After the blood in the lungs is oxygenated, the blood returns to the left ventricle. The blood is then pumped from the left ventricle into the aorta, and the blood in the aorta flows to the right ventricle via the vascular system. Therefore, the blood forms a fluid circulation in the pulmonary artery, right ventricle, left ventricle, and aorta in turn. The direction in which blood flows from the right ventricle to the pulmonary artery is called the pulmonary circulation, and the direction in which blood flows from the left ventricle to the aorta is called the systemic circulation.

[0036] The left ventricular assist device acts on the left heart. It can be set on the apex of the left ventricle, with its fluid inlet located in the left ventricle and its fluid outlet connected to the aorta. The left ventricular assist device can also cross the aortic valve, with its proximal end located in the aorta and its distal end located in the left ventricle, so as to pump the blood in the left ventricle into the aorta. The right ventricular assist device acts on the right heart. It can be set on the apex of the right ventricle, with its fluid inlet located in the right ventricle and its fluid outlet connected to the pulmonary artery; or the right ventricular assist device can cross the pulmonary valve, with its proximal end located in the pulmonary artery and its distal end located in the right ventricle, so as to pump the blood in the right ventricle into the pulmonary artery, so as to achieve blood circulation.

[0037] For example, a left ventricular assist device can be attached to the apex of the left ventricle of the heart via a ventricular connection component (such as a top ring, a ventricular cuff, or a ventricular cuff), which can be sutured to the apex of the left ventricle of the heart and connected to the ventricular assist device. The other end of the left ventricular assist device can be connected to the aorta via an outlet tube and / or an artificial blood vessel connected to the outlet tube, so that the left ventricular assist device can effectively transfer blood from the weakened left ventricle and propel it to the aorta, thereby circulating it to the rest of the vascular system and providing ventricular assist function for the user. Similarly, a right ventricular assist device can also be attached to the apex of the right ventricle of the heart via a ventricular connection component to provide ventricular assist function for the user.

[0038] Wherein, the control device may be an internal control circuit and / or an external control circuit, and the control device may be communicatively connected to the left ventricular assist device and the right ventricular assist device, and is used to control the operation of the left ventricular assist device and the right ventricular assist device. For example, the left ventricular assist device and the right ventricular assist device are connected to an external control device through a percutaneous cable through the user's abdominal skin, and the control device is used to realize the independent driving of the left ventricular assist device and the right ventricular assist device, but there is mutual modulation between the controls, the blood flow has a predetermined mutual relationship, and the fluid flow pumped by the ventricular assist device is related to the blood volume and pressure difference in the ventricle, so that the change of the fluid flow of one ventricular assist device will cause the corresponding change of the fluid flow of another ventricular assist device. For example, the rotation speed of the left ventricular assist device increases, the blood volume in the left ventricle decreases, and the left ventricular pressure decreases, which is conducive to the blood in the lungs flowing to the left ventricle, thereby reducing the pulmonary artery pressure. The reduction in pulmonary artery pressure reduces the pressure difference between the pulmonary artery pressure and the right ventricular pressure, so that the blood in the right ventricle can be better pumped to the pulmonary artery.

[0039] However, the degree of heart failure in the left and right ventricles of users is different, and the degree of support required from ventricular assist devices is also different. When one of the ventricular assist devices operates abnormally, or its pumping flow cannot meet or exceed the user's needs, the user's systemic circulation and pulmonary circulation will become unbalanced, and the mutual influence between ventricular assist devices and the different degrees of heart failure will aggravate the instability of the user's hemodynamics and even damage the user's lungs or heart. Therefore, ensuring the blood balance of the user's systemic circulation and pulmonary circulation based on the real-time situation of each user is an urgent problem to be solved.

[0040] Based on this, the present application proposes a speed adaptive method for a biventricular assist system, which determines whether the current operation of the biventricular assist system is abnormal according to the difference between the pumping flow of the left ventricular assist device and the pumping flow of the right ventricular assist device. When the operation is abnormal, the speed of the left ventricular assist device and / or the right ventricular assist device is adaptively adjusted to keep the left heart output balanced with the right heart output, prevent suction problems and over-priming problems in the left ventricle or the right ventricle, and improve the operating safety of the biventricular assist system.

[0041] In combination with the above description, the present application is described below from the perspective of method examples.

[0042] See also Figure 2 , Figure 2 A flow chart of a speed control method for a biventricular assist system provided in an embodiment of the present application is applied to Figure 1 The biventricular assist system shown. Figure 2 As shown, the method includes the following steps.

[0043] S210. Obtain a first left pumping flow and a first right pumping flow, wherein the first left pumping flow is an average pumping flow of the left ventricular assist device in a first cycle, and the first right pumping flow is an average pumping flow of the right ventricular assist device in the first cycle.

[0044] In order to maintain the needs of the human body, the user's systemic circulation and pulmonary circulation need to maintain a balance, that is, the left heart output is approximately equal to the right heart output. When the left ventricular assist device and the right ventricular assist device are used respectively due to different degrees of heart failure in the left and right hearts, the left heart output is equal to the sum of the natural cardiac output of the left heart and the pumping flow of the left ventricular assist device, and the right heart output is equal to the sum of the natural cardiac output of the right heart and the pumping flow of the right ventricular assist device. Based on the principle that the left heart output is approximately equal to the right heart output, the control device can determine whether the current left ventricular assist device and right ventricular assist device are operating abnormally by detecting whether the left heart output is approximately equal to the right heart output.

[0045] The ventricular assist device delivers blood to a desired location by rotating an impeller, and the rotation of the impeller is driven by the rotation of a motor. At a given impeller speed or motor speed, the fluid flow through the ventricular assist device depends on the pressure difference that the ventricular assist device needs to overcome. The relationship between the pumping flow of the ventricular assist device and the motor current is monotonic for the current range in which the ventricular assist device can operate, so the relationship between the current-flow at a preset speed can be used to determine the flow estimate of the ventricular assist device. Therefore, the control device can obtain the first left pumping flow of the left ventricular assist device and the first right pumping flow of the right ventricular assist device by detecting the current flowing through the motor in the left ventricular assist device and the current flowing through the motor in the right ventricular assist device, respectively, and then detect and determine whether the current left ventricular assist device and right ventricular assist device are operating abnormally based on the first left pumping flow and the first right pumping flow.

[0046] The first period can be set to 1 hour, 2 hours, 5 hours, etc. to improve user safety, and the first period can also be set to 10 minutes, 30 minutes, 50 minutes, etc. For example, the first period can also be set according to user conditions.

[0047] S220. Determine a target flow difference according to a first heart failure degree and a second heart failure degree, wherein the first heart failure degree is the current heart failure degree of the left ventricle, and the second heart failure degree is the current heart failure degree of the right ventricle.

[0048] The natural cardiac output of a heart varies with the severity of the heart failure, so the natural cardiac output of the heart can be estimated according to the degree of heart failure. The more severe the heart failure, the less the natural cardiac output. The control device can determine the natural cardiac output of the left heart and the natural cardiac output of the right heart according to the first degree of heart failure and the second degree of heart failure, respectively. Since the left heart output is approximately equal to the right heart output, the target flow difference between the pumping flow of the left ventricular assist device and the pumping flow of the right ventricular assist device can be obtained when the user's body circulation and pulmonary circulation are balanced.

[0049] It should be noted that the target flow difference can be a specific value; it can also be a range value. For example, the flow difference between the pumping flow of the left ventricular assist device and the pumping flow of the right ventricular assist device is 1LPM, and any value within the range of 1LPM±0.3LPM can be the target flow difference.

[0050] For example, the first heart failure degree and the second heart failure degree may be input by medical personnel into the control device for storage, or may be obtained by the control device from a medical device that is communicatively connected thereto, which is not limited here.

[0051] S230. Determine whether the biventricular assist system operates abnormally according to the target flow difference and a first flow difference, wherein the first flow difference is a difference between the first left pumping flow and the first right pumping flow.

[0052] Operational abnormalities of the biventricular assist system include at least one of the following: the pumping flow of the left ventricular assist device does not match the output demand of the left heart, resulting in problems such as excessive unloading, suction, and excessive priming in the left ventricle; the pumping flow of the right ventricular assist device does not match the output demand of the right heart, resulting in problems such as excessive unloading, suction, and excessive priming in the right ventricle.

[0053] Optionally, determining whether the biventricular assist system is operating abnormally based on the target flow difference and the first flow difference includes: calculating a target value, where the target value is the difference between the first flow difference and the target flow difference; if the absolute value of the target value is greater than or equal to a preset value, determining that the left ventricular assist device and / or the right ventricular assist device is operating abnormally.

[0054] The control device periodically obtains the first left pumping flow of the left ventricular assist device and the first right pumping flow of the right ventricular assist device. If the flow difference between the first left pumping flow and the first right pumping flow is too different from the flow difference determined according to the degree of heart failure, it means that the current pumping flow of the left ventricular assist device and / or the right ventricular assist device does not match the output required by the heart, that is, the pumping flow of the left ventricular assist device exceeds or is lower than the output required by the left heart, or the pumping flow of the right ventricular assist device exceeds or is lower than the output required by the right heart. This mismatch will cause an imbalance between the systemic circulation and the pulmonary circulation, causing suction, collapse problems or over-priming problems in the left ventricle and / or right ventricle, damage to the lungs or blood vessels, etc.

[0055] Specifically, the control device calculates the difference (target value) between the first flow difference and the target flow difference. If the target value is not within a reasonable range, that is, the absolute value of the target value is greater than or equal to the preset value, it means that the pumping flow of the current left ventricular assist device and the right ventricular assist device does not match the output required by the user's heart, and the user's systemic circulation and pulmonary circulation are unbalanced, then it is determined that the current left ventricular assist device and / or right ventricular assist device are operating abnormally.

[0056] If the target value is a positive value and the target value is greater than or equal to the preset value, the current first left pumping flow is too large and / or the first right pumping flow is too small; if the target value is a negative value and the absolute value of the target value is greater than or equal to the preset value, the current first left pumping flow is too small and / or the first right pumping flow is too large.

[0057] For example, the preset value can be set to 0.5, 0.7, 1.0, 1.2, etc., and can also be determined according to the degree of heart failure of the user, which is not limited here.

[0058] S240. When the biventricular assist system operates abnormally, adjust the rotation speed of the left ventricular assist device and / or the right ventricular assist device to keep the left heart output and the right heart output balanced.

[0059] In the present application, when the left ventricular assist device and / or the right ventricular assist device operate abnormally, resulting in the first left pumping flow rate and / or the first right pumping flow rate being too large or too small, the control device can directly adjust the rotation speed of the left ventricular assist device and / or the right ventricular assist device to keep the left heart output and the right heart output balanced, avoiding problems such as excessive unloading, suction, and excessive priming.

[0060] Optionally, when the biventricular assist system operates abnormally, adjusting the rotational speed of the left ventricular assist device and / or the right ventricular assist device includes: acquiring a first characteristic curve, a first left rotational speed, a second characteristic curve and a first right rotational speed, the first characteristic curve being a pressure-flow characteristic curve of the left ventricular assist device, the second characteristic curve being a pressure-flow characteristic curve of the right ventricular assist device, the first left rotational speed being an average rotational speed of the left ventricular assist device in the first cycle, and the first right rotational speed being an average rotational speed of the right ventricular assist device in the first cycle; estimating the left ventricular pressure difference according to the first characteristic curve and the first left pumping flow, and estimating the right ventricular pressure difference according to the second characteristic curve and the first right pumping flow; calculating a first target rotational speed according to the left ventricular pressure difference, and calculating a second target rotational speed according to the right ventricular pressure difference, the first target rotational speed and the second target rotational speed being the rotational speeds of the left ventricular assist device and the right ventricular assist device, respectively, when the left heart output is balanced with the right heart output.

[0061] Among them, during the ventricular systole, the aortic valve or the pulmonary valve opens, and the blood in the ventricle is pumped to the aorta or the pulmonary artery, and the blood volume in the ventricle gradually decreases, and the ventricle also gradually decreases; during the ventricular diastole, the mitral valve or the tricuspid valve opens, and the blood in the atrium flows to the ventricle, and the blood volume in the ventricle gradually increases, and the ventricular pressure also gradually increases. In other words, the change in the blood volume in the ventricle is consistent with the change in the ventricular pressure, and the pressure difference between the ventricle and the outside determines the amount of pumping flow. For example, the greater the pressure difference between the aortic pressure and the left ventricular pressure difference, the more the left ventricle pumps. At a certain speed, there is a mapping relationship between the flow and the pressure difference, so the pumping flow of the left ventricular assist device can be represented by the left ventricular pressure difference, and the pumping flow of the right ventricular assist device can be represented by the right ventricular pressure difference. According to the left ventricular pressure difference and the right ventricular pressure difference, the cause of the abnormality of the left ventricular assist device and / or the right ventricular assist device can be determined, and then the strategy for adjusting the speed of the left ventricular assist device and / or the right ventricular assist device can be determined according to the cause of the abnormality.

[0062] Specifically, the control device obtains the pressure-flow characteristic curve and the rotation speed (first left rotation speed) of the left ventricular assist device, and obtains the pressure-flow characteristic curve and the rotation speed (first right rotation speed) of the right ventricular assist device. The left ventricular pressure difference corresponding to the first left rotation speed and the first left pumping flow can be found from the first characteristic curve, and the right ventricular pressure difference corresponding to the first right rotation speed and the first right pumping flow can be found from the second characteristic curve. The cause of the imbalance between the left and right heart outputs is determined based on the left and right ventricular pressure differences, so as to determine the strategy for adjusting the rotation speed of the left and right ventricular assist devices and / or the right ventricular assist devices.

[0063] In the present application, before the left ventricular assist device and the right ventricular assist device leave the factory, the left ventricular assist device and the right ventricular assist device can be placed in a test environment to measure the characteristic curves of their pumping flow and ventricular pressure difference at different rotation speeds. Then the pressure-flow characteristic curve for each rotation speed is stored in a control device. When the left ventricular assist device and the right ventricular assist device are in operation, the current rotation speed and pumping flow of the left ventricular assist device and the right ventricular assist device are obtained, and then the current ventricular pressure difference of the left ventricular assist device and the right ventricular assist device is estimated based on the pressure-flow characteristic curve, and the cause of the abnormal operation of the current left ventricular assist device or the right ventricular assist device is determined based on the size of the ventricular pressure difference.

[0064] Among them, the calculation of the first target speed based on the left ventricular pressure difference includes: if the left ventricular pressure difference is less than the first left pressure difference threshold or greater than the second left pressure difference threshold, calculating the first flow change, the first flow change being the difference between the first left pumping flow and the second left pumping flow, the second left pumping flow being the average pumping flow of the left ventricular assist device in the second cycle, the second cycle being earlier than the first cycle; determining the first adjustment speed based on the first flow change and the first characteristic curve; determining the first target formula based on the left ventricular pressure difference and the right ventricular pressure difference; substituting the first left speed and the first adjustment speed into the first target formula to calculate the first target speed.

[0065] Among them, the left pressure difference is the pressure difference between the aortic pressure and the left ventricular pressure, and the first left pressure difference threshold and the second left pressure difference threshold are the minimum and maximum values ​​of the pressure difference between the aortic pressure and the left ventricular pressure of a normal person, respectively. For example, the first left pressure difference threshold is 60 mmHg, and the second left pressure difference threshold is 80 mmHg. When the user's left ventricular pressure difference is lower than the first left pressure difference threshold, it means that the current user's left ventricular pressure is too high or the aortic pressure is too low; when the left ventricular pressure difference is higher than the second left pressure difference threshold, it means that the current user's left ventricular pressure is too low or the aortic pressure is too high.

[0066] The cause of high aortic pressure may be that the vascular resistance is too large and the blood pressure is high, so the blood accumulates in the left ventricle and cannot be pumped to the aorta. The cause of low left ventricular pressure may be that the left ventricular assist device speed is too high, resulting in too little blood volume in the left ventricle, or too little blood volume in the left ventricle due to systemic hypovolemia or right heart failure. The cause of low aortic pressure or high left ventricular pressure may be that the left ventricular assist device speed is too low, resulting in too much blood volume in the left ventricle.

[0067] The control device can judge the severity of the current abnormal operation of the left ventricular assist device based on the changes in the pumping flow of the left ventricular assist device in adjacent cycles, and then determine the speed at which the left ventricular assist device rotation speed needs to be increased or decreased based on the severity of the abnormality.

[0068] The present application takes into account the tolerance of the degree of heart failure of the left heart to the speed of increase or decrease of the pumping flow and the degree of influence of the operation of the right ventricular assist device on the left ventricle, and adjusts the speed of the left ventricular assist device according to the change of the pumping flow of the left ventricular assist device. Specifically, the pumping flow corresponding to the left ventricular differential pressure at different speeds is different. After obtaining the left ventricular pressure difference and the first flow change, the adjustment speed that needs to be increased or decreased when increasing or decreasing the pumping flow of the first flow change can be determined from the first characteristic curve. Then, the final speed that increases or decreases the adjustment speed on the basis of the first left speed is used as the first target speed, that is, the first left speed and the first adjustment speed are substituted into the first target formula to calculate the first target speed.

[0069] The first objective formula can be expressed as , is the first left speed, the is the first interference factor, is the first heart failure influencing factor, is the first adjustment speed, the first interference influencing factor is the influencing factor of the right ventricular assist device on the left ventricular assist device, the first heart failure influencing factor is the influencing factor of the degree of heart failure of the left ventricle on the left ventricular assist device, the and stated Both are greater than 0 and less than 1. First, the more severe the heart failure, The larger the second heart failure, The bigger.

[0070] Wherein, increasing or decreasing the rotation speed of the left ventricular assist device needs to be determined according to the current state of the left ventricle and the right ventricle. The first target formula is determined according to the left ventricular pressure difference and the right ventricular pressure difference, including: if the left ventricular pressure difference is less than the first left pressure difference threshold, and the right ventricular pressure difference is less than the first right pressure difference threshold, the first target formula is: If the left ventricular pressure difference is less than the first left pressure difference threshold and the right ventricular pressure difference is greater than or equal to the first right pressure difference threshold, the first target formula is: If the left ventricular pressure difference is greater than the second left pressure difference threshold and the right ventricular pressure difference is less than the first right pressure difference threshold, the first target formula is: If the left ventricular pressure difference is greater than the second left pressure difference threshold and the right ventricular pressure difference is greater than or equal to the first right pressure difference threshold, the first target formula is: .

[0071] When the pumping flow of the left heart assist device is greater, more blood flows back to the right atrium through the systemic circulation; when the pumping flow of the right ventricular assist device is greater, more blood flows back to the left atrium through the pulmonary circulation.

[0072] If the left ventricular pressure difference is less than the first left pressure difference threshold, it indicates that the speed of the left ventricular assist device is too low, resulting in too much blood volume in the left ventricle, and the speed of the left ventricular assist device needs to be increased; if the right ventricular pressure difference is greater than or equal to the first right pressure difference threshold, it indicates that the current right ventricle is in a normal state or the speed of the right ventricular assist device is too high, resulting in too little blood volume in the right ventricle, and the speed of the left ventricular assist device needs to be increased quickly. Therefore, the first target formula can be determined as When the left ventricular pressure difference is less than the first left pressure difference threshold and the rotation speed of the left ventricular assist device needs to be increased, if the right heart pressure difference is also less than the first right pressure difference threshold at this time, it indicates that the rotation speed of the right ventricular assist device is too low, resulting in excessive blood volume in the right ventricle. At this time, the rotation speed of the left ventricular assist device cannot be increased too fast to prevent excessive unloading of the right ventricle from damaging the right ventricle. Therefore, the first target formula can be determined as .

[0073] If the left ventricular pressure difference is greater than the second left pressure difference threshold, it indicates that the current left ventricular assist device speed is too high, resulting in too little blood volume in the left ventricle, and the left ventricular assist speed needs to be reduced; if the right ventricular pressure difference is also less than the first right pressure difference threshold, it indicates that the current right ventricular assist device speed is too low, resulting in too much blood volume in the right ventricle, and the left ventricular assist device speed needs to be reduced faster. Therefore, the first target formula is determined as If the left ventricular pressure difference is greater than the second left pressure difference threshold, the left ventricular assist speed needs to be reduced. If the right ventricular pressure difference is also greater than or equal to the first right pressure difference threshold, the right ventricle is in a normal state or the speed of the right ventricular assist device is too high, causing the blood volume in the right ventricle to be too small. At this time, the speed of the left ventricular assist device cannot be increased quickly to aggravate the problem of too little blood volume in the right ventricle. Therefore, the first target formula can be determined as .

[0074] Among them, the calculation of the second target speed based on the right ventricular pressure difference includes: if the right ventricular pressure difference is less than the first right pressure difference threshold or greater than the second right pressure difference threshold, calculating the second flow change, the second flow change is the difference between the first right pumping flow and the second right pumping flow, the second right pumping flow is the average pumping flow of the right ventricular assist device in the second cycle, and the second cycle is earlier than the first cycle; determining the second adjustment speed according to the second flow change and the second flow characteristic curve; determining the second target formula according to the left ventricular pressure difference and the right ventricular pressure difference; substituting the first right speed and the second adjustment speed into the second target formula to calculate the first right speed.

[0075] Among them, the right pressure difference is the pressure difference between the pulmonary artery pressure and the right ventricular pressure, and the first right pressure difference threshold and the second right pressure difference threshold are the minimum and maximum values ​​of the pressure difference between the pulmonary artery pressure and the right ventricular pressure of a normal person, respectively. For example, the first right pressure difference threshold is 20 mmHg, and the second right pressure difference threshold is 30 mmHg. When the user's right ventricular pressure difference is lower than the first right pressure difference threshold, it means that the current user's right ventricular pressure is too high or the pulmonary artery pressure is too low; when the right ventricular pressure difference is higher than the second right pressure difference threshold, it means that the current user's right ventricular pressure is too low or the pulmonary artery pressure is too high.

[0076] The high pulmonary artery pressure may be caused by excessive vascular resistance and high blood pressure, which causes blood to accumulate in the right ventricle and cannot be pumped to the pulmonary artery. The low right ventricular pressure may be caused by too high a speed of the right ventricular assist device, which causes too little blood volume in the right ventricle, or too little blood volume in the right ventricle due to systemic hypovolemia or right heart failure. The low pulmonary artery pressure or high right ventricular pressure may be caused by too low a speed of the right ventricular assist device, which causes too much blood volume in the right ventricle.

[0077] The control device can judge the severity of the current abnormal operation of the right ventricular assist device based on the changes in the pumping flow of the right ventricular assist device in adjacent cycles, and then determine the speed at which the rotation speed of the right ventricular assist device needs to be increased or decreased based on the severity.

[0078] This application takes into account the tolerance of the right heart's heart failure degree to the speed of increase or decrease in pumping flow and the degree of influence of the operation of the left ventricular assist device on the right ventricle, and adjusts the speed of the right ventricular assist device according to the change in the pumping flow of the right ventricular assist device. Specifically, the right ventricular differential pressure at different speeds corresponds to different pumping flows. After obtaining the right ventricular pressure difference and the second flow change, the adjustment speed that needs to be increased or decreased when increasing or decreasing the pumping flow of the second flow change can be determined from the second characteristic curve. Then, the final speed that increases or decreases the adjustment speed on the basis of the first right speed is used as the second target speed, that is, the first right speed and the second adjustment speed are substituted into the second target formula to calculate the second target speed.

[0079] The second objective formula can be expressed as , is the first right speed, the is the second interference factor, is the second heart failure influencing factor, is the second adjustment speed, the second interference influencing factor is the influencing factor of the left ventricular assist device on the right ventricular assist device, the second heart failure influencing factor is the influencing factor of the right ventricular heart failure degree on the right ventricular assist device, the and stated are both greater than 0 and less than 1. The more severe the second heart failure is, the The larger the first heart failure, the more serious the The bigger.

[0080] Wherein, increasing or decreasing the speed of the right ventricular assist device needs to be determined according to the current state of the left ventricle and the right ventricle. The second target formula is determined according to the left ventricular pressure difference and the right ventricular pressure difference, including: if the right ventricular pressure difference is less than the first right pressure difference threshold, and the left ventricular pressure difference is less than the first left pressure difference threshold, the second target formula is: If the right ventricular pressure difference is less than the first right pressure difference threshold and the left ventricular pressure difference is greater than or equal to the first left pressure difference threshold, the first target formula is: If the right ventricular pressure difference is greater than the second right pressure difference threshold and the left ventricular pressure difference is less than the first left pressure difference threshold, the first target formula is: If the right ventricular pressure difference is greater than the second right pressure difference threshold and the left ventricular pressure difference is greater than or equal to the first left pressure difference threshold, the first target formula is: .

[0081] Specifically, if the right ventricular pressure difference is less than the first right pressure difference threshold, it indicates that the speed of the right ventricular assist device is too low, resulting in excessive blood volume in the right ventricle, and the speed of the right ventricular assist device needs to be increased; if the left ventricular pressure difference is greater than or equal to the first left pressure difference threshold, it indicates that the current left ventricle is in a normal state or the speed of the left ventricular assist device is too high, resulting in too little blood volume in the left ventricle, and the speed of the right ventricular assist device needs to be quickly increased. Therefore, the second target formula can be determined as follows: When the right ventricular pressure difference is less than the first right pressure difference threshold and the speed of the right ventricular assist device needs to be increased, if the left heart pressure difference is also less than the first left pressure difference threshold, it indicates that the speed of the left ventricular assist device is too low, resulting in excessive blood volume in the left ventricle. At this time, the speed of the left ventricular assist device cannot be increased too fast to prevent excessive unloading of the left ventricle from damaging the left ventricle. Therefore, the second target formula can be determined as If the right ventricular pressure difference is greater than the second right pressure difference threshold, it indicates that the current right ventricular assist device speed is too high, resulting in too little blood volume in the right ventricle, and the speed of right ventricular assistance needs to be reduced; if the left ventricular pressure difference is also less than the first left pressure difference threshold, it indicates that the current left ventricular assist device speed is too low, resulting in too much blood volume in the left ventricle, and the speed of the right ventricular assist device needs to be reduced faster. Therefore, the second target formula is determined as follows: If the right ventricular pressure difference is greater than the second right pressure difference threshold and the speed of the right ventricular assist needs to be reduced, if the left ventricular pressure difference is also greater than or equal to the first left pressure difference threshold, the left ventricle is in a normal state or the speed of the left ventricular assist device is too high, causing the blood volume in the left ventricle to be too small. At this time, the speed of the right ventricular assist device cannot be increased quickly to aggravate the problem of too little blood volume in the left ventricle. Therefore, the second target formula can be determined as .

[0082] In the present application, when abnormal operation of the left ventricular assist device and / or the right ventricular assist device is detected, the control device considers the impact of the user's left heart failure degree and right heart failure degree on the left ventricular assist device and the right ventricular assist device, and directly calculates the speed required for the left ventricular assist device and the right ventricular assist device when the user's systemic circulation and pulmonary circulation are restored to balance. This can reduce the number of blind adjustments to the speed of the left ventricular assist device and / or the right ventricular assist device, avoid more serious hemodynamic instability on the target user during the speed adjustment process, and avoid acute lung damage; at the same time, it can also quickly maintain the balance between the left heart output and the right heart output, prevent suction problems and over-priming problems in the left ventricle or the right ventricle, and improve the operating safety of the biventricular assist system.

[0083] It can be seen that the present application proposes a speed adaptive method for a biventricular assist system, which obtains a first left pumping flow and a first right pumping flow, wherein the first left pumping flow is the average pumping flow of the left ventricular assist device in the first cycle, and the first right pumping flow is the average pumping flow of the right ventricular assist device in the first cycle; a target flow difference is determined according to a first heart failure degree and a second heart failure degree, wherein the first heart failure degree is the current heart failure degree of the left ventricle, and the second heart failure degree is the current heart failure degree of the right ventricle; whether the biventricular assist system is operating abnormally is determined according to the target flow difference and the first flow difference, wherein the first flow difference is the difference between the first left pumping flow and the first right pumping flow; when the biventricular assist system is operating abnormally, the speed of the left ventricular assist device and / or the right ventricular assist device is adjusted to balance the left heart output and the right heart output. The present application determines whether the current operation of the biventricular assist system is abnormal based on the difference between the pumping flow of the left ventricular assist device and the pumping flow of the right ventricular assist device. When the operation is abnormal, the rotation speed of the left ventricular assist device and / or the right ventricular assist device is adaptively adjusted to keep the left heart output and the right heart output balanced, thereby preventing suction problems and over-priming problems in the left ventricle or the right ventricle, and improving the operating safety of the biventricular assist system.

[0084] The above mainly introduces the scheme of the embodiment of the present application from the perspective of the execution process on the method side. It is understandable that in order to realize the above functions, the network device includes a hardware structure and / or software module corresponding to each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiment provided in this article, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0085] For example, the present application provides a control device of a biventricular assist system, the biventricular assist system comprising a left ventricular assist device and a right ventricular assist device, the left ventricular assist device is used to pump fluid from the left ventricle to the aorta, the right ventricular assist device is used to pump fluid from the right ventricle to the pulmonary artery, the control device is communicatively connected with the left ventricular assist device and the right ventricular assist device, the control device comprises one or more processors, and the one or more processors are used to:

[0086] Acquire a first left pumping flow and a first right pumping flow, wherein the first left pumping flow is an average pumping flow of the left ventricular assist device in a first cycle, and the first right pumping flow is an average pumping flow of the right ventricular assist device in the first cycle;

[0087] Determining a target flow difference according to a first heart failure degree and a second heart failure degree, wherein the first heart failure degree is a current heart failure degree of the left ventricle, and the second heart failure degree is a current heart failure degree of the right ventricle;

[0088] determining whether the biventricular assist system operates abnormally according to the target flow difference and a first flow difference, wherein the first flow difference is a difference between the first left pumping flow and the first right pumping flow;

[0089] When the biventricular assist system operates abnormally, the rotation speed of the left ventricular assist device and / or the right ventricular assist device is adjusted to keep the left heart output and the right heart output balanced.

[0090] For example, the present application also provides a biventricular assist system, the biventricular assist system comprising:

[0091] a left ventricular assist device, which pumps fluid from the left ventricle to the aorta;

[0092] a right ventricular assist device, which pumps fluid from the right ventricle to the pulmonary artery;

[0093] A control device is communicatively connected to the left ventricular assist device and the right ventricular assist device, and the control device is used to execute instructions of part or all of the steps described in the method described above.

[0094] As an example, the present application also provides a medical device, which includes the control device or biventricular assist system described above.

[0095] Among them, the control device of each of the above schemes has the function of implementing the corresponding steps performed by the medical equipment in the above method; the functions can be implemented by hardware, or by hardware executing corresponding software.

[0096] In the embodiments of the present application, the control device may also be a chip or a chip system, such as a system on chip (SoC).

[0097] See also Figure 3 , Figure 3 It is a structural diagram of a medical device provided in an embodiment of the present application, wherein the medical device comprises: one or more processors, one or more memories, one or more communication interfaces, and one or more programs; the one or more programs are stored in the memories and are configured to be executed by the one or more processors.

[0098] The above program includes instructions for performing the following steps:

[0099] Acquire a first left pumping flow and a first right pumping flow, wherein the first left pumping flow is an average pumping flow of the left ventricular assist device in a first cycle, and the first right pumping flow is an average pumping flow of the right ventricular assist device in the first cycle;

[0100] Determining a target flow difference according to a first heart failure degree and a second heart failure degree, wherein the first heart failure degree is a current heart failure degree of the left ventricle, and the second heart failure degree is a current heart failure degree of the right ventricle;

[0101] determining whether the biventricular assist system operates abnormally according to the target flow difference and a first flow difference, wherein the first flow difference is a difference between the first left pumping flow and the first right pumping flow;

[0102] When the biventricular assist system operates abnormally, the rotation speed of the left ventricular assist device and / or the right ventricular assist device is adjusted to keep the left heart output and the right heart output balanced.

[0103] Among them, all relevant contents of each scenario involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0104] It should be understood that the above-mentioned memory may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0105] In the embodiment of the present application, the processor of the above-mentioned device may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0106] It should be understood that the "at least one" involved in the embodiments of the present application refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0107] Furthermore, unless otherwise specified, ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects. For example, the first information and the second information are only used to distinguish different information, and do not indicate the difference in content, priority, sending order or importance of the two types of information.

[0108] In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software. The steps of the method disclosed in conjunction with the embodiment of the present application can be directly embodied as a hardware processor for execution, or a combination of hardware and software units in a processor for execution. The software unit 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 a memory, and the processor executes the instructions in the memory, and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it is not described in detail here.

[0109] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any method recorded in the above method embodiments.

[0110] The present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps of any method described in the above method embodiment. The computer program product may be a software installation package.

[0111] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0112] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0113] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0114] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0115] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0116] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or TRP, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0117] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing the relevant hardware through a program, and the program may be stored in a computer-readable memory, which may include a flash drive, ROM, RAM, a magnetic disk or an optical disk, etc.

[0118] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A control device for a biventricular assist system, characterized in that: The biventricular assist system comprises a left ventricular assist device and a right ventricular assist device, wherein the left ventricular assist device is used to pump fluid from the left ventricle to the aorta, and the right ventricular assist device is used to pump fluid from the right ventricle to the pulmonary artery, and the control device is communicatively connected with the left ventricular assist device and the right ventricular assist device, and the control device comprises one or more processors, and the one or more processors are used to perform the following steps: Acquire a first left pumping flow and a first right pumping flow, wherein the first left pumping flow is an average pumping flow of the left ventricular assist device in a first cycle, and the first right pumping flow is an average pumping flow of the right ventricular assist device in the first cycle; Determining a target flow difference according to a first heart failure degree and a second heart failure degree, wherein the first heart failure degree is a current heart failure degree of the left ventricle, and the second heart failure degree is a current heart failure degree of the right ventricle; determining whether the biventricular assist system operates abnormally according to the target flow difference and a first flow difference, wherein the first flow difference is a difference between the first left pumping flow and the first right pumping flow; When the biventricular assist system operates abnormally, the rotation speed of the left ventricular assist device and / or the right ventricular assist device is adjusted to keep the left heart output and the right heart output balanced.

2. The control device according to claim 1, characterized in that: The determining whether the biventricular assist system operates abnormally according to the target flow difference and the first flow difference includes: Calculating a target value, wherein the target value is a difference between the first flow difference and the target flow difference; If the absolute value of the target value is greater than or equal to a preset value, it is determined that the left ventricular assist device and / or the right ventricular assist device is operating abnormally.

3. The control device according to claim 1, characterized in that: When the biventricular assist system operates abnormally, adjusting the rotation speed of the left ventricular assist device and / or the right ventricular assist device includes: Acquire a first characteristic curve, a first left rotation speed, a second characteristic curve, and a first right rotation speed, wherein the first characteristic curve is a pressure-flow characteristic curve of the left ventricular assist device, the second characteristic curve is a pressure-flow characteristic curve of the right ventricular assist device, the first left rotation speed is an average rotation speed of the left ventricular assist device in the first cycle, and the first right rotation speed is an average rotation speed of the right ventricular assist device in the first cycle; estimating a left ventricular pressure difference according to the first characteristic curve and the first left pumping flow rate, and estimating a right ventricular pressure difference according to the second characteristic curve and the first right pumping flow rate; A first target speed is calculated according to the left ventricular pressure difference, and a second target speed is calculated according to the right ventricular pressure difference. The first target speed and the second target speed are the speeds when the left ventricular assist device and the right ventricular assist device respectively keep the left heart output and the right heart output balanced.

4. The control device according to claim 3, characterized in that: The calculating the first target speed according to the left ventricular pressure difference comprises: If the left ventricular pressure difference is less than a first left pressure difference threshold or greater than a second left pressure difference threshold, a first flow change is calculated, the first flow change is the difference between the first left pumping flow and the second left pumping flow, the second left pumping flow is the average pumping flow of the left ventricular assist device in a second cycle, the second cycle is earlier than the first cycle; determining a first adjustment speed according to the first flow rate change and the first characteristic curve; Determine a first target formula according to the left ventricular pressure difference and the right ventricular pressure difference; The first left speed and the first adjusted speed are substituted into the first target formula to calculate the first target speed.

5. The control device according to claim 4, characterized in that: The step of determining a first target formula according to the left ventricular pressure difference and the right ventricular pressure difference comprises: If the left ventricular pressure difference is less than the first left pressure difference threshold, and the right ventricular pressure difference is less than the first right pressure difference threshold, the first target formula is: , is the first left speed, the is the first interference factor, is the first heart failure influencing factor, is the first adjustment speed, the first interference influencing factor is the influencing factor of the right ventricular assist device on the left ventricular assist device, the first heart failure influencing factor is the influencing factor of the degree of heart failure of the left ventricle on the left ventricular assist device, the and stated Greater than 0 and less than 1; If the left ventricular pressure difference is less than the first left pressure difference threshold and the right ventricular pressure difference is greater than or equal to the first right pressure difference threshold, the first target formula is: ; If the left ventricular pressure difference is greater than the second left pressure difference threshold and the right ventricular pressure difference is less than the first right pressure difference threshold, the first target formula is: ; If the left ventricular pressure difference is greater than the second left pressure difference threshold, and the right ventricular pressure difference is greater than or equal to the first right pressure difference threshold, the first target formula is: .

6. The control device according to claim 4, characterized in that: The calculating the second target speed according to the right ventricular pressure difference comprises: If the right ventricular pressure difference is less than the first right pressure difference threshold or greater than the second right pressure difference threshold, a second flow change is calculated, the second flow change is the difference between the first right pumping flow and the second right pumping flow, the second right pumping flow is the average pumping flow of the right ventricular assist device in a second cycle, the second cycle is earlier than the first cycle; determining a second adjustment speed according to the second flow rate change and the second characteristic curve; Determine a second target formula according to the left ventricular pressure difference and the right ventricular pressure difference; Substitute the first right speed and the second adjusted speed into the second target formula to calculate the second target speed.

7. The control device according to claim 6, characterized in that: The determining of a second target formula according to the left ventricular pressure difference and the right ventricular pressure difference comprises: If the right ventricular pressure difference is less than the first right pressure difference threshold, and the left ventricular pressure difference is less than the first left pressure difference threshold, the second target formula is: , is the first right speed, the is the second interference factor, is the second heart failure influencing factor, is the second adjustment speed, the second interference influencing factor is the influencing factor of the left ventricular assist device on the right ventricular assist device, the second heart failure influencing factor is the influencing factor of the right ventricular heart failure degree on the right ventricular assist device, the and stated Both are greater than 0 and less than 1; If the right ventricular pressure difference is less than the first right pressure difference threshold and the left ventricular pressure difference is greater than or equal to the first left pressure difference threshold, the first target formula is: ; If the right ventricular pressure difference is greater than the second right pressure difference threshold and the left ventricular pressure difference is less than the first left pressure difference threshold, the first target formula is: ; If the right ventricular pressure difference is greater than the second right pressure difference threshold, and the left ventricular pressure difference is greater than or equal to the first left pressure difference threshold, the first target formula is: .

8. The control device according to claim 5, characterized in that: The more severe the first heart failure is, the The larger the second heart failure, the more serious the The bigger.

9. The control device according to claim 7, characterized in that: The more severe the second heart failure is, the The larger the first heart failure, the more serious the The bigger.

10. A biventricular assist system, characterized in that: The biventricular assist system comprises: a left ventricular assist device, which pumps fluid from the left ventricle to the aorta; a right ventricular assist device, which pumps fluid from the right ventricle to the pulmonary artery; A control device communicatively connected to the left ventricular assist device and the right ventricular assist device, the control device being used to perform the steps as described in any one of claims 1-9.

11. A medical device, characterized in that: It comprises a processor, a memory and a communication interface, wherein the memory stores one or more programs, and the one or more programs are executed by the processor, and the one or more programs include instructions for executing the steps executed by the control device according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute the steps executed by the control device according to any one of claims 1 to 9.

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