Ventricular assist device control device, method, ventricular assist system and electronic device

Abstract

The application provides a kind of ventricular assist device control device, method, ventricular assist system and electronic equipment, it is related to the field of medical instrument control.The control device includes: timing judgment module, characteristic flow calculation module and motor control module;Timing judgment module is used to divide target cardiac cycle into systolic phase and diastolic phase;Characteristic flow calculation module is used to divide the real-time flow of ventricular assist device in target cardiac cycle into systolic flow in systolic phase and / or diastolic flow in diastolic phase, and calculate the characteristic cardiac output of ventricular assist device in target cardiac cycle according to systolic flow and diastolic flow;Motor control module is used to adjust motor speed.Using the control device provided by the embodiment of the application can make the cardiac output of ventricular assist device more in line with the physiological law of heart, realize the stable control of cardiac output.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical device control, in particular to a ventricular assist device control device, method, ventricular assist system and electronic device. BACKGROUND

[0002] A ventricular assist device (VAD) is a medical device used to treat patients with severe heart disease. It assists the heart in pumping blood by mechanical means, helping the heart to pump blood from the left ventricle and then deliver it to the whole body through a tube connected to the aorta; it is usually used for patients with extremely deteriorated heart function and cannot be improved by other treatment methods.

[0003] A ventricular assist device usually consists of a mechanical pump, a control system and an external power source. The mechanical pump is usually implanted in the chest of the patient through surgery and connected to the heart and aorta.

[0004] Currently, the control of the mechanical pump is generally to control the motor of the mechanical pump at a constant speed, so that the ventricular assist device can run at a constant speed, but the constant speed may not be able to meet the actual needs of the patient's body. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a ventricular assist device control device, method, ventricular assist system and electronic device, which controls the motor of the ventricular assist device based on the timing judgment module, the characteristic flow calculation module and the motor control module of the ventricular assist device control device. The use of the control device provided by the embodiments of the present application can make the cardiac output of the ventricular assist device more in line with the physiological laws of the heart, and realize stable control of the cardiac output.

[0006] In a first aspect, the embodiments of the present application provide a ventricular assist device control device, the control device comprising: a timing judgment module, a characteristic flow calculation module and a motor control module; the timing judgment module is used to divide a target cardiac cycle into a systolic phase and a diastolic phase; the characteristic flow calculation module is used to divide the real-time flow of the ventricular assist device in the target cardiac cycle into a systolic phase flow in the systolic phase and / or a diastolic phase flow in the diastolic phase, and calculate the characteristic cardiac output of the ventricular assist device in the target cardiac cycle according to the systolic phase flow and the diastolic phase flow; the motor control module is used to control the motor speed of the ventricular assist device in the next cycle of the target cardiac cycle according to the set cardiac output of the ventricular assist device and the characteristic cardiac output.

[0007] In the above implementation process, the ventricular assist device control device provided in this application can divide the flow rate within the target cardiac cycle into systolic flow rate and diastolic flow rate, and calculate the characteristic cardiac output of the entire target cardiac cycle accordingly. Since the cardiac systolic and diastolic phases have different patterns, distinguishing the flow rate of the cardiac systolic and diastolic phases to calculate the characteristic cardiac output can more accurately determine the cardiac output level, thereby improving the accuracy of the rotational speed adjusted according to the characteristic cardiac output and the set cardiac output, making it more suitable for the actual needs of the patient.

[0008] Optionally, in this embodiment of the application, the timing determination module is specifically used to: divide the target cardiac cycle into a systolic phase and a diastolic phase based on one of aortic pressure, ventricular pressure, and ventricular volume.

[0009] In the above implementation process, the timing judgment module of the ventricular assist device control device provided in this application embodiment can determine the systolic and diastolic phases of the heart based on one or more cardiac cycle judgment parameters, such as aortic pressure, ventricular pressure, ventricular volume, and atrial pressure. In other words, the timing judgment module can more directly reflect whether the heart is in the systolic or diastolic phase, and accurately divide the stage of the heart at each moment within the target cardiac cycle, thereby providing a more accurate and reliable determination of the heart state.

[0010] Optionally, in this embodiment of the application, the control device further includes: a real-time flow value calculation module; the real-time flow calculation module is used to calculate the systolic flow and diastolic flow based on the real-time speed and real-time current of the motor of the ventricular assist device; and record the systolic flow, systolic flow data volume, diastolic flow, and diastolic flow data volume.

[0011] In the above implementation process, the real-time flow calculation module can calculate the real-time flow by using the real-time speed and real-time current of the ventricular assist device motor, and divide the real-time flow into the systolic flow during the cardiac contraction phase and the diastolic flow during the cardiac diastole phase, thereby clearly showing the real-time flow distribution of the ventricular assist device within the target cardiac cycle.

[0012] Optionally, in this embodiment, the characteristic cardiac output includes the average cardiac output. The characteristic flow calculation module is specifically used to: calculate the ratio of the sum of systolic flow values ​​to the amount of systolic flow data within the target cardiac cycle to obtain the average systolic cardiac output of the ventricular assist device; calculate the ratio of the sum of diastolic flow values ​​to the amount of diastolic flow data within the target cardiac cycle to obtain the average diastolic cardiac output of the ventricular assist device; and calculate the average cardiac output within the target cardiac cycle based on the average systolic cardiac output and the average diastolic cardiac output.

[0013] Optionally, in this embodiment of the application, in the process of calculating the average cardiac output within the target cardiac cycle based on the sum of systolic cardiac output and the sum of diastolic cardiac output, the characteristic flow calculation module is specifically used to: calculate the average cardiac output based on the sum of systolic cardiac output and its corresponding first weight value, and the sum of diastolic cardiac output and its corresponding second weight value; wherein, the first weight value and the second weight value are determined based on the proportion of the duration of the systolic phase and the diastolic phase within the cardiac cycle.

[0014] In the above implementation process, in this embodiment of the application, the average cardiac output of the ventricular assist device during systole and diastole is first calculated separately to accurately assess the cardiac output of the ventricular assist device in different cardiac cycle stages. Considering the differences in cardiac activity time in different stages, the average cardiac output during systole and diastole is weighted and then averaged to calculate the average cardiac output more accurately.

[0015] Optionally, in this embodiment, the motor control module is specifically used to: control the motor speed to decrease when the set core output is higher than the characteristic core output; and control the motor speed to increase when the set core output flow is lower than the characteristic core output.

[0016] In the above implementation process, the motor control module of the ventricular assist device control device provided in this application embodiment can dynamically adjust the motor speed based on a comparison between the set cardiac output and a characteristic cardiac output, such as the average cardiac output. When the set cardiac output is higher than the characteristic cardiac output, the motor control module will reduce the motor speed; when the set cardiac output is lower than the characteristic cardiac output, the motor control module will increase the motor speed. This dynamic adjustment enables the flow rate of the ventricular assist device to adapt to changes in the heart's needs, maintaining the synchronization between the assist device and the heart.

[0017] Secondly, embodiments of this application provide a ventricular assist system, which includes a ventricular assist device control device and a ventricular assist device as provided in the first aspect of this application. The ventricular assist device control device is used to obtain the timing division result within a target cardiac cycle; the ventricular assist device control device is also used to control the motor speed of the ventricular assist device based on the timing division result, the real-time flow rate of the ventricular assist device within the target cardiac cycle, and the set cardiac output of the ventricular assist device.

[0018] Thirdly, embodiments of this application provide a method for controlling a ventricular assist device, the method comprising: determining whether the heart is in systole or diastole at any moment within a target cardiac cycle; dividing the real-time flow of the ventricular assist device within the target cardiac cycle into systole and diastole, and calculating the characteristic cardiac output of the ventricular assist device within the target cardiac cycle based on the systolic flow and / or diastolic flow; and controlling the motor speed of the ventricular assist device according to the set cardiac output and characteristic cardiac output of the ventricular assist device in subsequent cycles of the target cardiac cycle.

[0019] Fourthly, embodiments of this application provide an electronic device, which includes a memory and a processor. The memory stores program instructions, and when the processor reads and runs the program instructions, it executes the steps in the implementation of the third aspect described above.

[0020] Fifthly, embodiments of this application also provide a computer-readable storage medium storing computer program instructions, which, when read and executed by a processor, perform the steps in the implementation of the third aspect described above. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A first schematic diagram of the module of the ventricular assist device control device provided in the embodiments of this application is shown.

[0023] Figure 2 A graph showing the cardiac cycle determination parameters versus cardiac cycle provided in the embodiments of this application;

[0024] Figure 3 A second schematic diagram of the module of the ventricular assist device control device provided in the embodiments of this application;

[0025] Figure 4 The real-time traffic curve provided in the embodiments of this application;

[0026] Figure 5 Characteristic flow curves provided for embodiments of this application;

[0027] Figure 6 This is a schematic diagram of the framework of the ventricular assist system provided in the embodiments of this application;

[0028] Figure 7A control flowchart for a ventricular assist device is provided for embodiments of this application;

[0029] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0030] Icons: Ventricular Assist Device Control Unit-100; Timing Judgment Module-110; Characteristic Flow Calculation Module-120; Motor Control Module-130; Real-time Flow Calculation Module-140. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will now be described with reference to the accompanying drawings. For example, the flowcharts and block diagrams in the drawings illustrate the architecture, functions, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, program segment, or part of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0032] Ventricular assist devices (VADs) include left ventricular assist devices (LVADs) and right ventricular assist devices (RVADs), often referred to as artificial hearts. A left ventricular assist device is a mechanical cardiac assist device that provides support to the circulation when the left ventricle cannot meet the system's perfusion needs. A right ventricular assist device is typically used only for short-term support of the right ventricle after LVAD surgery or other cardiac surgeries. A right ventricular assist device helps the right ventricle pump blood to the pulmonary artery, the artery that delivers blood to the lungs to absorb oxygen.

[0033] During the research process, the applicant discovered that currently, the flow control of ventricular assist devices often involves constantly controlling the speed of the motor in the ventricular assist device to achieve a stable motor speed, thereby ensuring a relatively stable flow rate from the ventricular assist device.

[0034] However, the contraction or relaxation of the human heart may affect the rotation speed of the electrodes, which can easily lead to unstable cardiac output that does not meet the body's needs.

[0035] Based on this, this application provides a ventricular assist device (VAP) control device, method, VAP system, and electronic device. The VAP uses a timing judgment module to determine whether each moment within a target cardiac cycle is in diastole or systole. A characteristic flow calculation module calculates the average cardiac output of the VAP within the target cardiac cycle based on the real-time flow during systole and diastole. Furthermore, a motor control module performs PID control on this average cardiac output to adjust the motor speed. The VAP control device provided in this application, by incorporating the timing judgment module and the characteristic flow calculation module, can take into account the influence of cardiac contraction and diastole on the motor speed of the VAP, and determine whether the motor speed needs adjustment, thereby maintaining the stability of the VAP flow rate and conforming to the laws of human cardiac output.

[0036] Before introducing the specific content of this application, let me briefly introduce the systolic and diastolic phases of the heart.

[0037] The systolic phase of the heart refers to the contraction of the heart muscle. During systole, the heart pumps blood into the arterial system, delivering oxygen and nutrients to all tissues and organs throughout the body. During systole, the two atria of the heart (left and right atria) contract first, pushing blood into the two ventricles (left and right ventricles). Then, the ventricles contract, pushing blood into the aorta and pulmonary artery, thus delivering blood to the whole body and lungs respectively.

[0038] The diastolic phase of the heart refers to the period when the heart muscle relaxes. During diastole, the heart fills with blood. When the heart relaxes, the atria and ventricles relax, allowing blood to flow into the heart from the veins throughout the body and the pulmonary veins. This process is called filling, and during filling, the heart is replenished with oxygen and nutrients in preparation for the next contraction. The diastolic phase also allows blood to be drained from the heart's chambers (aorta and pulmonary artery) and refilled.

[0039] Therefore, the active movement of the heart may affect the rotational speed of the ventricular assist device (VAP) motor, causing changes in the VAP's flow rate and preventing it from providing the cardiac output necessary for normal heart function.

[0040] Please refer to Figure 1 , Figure 1 This is a first schematic diagram of the modules of the ventricular assist device control device 100 provided in the embodiments of this application; the first aspect of this application provides a ventricular assist device control device 100, which includes a timing judgment module 110, a characteristic flow calculation module 120 and a motor control module 130.

[0041] The timing judgment module 110 is used to divide the target cardiac cycle into the systolic phase and the diastolic phase.

[0042] The timing determination module 110 divides the cardiac cycle into systolic and diastolic phases based on cycle determination parameters or relevant imaging data. These parameters can be cardiac-related electrical signals or other specific physiological parameters that can distinguish between systolic and diastolic phases. The timing determination module 110 can thus determine the current phase of the heart, i.e., whether it is in systole or diastole.

[0043] The characteristic flow calculation module 120 is used to divide the real-time flow of the ventricular assist device within the target cardiac cycle into systolic flow during the systolic phase and diastolic flow during the diastolic phase, and calculate the characteristic cardiac output of the ventricular assist device within the target cardiac cycle based on the systolic flow and / or diastolic flow.

[0044] In the above implementation process, the characteristic flow calculation module 120 calculates the real-time flow of the ventricular assist device within the target cardiac cycle into the systolic or diastolic phases, namely the systolic flow and diastolic flow, respectively; further, it calculates the characteristic cardiac output of the entire target cardiac cycle based on the systolic flow and / or diastolic flow. Optionally, the average of all real-time flow rates within a target cardiac cycle is calculated to obtain the average cardiac output. It should be noted that the characteristic cardiac output in this embodiment can be the maximum cardiac output, average cardiac output, or minimum cardiac output within the cardiac cycle. Optionally, the average real-time flow rate during diastole and the average real-time flow rate during systole are calculated separately, and then the average of the two averages is taken to obtain the average cardiac output. Optionally, since the systolic flow rate can reflect the combined blood supply capacity of the ventricular assist device catheter pump and the heart itself, the maximum cardiac output within the cardiac cycle can be obtained based solely on the real-time flow rate during systole. Optionally, the real-time flow during diastole can reflect the ventricular assist device's catheter pump's ability to supply blood; the minimum cardiac output can be obtained based solely on the real-time flow during diastole.

[0045] The motor control module 130 is used to control the motor speed of the ventricular assist device in the subsequent cycle of the target cardiac cycle according to the set cardiac output and characteristic cardiac output of the ventricular assist device.

[0046] It should be noted that the cardiac output is set to the level corresponding to the ventricular assist device when the patient is using it; for example, for a specific ventricular assist device, if its maximum flow rate is 10 L / min, then the level of the ventricular assist device can be: Level 1 F mean_set =3L / min, second gear F mean_set =6L / min, third gear Fmean_set =10L / min. In this embodiment of the application, based on the set cardiac output of the ventricular assist device at a specific gear and the characteristic cardiac output calculated by the characteristic flow calculation module 120, it is determined whether the rotation speed of the ventricular assist device needs to be adjusted to ensure that the flow rate of the ventricular assist device conforms to the pattern of cardiac contraction and relaxation.

[0047] pass Figure 1 As can be seen, the ventricular assist device control device 100 provided in this application can accurately divide the target cardiac cycle into systolic and diastolic phases through the timing judgment module 110. The characteristic flow calculation module 120 can divide the flow within the target cardiac cycle into systolic flow and / or diastolic flow based on real-time flow data, and calculate the characteristic cardiac output of the entire target cardiac cycle. The motor control module 130 controls the motor speed of the ventricular assist device in subsequent cycles of the target cardiac cycle based on the set cardiac output and the characteristic cardiac output provided by the characteristic flow calculation module 120. This ventricular assist device control device 100 determines whether the speed of the ventricular assist device needs to be adjusted based on the set cardiac output and the characteristic cardiac output calculated by the characteristic flow calculation module 120, ensuring that the flow of the ventricular assist device combines the regularity of cardiac contraction and relaxation, thereby improving the stability and adaptability of the ventricular assist device.

[0048] In an optional embodiment, the timing determination module 110 can divide the cardiac cycle into a systolic phase and a diastolic phase according to the cycle determination parameters; specifically, the cardiac cycle determination parameters include at least one of aortic pressure, ventricular pressure, and ventricular volume.

[0049] The aforementioned timing judgment module 110 is specifically used to divide the target cardiac cycle into a systolic phase and a diastolic phase based on at least one of aortic pressure, ventricular pressure, and ventricular volume.

[0050] Please refer to the following: Figure 2 , Figure 2 A graph showing the cardiac cycle determination parameters versus cardiac cycle provided in the embodiments of this application.

[0051] For example, Figure 2 During systole, aortic pressure exhibits a distinct waveform, commonly known as the aortic pressure curve. During systole, aortic pressure rises rapidly from a trough to a peak, then falls back to the midpoint. During diastole, it rises from the midpoint to a second small peak, then falls back to a trough. Therefore, by observing the changes in the aortic pressure curve, it is possible to determine whether the heart is in systole or diastole.

[0052] For example, ventricular pressure is the pressure state within the ventricles of the heart. (Through...) Figure 2As can be seen, ventricular pressure rises rapidly from its trough to its peak during systole, then quickly falls back to its trough, while during diastole, it produces a relatively smooth small peak near the trough. Therefore, by monitoring changes in ventricular pressure, the stage of cardiac progression can also be determined.

[0053] For example, ventricular volume refers to the amount of blood in the ventricles of the heart. During systole, ventricular volume decreases as blood is pumped into the arterial system. During diastole, ventricular volume increases as the ventricles fill with blood. Therefore, changes in ventricular volume can indicate whether the heart is in systole or diastole.

[0054] In some embodiments, the cardiac cycle determination parameter can also be atrial pressure. Atrial pressure reflects the filling state of the atria. Atrial pressure is lower during diastole and rises during systole. Therefore, by monitoring changes in atrial pressure, it is possible to infer whether the heart is in systole or diastole.

[0055] It should be noted that, in determining whether the heart is in systole or diastole, the embodiments of this application can use one or more of the above-mentioned aortic pressure, ventricular pressure, ventricular volume, and atrial pressure.

[0056] Therefore, it can be seen that the timing judgment module 110 of the ventricular assist device control device 100 provided in this application embodiment can determine the systolic and diastolic phases of the heart based on one or more cardiac cycle judgment parameters, such as aortic pressure, ventricular pressure, ventricular volume, and atrial pressure. In other words, the timing judgment module 110 can more directly reflect whether the heart is in the systolic or diastolic phase, and accurately divide the stage of the heart at each moment within the target cardiac cycle, thereby providing a more accurate and reliable determination of the heart state.

[0057] Please refer to Figure 3 , Figure 3 This is a second schematic diagram of the module of the ventricular assist device control device 100 provided in the embodiments of this application; in an optional embodiment of this application, the characteristic cardiac output includes the average cardiac output, and the ventricular assist device control device 100 further includes a real-time flow value calculation module.

[0058] The real-time flow calculation module 140 is used to calculate systolic flow and diastolic flow based on the real-time speed and real-time current of the motor of the ventricular assist device.

[0059] The real-time flow calculation module 140 is also used to record systolic flow, systolic flow data volume, diastolic flow, and diastolic flow data volume.

[0060] Optionally, the real-time flow calculation module calculates the systolic and diastolic flow rates based on the real-time speed and current of the ventricular assist device's motor. This can be achieved through the following method: For the motor of the ventricular assist device, there is a formula: Where J is the motor's moment of inertia, Te is the motor torque, Tp is the load torque, B is the damping coefficient, and w is the motor's angular velocity. The motor angular velocity can be obtained by converting real-time speed. Depending on the characteristics of different motors, Tp may have different calculation formulas. In this embodiment, Tp = 0w³ - 1Fw². The formula for the coupled calculation of current, rotational speed, and real-time flow rate is as follows:

[0061]

[0062] In the above formula, I is the current, w is the rotational speed, F is the flow rate, and Kb, B, a0, and a1 are the parameters of the motor and pump. The model parameters are obtained through in vitro testing and fitting, and then substituted into the formula to obtain the real-time flow rate calculation formula:

[0063]

[0064] The real-time traffic curve obtained by calculating the real-time traffic using the above method is shown below. Figure 4 As shown, Figure 4 The real-time traffic curve provided in the embodiments of this application; Figure 4 The real-time flow curve in the figure shows the relationship between the flow rate of the ventricular assist device and time.

[0065] Furthermore, after the real-time flow rate calculation module calculates the real-time flow rate, the real-time flow rate calculation module in this embodiment of the application divides the real-time flow rate into systolic flow rate and diastolic flow rate. Combined with... Figure 2 The graph showing the relationship between cardiac cycle determination parameters and cardiac cycle, and the real-time flow rate calculation module will... Figure 4 The real-time flow was divided to obtain a characteristic flow curve; in this process, the systolic flow, systolic flow data volume, diastolic flow, and diastolic flow data volume were recorded and the curves were plotted as follows. Figure 5 As shown, please refer to Figure 5 , Figure 5 Characteristic flow curves provided for embodiments of this application; Figure 5 The interval from the first vertical line EDP to the fourth vertical line Min dp / dt is the systolic period, and the interval from Min dp / dt to the next EDP is the diastolic period.

[0066] Therefore, it can be seen that the real-time flow calculation module 140 can calculate the real-time flow by using the real-time speed and real-time current of the ventricular assist device motor, and divide the real-time flow into the systolic flow during the cardiac contraction phase and the diastolic flow during the cardiac diastole phase, so as to clearly understand the real-time flow distribution of the ventricular assist device within the target cardiac cycle.

[0067] In an optional embodiment, the characteristic flow calculation module 120 is specifically used for:

[0068] The ratio of the sum of systolic flow values ​​to the total systolic flow data within the target cardiac cycle is calculated to obtain the mean systolic cardiac output of the ventricular assist device; the ratio of the sum of diastolic flow values ​​to the total diastolic flow data within the target cardiac cycle is calculated to obtain the mean diastolic cardiac output of the ventricular assist device.

[0069] Calculate the average cardiac output during the target cardiac cycle based on the average systolic and diastolic cardiac output.

[0070] In an optional embodiment, the calculation of the average cardiac output during the target cardiac cycle based on the average systolic cardiac output and the average diastolic cardiac output in the above process can be achieved in the following way:

[0071] The average cardiac output is calculated based on the sum of systolic cardiac output and its corresponding first weight value, and the sum of diastolic cardiac output and its corresponding second weight value.

[0072] It should be noted that the first and second weight values ​​are determined based on the proportion of the systolic and diastolic phases within the cardiac cycle.

[0073] For example, the mean systolic cardiac output is F dia The mean diastolic cardiac output was F sys Based on the mean systolic cardiac output as F dia The mean diastolic cardiac output is F sys Calculate the average cardiac output.

[0074] With both the first and second weight values ​​being 1, the average flow rate F mean =(F dia +F sys ) / 2.

[0075] In practical applications, the diastolic phase is generally longer than the systolic phase within a cardiac cycle. Taking this factor into account, the first and second weighting values ​​can be determined based on the ratio of systolic to diastolic duration. For example, the average flow rate F... mean =(F dia +2*F sys) / 3, where the first weight value is 1 and the second weight value is 2, which fully considers the actual physiological condition of the heart.

[0076] As can be seen from the above embodiments, in this application, the average cardiac output of the ventricular assist device during systole and diastole is calculated separately to accurately assess the cardiac output of the ventricular assist device in different cardiac cycle stages. Considering the differences in cardiac activity time in different stages, the average cardiac output during systole and diastole is weighted and then averaged to calculate the average cardiac output more accurately.

[0077] In an alternative embodiment, the motor control module 130 is specifically used for:

[0078] When the set cardiac output is higher than the characteristic cardiac output, such as the average cardiac output, the motor speed is reduced.

[0079] When the set cardiac output flow rate is lower than the characteristic cardiac output, such as the average cardiac output, the motor speed is increased.

[0080] For a given ventricular assist device, different settings correspond to different set cardiac output values ​​F. mean_set For example, assuming the pump itself can produce a maximum flow rate of 10 L / min, it can be divided into gears, such as the first gear F. mean_set =3L / min, second gear F mean_set =6L / min, third gear F mean_set =10L / min.

[0081] After calculating the average cardiac output F mean Then proceed with F mean PID control, if F mean Greater than the set value F mean_set Reducing the current actually reduces the rotational speed. If F mean Less than the set value F mean_set Increasing the current means increasing the rotational speed.

[0082] Therefore, it can be seen that the motor control module 130 of the ventricular assist device control device 100 provided in this application embodiment can dynamically adjust the motor speed based on the comparison between the set cardiac output and the characteristic cardiac output. When the set cardiac output is higher than the characteristic cardiac output, the motor control module 130 will reduce the motor speed; when the set cardiac output is lower than the characteristic cardiac output, the motor control module 130 will increase the motor speed. This dynamic adjustment enables the flow rate of the ventricular assist device to adapt to changes in the heart's needs, maintaining the synchronization between the assist device and the heart.

[0083] Please refer to Figure 6 ,Figure 6 This is a schematic diagram of the framework of a ventricular assist system provided in an embodiment of this application; the ventricular assist system includes a ventricular assist device control device 100 and a ventricular assist device provided in the first aspect of this application.

[0084] like Figure 6 As shown, the timing determination module 110 obtains the timing division of the systolic and diastolic phases of the heart. The real-time flow calculation module 140 calculates the real-time flow of the ventricular assist device at each moment within the target cardiac cycle based on the real-time current and real-time rotational speed. Further, the characteristic flow calculation module 120 divides the real-time flow into the systolic and diastolic phases and calculates the characteristic cardiac output of the ventricular assist device within the target cardiac cycle. Based on this, the motor control module 130 controls the motor speed of the ventricular assist device according to the real-time flow of the ventricular assist device within the target cardiac cycle and the set cardiac output of the ventricular assist device.

[0085] Please refer to Figure 7 , Figure 7 A flowchart of a ventricular assist device control is provided for embodiments of this application; a third aspect of this application also provides a method for controlling a ventricular assist device, which can be implemented through the following steps:

[0086] Step S100: Determine whether the heart is in systole or diastole at each moment within the target cardiac cycle.

[0087] It should be noted that the division of the cardiac cycle into systolic and diastolic phases can be determined based on cycle judgment parameters or relevant imaging data. These parameters can be cardiac-related electrical signals or other specific physiological parameters that can distinguish between systole and diastole. The timing module can determine the current phase of the heart, i.e., systole or diastole.

[0088] Step S200: Divide the real-time flow of the ventricular assist device within the target cardiac cycle into the systolic and diastolic phases, and calculate the characteristic cardiac output of the ventricular assist device within the target cardiac cycle based on the systolic flow and / or diastolic flow.

[0089] In step S200 above, the real-time flow rate of the ventricular assist device during the target cardiac cycle is transferred to the systolic or diastolic phase, respectively, as systolic flow rate and diastolic flow rate; further, the average cardiac output of the entire target cardiac cycle is calculated based on the systolic flow rate and / or diastolic flow rate. It should be noted that the characteristic cardiac output rate in this embodiment can be the maximum cardiac output rate, average cardiac output rate, or minimum cardiac output rate within the cardiac cycle. Optionally, the average cardiac output rate is obtained by averaging all real-time flow rates within a target cardiac cycle. Optionally, the average real-time flow rate during diastole and the average real-time flow rate during systole are calculated separately, and then the average of the two averages is taken to obtain the average cardiac output rate. Optionally, since the systolic flow rate reflects the combined blood supply capacity of the ventricular assist device catheter pump and the heart itself, the maximum cardiac output rate within the cardiac cycle can be obtained based solely on the real-time flow rate during systole. Optionally, since the real-time flow rate during diastole reflects the auxiliary blood supply capacity of the ventricular assist device catheter pump, the minimum cardiac output rate can be obtained based solely on the real-time flow rate during diastole.

[0090] Step S300: During the subsequent cycle of the target cardiac cycle, control the motor speed of the ventricular assist device according to the set cardiac output and characteristic cardiac output of the ventricular assist device.

[0091] In step S300 above, it should be noted that the cardiac output is set to the cardiac output corresponding to a specific gear of the ventricular assist device. For example, for a specific ventricular assist device, if its maximum flow rate is 10 L / min, then the gears of the ventricular assist device can be: first gear Fmean_set = 3 L / min, second gear Fmean_set = 6 L / min, and third gear Fmean_set = 10 L / min. In this embodiment, based on the set cardiac output of the ventricular assist device at a specific gear and the characteristic cardiac output calculated by the characteristic flow calculation module 120, it is determined whether the rotation speed of the ventricular assist device needs to be adjusted to ensure that the flow rate of the ventricular assist device conforms to the pattern of cardiac contraction and relaxation.

[0092] In an optional embodiment, step S100 may specifically divide the cardiac cycle into a systolic phase and a diastolic phase based on a cycle determination parameter; specifically, the cycle determination parameter may be at least one of aortic pressure, ventricular pressure, and / or ventricular volume. The target cardiac cycle is divided into a systolic phase and a diastolic phase based on at least one of aortic pressure, ventricular pressure, and ventricular volume.

[0093] For example, aortic pressure exhibits a distinct waveform, commonly known as the aortic pressure curve. During systole, aortic pressure rises rapidly from a trough to a peak, then falls back to the midpoint. During diastole, it rises from the midpoint to a second small peak, then falls back to a trough. Therefore, by observing the changes in the aortic pressure curve, it is possible to determine whether the heart is in systole or diastole.

[0094] For example, ventricular pressure is the pressure state within the heart. During systole, ventricular pressure rises rapidly from its trough to its peak value, then quickly falls back to its trough, while during diastole, it produces a smoother, smaller peak near the trough. Therefore, by monitoring changes in ventricular pressure, one can determine the stage of cardiac activity.

[0095] For example, ventricular volume refers to the amount of blood in the ventricles of the heart. During systole, ventricular volume decreases as blood is pumped into the arterial system. During diastole, ventricular volume increases as the ventricles fill with blood. Therefore, changes in ventricular volume can indicate whether the heart is in systole or diastole.

[0096] Alternatively, atrial pressure can also be used as a parameter for determining the cardiac cycle. Atrial pressure reflects the filling state of the atria. Atrial pressure is lower during diastole and rises during systole. Therefore, by monitoring changes in atrial pressure, it is possible to infer whether the heart is in systole or diastole.

[0097] It should be noted that, in determining whether the heart is in systole or diastole, the embodiments of this application can use one or more of the above-mentioned aortic pressure, ventricular pressure, ventricular volume, and atrial pressure.

[0098] In an alternative embodiment, step S200 can be implemented by the following steps:

[0099] Step S210: Calculate the systolic flow rate and diastolic flow rate based on the real-time speed and real-time current of the motor of the ventricular assist device.

[0100] In step S210 above, the systolic flow rate and diastolic flow rate are calculated based on the real-time speed and real-time current of the ventricular assist device's motor. This can be achieved through the following method: For the motor of the ventricular assist device, there is a formula: Where J is the moment of inertia of the motor, and T e T is the motor torque. p Let T be the load torque, B be the damping coefficient, and w be the motor angular velocity. The motor angular velocity can be obtained by converting real-time speed. Depending on the characteristics of different motors, T... p There may be different calculation formulas; in this embodiment, T p =0w 3 -1Fw 2 , The formula for the coupled calculation of current, rotational speed, and real-time flow rate is as follows:

[0101]

[0102] In the above formulas, I is the current, w is the rotational speed, F is the flow rate, and K is the rotational speed. b A, B, a0, and a1 are the parameters of the motor and pump. Through in vitro testing, model parameters are fitted and substituted to obtain the real-time flow calculation formula:

[0103]

[0104] Please refer to the real-time traffic curve obtained from the above calculations. Figure 4 , Figure 4 The real-time traffic curve provided in the embodiments of this application; Figure 4 The real-time flow curve in the figure shows the relationship between the flow rate of the ventricular assist device and time.

[0105] Step S220: Record the systolic flow rate, systolic flow rate data volume, diastolic flow rate, and diastolic flow rate data volume.

[0106] In step S220 above: the real-time flow is divided into systolic flow and diastolic flow. Combined with... Figure 2 The graph showing the relationship between cardiac cycle determination parameters and cardiac cycle, and the real-time flow rate calculation module will... Figure 4 The real-time flow was divided to obtain a characteristic flow curve; in this process, the systolic flow, systolic flow data volume, diastolic flow, and diastolic flow data volume were recorded and the curves were plotted as follows. Figure 5 As shown, please continue reading. Figure 5 , Figure 5 Characteristic flow curves provided for embodiments of this application; Figure 5 The interval from the first vertical line EDP to the fourth vertical line Min dp / dt is the systolic period, and the interval from Min dp / dt to the next EDP is the diastolic period.

[0107] Specifically, step S220 above can be implemented in the following way:

[0108] Step S221: Calculate the ratio of the sum of systolic flow values ​​to the systolic flow data volume within the target cardiac cycle to obtain the average systolic cardiac output of the ventricular assist device; calculate the ratio of the sum of diastolic flow values ​​to the diastolic flow data volume within the target cardiac cycle to obtain the average diastolic cardiac output of the ventricular assist device.

[0109] Step S222: Calculate the average cardiac output during the target cardiac cycle based on the average systolic cardiac output and the average diastolic cardiac output.

[0110] In an optional embodiment, step S222 above can be implemented by calculating the average cardiac output based on the sum of systolic cardiac output and its corresponding first weight value, and the sum of diastolic cardiac output and its corresponding second weight value.

[0111] It should be noted that the first and second weight values ​​are determined based on the proportion of the systolic and diastolic phases within the cardiac cycle.

[0112] For example, the mean systolic cardiac output is F dia The mean diastolic cardiac output was F sys Based on the mean systolic cardiac output as F dia The mean diastolic cardiac output is F sys Calculate the average cardiac output.

[0113] With both the first and second weight values ​​being 1, the average flow rate F mean =(F dia +F sys ) / 2.

[0114] In practical applications, the diastolic phase is generally longer than the systolic phase within a cardiac cycle. Taking this factor into account, the first and second weighting values ​​can be determined based on the ratio of systolic to diastolic duration. For example, the average flow rate F... mean =(F dia +2*F sys ) / 3, where the first weight value is 1 and the second weight value is 2, which fully considers the actual physiological condition of the heart.

[0115] In an optional embodiment, step S300 is implemented as follows: when the set core output is higher than the characteristic core output, the motor speed is reduced. When the set core output is lower than the characteristic core output, the motor speed is increased.

[0116] For a given ventricular assist device, different settings correspond to different set cardiac output values ​​F. mean_set For example, assuming the pump itself can produce a maximum flow rate of 10 L / min, it can be divided into gears, such as the first gear F. mean_set =3L / min, second gear F mean_set =6L / min, third gear F mean_set =10L / min.

[0117] After calculating the average cardiac output F mean Then proceed with F mean PID control, if F mean Greater than the set value F mean_set Reducing the current actually reduces the rotational speed. If Fmean Less than the set value F mean_set Increasing the current means increasing the rotational speed.

[0118] Please see Figure 8 , Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. An electronic device 700 provided in this application includes: a processor 701 and a memory 702. The memory 702 stores machine-readable instructions executable by the processor 701. When the machine-readable instructions are executed by the processor 701, the method described above is performed.

[0119] Based on the same inventive concept, embodiments of this application also provide a computer-readable storage medium storing computer program instructions, which, when read and executed by a processor, perform the steps in any of the above implementations.

[0120] The computer-readable storage medium can be any medium capable of storing program code, such as Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM). The storage medium stores the program, and the processor executes the program after receiving an execution instruction. The method executed by the electronic terminal as defined in any embodiment of this invention can be applied to the processor or implemented by the processor.

[0121] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0122] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0123] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0124] It can be replaced and can be implemented, wholly or partially, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, wholly or partially, in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated.

[0125] The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0126] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0127] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A control device for a ventricular assist device, characterized in that, The control device includes: a timing judgment module, a characteristic flow calculation module, and a motor control module; The timing determination module is used to divide the target cardiac cycle into a systolic phase and a diastolic phase. The characteristic flow calculation module is used to divide the real-time flow of the ventricular assist device in the target cardiac cycle into the systolic flow in the systolic phase and the diastolic flow in the diastolic phase, and calculate the characteristic cardiac output of the ventricular assist device in the target cardiac cycle based on the systolic flow and / or the diastolic flow. The motor control module is used to adjust the motor speed according to the set cardiac output and the characteristic cardiac output of the ventricular assist device; The timing determination module is specifically used for: The target cardiac cycle is divided into systolic and diastolic phases based on at least one of aortic pressure, ventricular pressure, and ventricular volume. The control device further includes: a real-time flow calculation module; The real-time flow calculation module is used to calculate the systolic flow and diastolic flow based on the real-time speed and current of the motor of the ventricular assist device; and Record the systolic flow rate, the systolic flow rate data volume, the diastolic flow rate, and the diastolic flow rate data volume.

2. The control device according to claim 1, characterized in that, The characteristic cardiac output includes the average cardiac output, and the characteristic flow calculation module is specifically used for: Calculate the ratio of the sum of the systolic flow values ​​within the target cardiac cycle to the amount of systolic flow data to obtain the average systolic cardiac output of the ventricular assist device; Calculate the ratio of the sum of the diastolic flow values ​​within the target cardiac cycle to the diastolic flow data volume to obtain the average diastolic cardiac output of the ventricular assist device; The average cardiac output during the target cardiac cycle is calculated based on the average systolic cardiac output and the average diastolic cardiac output.

3. The control device according to claim 2, characterized in that, In the process of calculating the average cardiac output during the target cardiac cycle based on the sum of systolic cardiac output and the sum of diastolic cardiac output, the characteristic flow calculation module is specifically used for: The average cardiac output is calculated based on the sum of the systolic cardiac output and its corresponding first weight value, and the sum of the diastolic cardiac output and its corresponding second weight value; wherein the first weight value and the second weight value are determined based on the proportion of the systolic and diastolic phases within the cardiac cycle.

4. The control device according to claim 1, characterized in that, The motor control module is specifically used for: When the set output value is higher than the characteristic output value, the motor speed is controlled to decrease. When the set core output flow rate is lower than the characteristic core output, the motor speed is controlled to increase.

5. A ventricular assist system, characterized in that, The ventricular assist system includes: a ventricular assist device control device and a ventricular assist device as described in any one of claims 1-4; The ventricular assist device control device is used to obtain the timing division results within the target cardiac cycle; The ventricular assist device control device is also used to control the motor speed of the ventricular assist device based on the timing division result, the real-time flow rate of the ventricular assist device in the target cardiac cycle, and the set cardiac output of the ventricular assist device.

6. An electronic device, characterized in that, The electronic device includes a memory and a processor, wherein the memory stores program instructions that are applied to the ventricular assist device control device and the ventricular assist device as described in any one of claims 1-4; When the processor executes the program instructions, it performs the following steps; The steps include: determining whether the heart is in systole or diastole at each moment within the target cardiac cycle; The real-time flow of the ventricular assist device during the target cardiac cycle is divided into the systolic and diastolic phases, and the characteristic cardiac output of the ventricular assist device during the target cardiac cycle is calculated based on the systolic flow and / or the diastolic flow. During the subsequent cycle of the target cardiac cycle, the motor speed of the ventricular assist device is controlled according to the set cardiac output and the characteristic cardiac output of the ventricular assist device.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which are applied to the ventricular assist device control device and the ventricular assist device as described in any one of claims 1-4; When the computer program instructions are executed by a processor, the following steps are performed; The steps include: determining whether the heart is in systole or diastole at each moment within the target cardiac cycle; The real-time flow of the ventricular assist device during the target cardiac cycle is divided into the systolic and diastolic phases, and the characteristic cardiac output of the ventricular assist device during the target cardiac cycle is calculated based on the systolic flow and / or the diastolic flow. During the subsequent cycle of the target cardiac cycle, the motor speed of the ventricular assist device is controlled according to the set cardiac output and the characteristic cardiac output of the ventricular assist device.

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