Isolated heart low-temperature transportation system and control method

Abstract

The invention discloses an isolated heart low-temperature transportation system and a control method, and relates to the technical field of isolated heart transportation, and the isolated heart low-temperature transportation system comprises an outer box body, a controllable spring type buffer surrounding grating assembly, a membrane type inner box body, a low-temperature maintaining unit and a life maintaining unit. The controllable spring type buffer surrounding grating assembly is adopted to achieve profiling adjustability of the storage space, uniform stress of the isolated heart to be transported stored in the membrane type inner box body in all directions, and secondary buffer of oxygen-containing donor heart perfusate stored in the isolated heart to be transported. Damage of vibration in the transportation process to the heart is well avoided, the low-temperature maintaining unit controls the temperature in the membrane type inner box body based on the semiconductor refrigeration technology, the isolated heart is stored in the low-temperature oxygen-containing perfusate environment, and the life maintaining unit can guarantee that heart perfusate with the set capacity and the set oxygen concentration is kept in the membrane type inner box body all the time; the function of the isolated heart can be guaranteed, and the success rate of heart transplantation after low-temperature transportation is increased as much as possible.

Description

Technical Field

[0001] The present invention relates to the technical field of isolated heart transportation, and in particular to an isolated heart low-temperature transportation system and a control method. Background Art

[0002] Heart transport is a key step in the heart transplant process. Ensuring that the heart remains active in the ex vivo state is of great significance for improving the success rate of transplantation. The following is the existing heart transport technology and its defects, as well as the design of a low-temperature transport system and control method.

[0003] The Chinese invention patent with the publication number CN112806351A discloses an organ perfusion device, an organ transport system and a perfusion fluid. The perfusion device of the donor heart includes a sterile area formed by multiple flexible membranes; a shell formed by multiple rigid structures, wherein the multiple flexible membranes are located in the shell; a first connector for fixing and combining the aorta of the donor heart; a second connector located at the bottom of the flexible membrane for allowing the perfused fluid to leave the donor heart; a first catheter structure located between the shell and the flexible membrane and connected to the first connector, wherein a flow sensor, an oxygen content sensor and a temperature sensor are provided in the first catheter structure; a display screen, a storage device and a controller are provided on the shell; and the outside of the shell also includes a perfusion fluid temperature regulating device, an oxygenation device, a flow sensor and a pressure sensor connected to the first catheter. The perfusion device can monitor the perfusion fluid and protect the donor heart.

[0004] The above-mentioned heart ex vivo transportation technology adopts the method of cold ischemia preservation: the heart is placed in a preservation bag containing protective solution, cooled by ice or cooler, and the heart is transported in a low temperature environment. A special cooling box is used to immerse the heart in protective solution and maintain a temperature of about 4°C for transportation.

[0005] The existing problems are unstable temperature control: during transportation, the temperature fluctuates greatly, which may cause damage to heart cells. Uneven osmotic pressure of the protective solution: different parts of the heart are subjected to different osmotic pressures of the protective solution, which affects the preservation of the heart. Summary of the invention

[0006] In order to solve the above technical problems of isolated heart transportation, the present invention provides an isolated heart low temperature transportation system and control method. The following technical solutions are adopted:

[0007] A system for transporting an isolated heart at low temperature comprises an outer box, a controllable spring-type buffer surround grille assembly, a membrane-type inner box, a low temperature maintenance unit and a life-supporting unit. The inner wall of the outer box is provided with a plurality of grille installation grooves. The controllable spring-type buffer surround grille assembly comprises a plurality of controllable spring members, a heart shape scanning assembly and a spring travel controller based on a chip. The bases of the plurality of controllable spring members are respectively detachably mounted at the plurality of grille installation grooves on the inner wall of the outer box. The heart shape scanning assembly scans the outer dimensions of an isolated heart to be transported and transmits the scanned dimensions to the spring travel controller. The spring travel controller generates travel control instructions for controlling the plurality of controllable spring members according to the outer dimensions and controls the travels of the plurality of controllable spring members based on the travel control instructions so that the support areas formed by the ends of the plurality of controllable spring members are similar to the outer shape of the isolated heart to be transported. The outer wall of the membrane-type inner box is respectively connected to the ends of the plurality of controllable spring members. The low temperature maintenance unit is mounted outside the membrane-type inner box. The temperature inside the membrane-type inner box is controlled based on semiconductor refrigeration technology. The life-supporting unit is used for filling the membrane-type inner box with oxygen-containing donor heart perfusion fluid.

[0008] By adopting the above technical scheme, in order to adapt to the low-temperature transportation of isolated hearts of different sizes to be transported, a controllable spring-type buffer surround grille component is used to realize the shape adjustment of the storage space. The controllable spring-type buffer surround grille component first realizes the three-dimensional reconstruction of the external dimensions of the isolated heart to be transported based on the heart shape scanning component. The accuracy requirement of this three-dimensional reconstruction is not high, and it can roughly reflect the external dimensions of the isolated heart to be transported. By proportionally enlarging the dimensions and then adjusting the stroke of multiple controllable spring parts on the periphery, a heart storage space with proportionally enlarged external dimensions can be created, so that the isolated heart to be transported stored in the membrane inner box is subjected to forces in all directions. Homogenization, plus secondary buffering of the oxygenated donor cardiac perfusion fluid stored in the isolated heart to be transported, can effectively avoid damage to the heart caused by vibration during transportation. The controllable spring member can be a miniature controllable gas spring, which itself has good elasticity. The low-temperature maintenance unit controls the temperature inside the membrane inner box based on semiconductor refrigeration technology, and usually adjusts the specified low temperature according to the cardiac perfusion fluid, such as 2°C-4°C, so that the isolated heart can be stored in an environment of low-temperature oxygenated perfusion fluid. The life support unit can ensure that the membrane inner box always contains cardiac perfusion fluid with a set volume and a set oxygen concentration, which can ensure the function of the isolated heart and maximize the success rate of heart transplantation after low-temperature transportation.

[0009] Optionally, the outer box body includes a main box body and a cover body, the cover body is snapped into a slot on the main box body and sealed by a sealing ring, and the inner walls of the main box body and the cover body are evenly distributed with a plurality of grille installation slots.

[0010] Optionally, the controllable spring component includes a controllable gas spring, a buffer pad and a membrane connecting block, the base of the controllable gas spring can be removably mounted on the grille mounting groove of the main box body or the cover body, one side of the buffer pad can be removably mounted on the piston rod end of the controllable gas spring, one side of the membrane connecting block can be removably mounted on the other side of the buffer pad, and the outer side wall of the membrane inner box body is connected to the other side of the membrane connecting block.

[0011] By adopting the above technical solution, multiple controllable spring parts are installed in an array. When the cover body is buckled on the main box body, the ends of multiple controllable gas springs respectively installed on the cover body and the inner wall of the main box body are installed between the membrane connecting blocks to form a space shaped like an isolated heart. This space constrains the shape of the membrane inner box body to be similar to the shape of the isolated heart to be transported, which can make the external force on the isolated heart to be transported during transportation softer and more balanced.

[0012] Optionally, the heart shape scanning component includes multiple main box visual cameras, multiple cover visual cameras, a memory, a visual analysis chip and a data analysis chip. The multiple main box visual cameras are respectively installed on the inner wall of the main box with the cameras facing upward, and the multiple cover visual cameras are installed on the inner wall of the cover, and when the cover is buckled on the main box, the cameras of the multiple cover visual cameras face downward. The multiple main box visual cameras and the multiple cover visual cameras communicate and interact with the memory to collect visual image data respectively. The visual analysis chip is communicatively connected to the memory, and three-dimensional reconstruction of the ex vivo heart to be transported is performed through the collected visual image data. The data analysis chip exchanges the three-dimensional reconstruction data with the visual analysis chip, and generates storage space parameters of the ex vivo heart to be transported based on the three-dimensional reconstruction data, and generates control instructions for controlling multiple controllable spring components based on the storage space parameters. The spring travel controller communicates and interacts with the data analysis chip to collect control instruction data, and controls the execution actions of the multiple controllable spring components based on the control instructions.

[0013] Optionally, the spring travel controller includes an instruction buffer and a control chip, wherein the instruction buffer communicates with the data analysis chip to exchange control instruction data, and the control chip is communicatively connected to the instruction buffer to control the execution actions of multiple controllable spring members respectively according to the exchanged control instruction data.

[0014] By adopting the above technical scheme, the main function of the heart shape scanning component is to perform three-dimensional reconstruction of the isolated heart to be transported, and to control the execution actions of multiple controllable spring members respectively so that the ends of multiple controllable gas springs are installed between the membrane connecting blocks to form a space that imitates the isolated heart. The three-dimensional reconstruction can be carried out in two steps. The first step is to place the isolated heart to be transported after processing and place it at the center position 100mm-200mm above the main box for more than five seconds. Multiple main box visual cameras obtain the visual image of the bottom of the isolated heart to be transported, and then the cover is closed. After waiting for five seconds, multiple cover visual cameras complete the lower scan. The main box visual camera and the visual camera can be miniature visual cameras based on short-range wireless transmission technology, such as Bluetooth cameras. Short-range wireless transmission technology is used to achieve close-range interaction of visual image data with the storage device. The visual analysis chip can achieve three-dimensional reconstruction of the shape and size of the isolated heart to be transported based on mature three-dimensional visual reconstruction technology. After the reconstruction is completed, the size can be proportionally enlarged, for example, 1.2 times. Finally, control instructions for controlling multiple controllable spring parts are generated respectively according to the proportionally enlarged sizes. The spring travel controller communicates with the data analysis chip to exchange control instruction data, and controls the execution actions of multiple controllable spring parts respectively based on the control instructions.

[0015] The control chip can communicate and interact with the command buffer to obtain control command data, and control the execution actions of multiple controllable spring members to complete the shape and size adaptation of the current isolated heart.

[0016] Optionally, the membrane-type inner box includes a flexible membrane bag and a closed zipper, wherein the outer wall of the flexible membrane bag is provided with a plurality of connection points, and the plurality of connection points at the bottom of the flexible membrane bag are respectively connected to the membrane connection blocks of the controllable spring members installed in the main box. The interior is used to be filled with oxygen-containing donor heart perfusion fluid delivered by the life support unit and the isolated heart to be transported, and the closed zipper is installed at the bag opening at the top of the flexible membrane bag. When the flexible membrane bag is locked, a closed and sterile isolated heart temporary storage space is formed inside the flexible membrane bag.

[0017] By adopting the above technical solution, the material of the flexible membrane bag needs to be of medical hygienic grade, with a certain toughness and strength. The inside is used to fill the oxygen-containing donor heart perfusion fluid delivered by the life support unit. Placing the isolated heart to be transported in the oxygen-containing donor heart perfusion fluid can form a good wrapped buffer.

[0018] Optionally, the low temperature maintenance unit includes multiple semiconductor refrigerators, multiple temperature sensors and a chip-based semiconductor temperature controller. The multiple semiconductor refrigerators are respectively mounted on the outer wall of the flexible film bag, and the multiple temperature sensors are respectively installed on the outer wall of the flexible film bag at the gap between two adjacent semiconductor refrigerators, and are respectively communicated with the semiconductor temperature controller. The semiconductor temperature controller controls the cooling power of the multiple semiconductor refrigerators respectively.

[0019] By adopting the above technical scheme, the semiconductor refrigeration plate can be made of flexible semiconductor refrigeration material, which can be better attached to the outer wall of the flexible membrane bag. When installing the semiconductor refrigeration plate, avoid the position connected to the membrane connecting block. When the semiconductor temperature controller controls multiple semiconductor refrigeration plates for cooling, wrap-type temperature control is achieved, so that the isolated heart to be transported is in a relatively more uniform low-temperature environment, avoiding the damage to the heart activity caused by uneven temperature.

[0020] Optionally, the life support unit includes a cardiac perfusion fluid tank, a micro perfusion pump and an oxygen supply device 53, wherein the cardiac perfusion fluid tank is provided with a circulation outlet, a circulation inlet and an oxygen inlet, the pump inlet of the micro perfusion pump is connected with the circulation outlet through a pipeline, the pump outlet is connected with the perfusion fluid inlet provided on the flexible membrane bag through a pipeline and a valve, the perfusion fluid outlet provided on the flexible membrane bag is connected with the circulation inlet of the cardiac perfusion fluid tank through a pipeline and a valve, and the oxygen outlet of the oxygen supply device 53 is connected with the oxygen inlet of the cardiac perfusion fluid tank through a pipeline and a valve, so as to adjust the oxygen concentration of the donor heart perfusion fluid stored in the cardiac perfusion fluid tank.

[0021] By adopting the above technical solution, the cardiac perfusion solution in the cardiac perfusion solution box needs to contain electrolyte solutions, buffers, energy substrates, antioxidants, hormones and vitamins, antibiotics, etc. The perfusion solution needs to be used at a temperature of 2-4°C (36-39°F). This temperature can significantly reduce the metabolic rate of cells, thereby prolonging the survival time of the organ.

[0022] Optionally, a touch screen is also included, which is respectively communicated with the controllable spring-type buffer surround grille assembly, the low-temperature maintenance unit and the life support unit, and is used to display the operating parameters of the low-temperature maintenance unit and the life support unit, and when authorized, the operating parameters of the controllable spring-type buffer surround grille assembly, the low-temperature maintenance unit and the life support unit are adjusted by operating the touch screen.

[0023] By adopting the above technical solution, the touch screen can be installed on the main box body or the cover body during actual application, and operation authorization can be obtained by entering a management password or other authorization methods, and the operating parameters of the controllable spring-type buffer surround grille assembly, the low-temperature maintenance unit and the life support unit can be adjusted.

[0024] A method for controlling cryogenic transportation of an isolated heart, using an isolated heart cryogenic transportation system to control the transportation process of the isolated heart to be transported, comprising the following steps:

[0025] Step 1, open the cover and close the zipper, place the isolated heart to be transported at the center of 100mm-200mm above the main box and keep it for more than five seconds, when the touch screen prompts that the lower scan is completed, place the isolated heart to be transported in the flexible film bag and lock the closed zipper;

[0026] Step 2, close the cover, wait for five seconds, and when the touch screen prompts that the lower scan is completed, turn on the low temperature maintenance unit and the life support unit respectively by controlling the touch screen;

[0027] Step 3, the life support unit starts filling the flexible membrane bag with a set volume of oxygen-containing donor cardiac perfusion fluid;

[0028] Step 4, the low temperature maintenance unit is started to control the temperature in the flexible film bag at 2°C-4°C;

[0029] Step 5: When the touch screen shows that the controllable spring-type buffer surround grille assembly, the cryogenic maintenance unit and the life support unit are all within normal working parameters, the outer box is transported by the carrier.

[0030] In summary, the present invention includes at least one of the following beneficial technical effects:

[0031] The present invention can provide an isolated heart low-temperature transportation system and control method, which adopts a controllable spring-type buffer surrounding grille component to realize the shape adjustment of the storage space. The controllable spring-type buffer surrounding grille component first realizes three-dimensional reconstruction of the external dimensions of the isolated heart to be transported based on the heart shape scanning component, and then the stroke of multiple controllable spring parts on the periphery is adjusted to create a heart storage space with proportionally enlarged external dimensions. The isolated heart to be transported stored in the membrane-type inner box is subjected to uniform forces in all directions, and the secondary buffering of the oxygen-containing donor heart perfusion fluid stored in the isolated heart to be transported is superimposed, which effectively avoids the damage to the heart caused by vibration during the transportation process. The low-temperature maintenance unit controls the temperature in the membrane-type inner box based on semiconductor refrigeration technology, adjusts the specified low temperature according to the heart perfusion fluid, and stores the isolated heart in an environment of low-temperature oxygen-containing perfusion fluid. The life support unit can ensure that the membrane-type inner box always contains heart perfusion fluid with a set volume and a set oxygen concentration, which can ensure the function of the isolated heart and improve the success rate of heart transplantation after low-temperature transportation as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the internal structure of an outer box of an isolated heart cryogenic transportation system of the present invention;

[0033] Figure 2 It is a schematic diagram of a semiconductor refrigeration chip mounted on the outside of a flexible film bag of an isolated heart low-temperature transportation system of the present invention;

[0034] Figure 3It is a schematic diagram of the communication connection of components of an isolated heart cryogenic transportation system of the present invention;

[0035] Description of the drawings: 1. Outer box; 11. Main box; 12. Cover; 21. Controllable spring member; 211. Controllable gas spring; 212. Buffer block; 213. Membrane connection block; 221. Main box visual camera; 222. Cover visual camera; 223. Memory; 224. Visual analysis chip; 225. Data analysis chip; 23. Spring travel controller; 231. Instruction cache; 232. Control chip; 31. Flexible membrane bag; 41. Semiconductor refrigeration sheet; 42. Temperature sensor; 43. Semiconductor temperature controller; 51. Heart perfusion liquid box; 52. Micro perfusion pump; 53. Oxygen supply device; 6. Touch screen; 100. Isolated heart to be transported. DETAILED DESCRIPTION

[0036] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0037] The embodiment of the invention discloses an isolated heart cryogenic transportation system and a control method.

[0038] Reference Figure 1-Figure 3 Embodiment 1, an isolated heart cryogenic transport system, comprising an outer box 1, a controllable spring-type buffer surround grid assembly, a membrane inner box, a cryogenic maintenance unit and a life support unit, the inner wall of the outer box 1 is provided with a plurality of grid mounting grooves, the controllable spring-type buffer surround grid assembly comprises a plurality of controllable spring members 21, a heart shape scanning assembly and a chip-based spring travel controller 23, the bases of the plurality of controllable spring members 21 are respectively detachably mounted at the plurality of grid mounting grooves on the inner wall of the outer box 1, the heart shape scanning assembly scans the outer dimensions of the isolated heart 100 to be transported, and transmits the outer dimensions to the spring travel controller 23. The spring stroke controller 23 generates stroke control instructions for controlling the multiple controllable spring members 21 according to the outer dimensions, and controls the strokes of the multiple controllable spring members 21 based on the stroke control instructions, so that the supporting areas formed by the ends of the multiple controllable spring members 21 are similar to the outer shape of the isolated heart 100 to be transported, the outer walls of the membrane type inner box are respectively connected to the ends of the multiple controllable spring members 21, the low temperature maintenance unit is mounted outside the membrane type inner box, and the temperature inside the membrane type inner box is controlled based on the semiconductor refrigeration technology, and the life support unit is used to fill the membrane type inner box with oxygen-containing donor heart perfusion fluid.

[0039] In order to adapt to the low-temperature transportation of isolated hearts 100 of different sizes to be transported, a controllable spring-type buffer surround grille component is used to realize the shape adjustment of the storage space. The controllable spring-type buffer surround grille component first realizes the three-dimensional reconstruction of the external dimensions of the isolated heart 100 to be transported based on the heart shape scanning component. The accuracy requirement of this three-dimensional reconstruction is not high, and it can roughly reflect the external dimensions of the isolated heart 100 to be transported. By proportionally enlarging the dimensions and then adjusting the stroke of multiple controllable spring members 21 on the periphery, a heart storage space with proportionally enlarged external dimensions can be created, so that the isolated heart 100 to be transported stored in the membrane-type inner box is evenly stressed in all directions. Homogenization, plus secondary buffering of the oxygen-containing donor heart perfusion fluid stored in the isolated heart 100 to be transported, can effectively avoid damage to the heart caused by vibration during transportation. The controllable spring member 21 can be a miniature controllable gas spring, which itself has good elasticity. The low-temperature maintenance unit controls the temperature inside the membrane inner box based on semiconductor refrigeration technology, and usually adjusts the specified low temperature according to the heart perfusion fluid, such as 2°C-4°C, so that the isolated heart can be stored in an environment of low-temperature oxygen-containing perfusion fluid. The life support unit can ensure that the membrane inner box always contains heart perfusion fluid with a set volume and a set oxygen concentration, which can ensure the function of the isolated heart and maximize the success rate of heart transplantation after low-temperature transportation.

[0040] In Example 2, the outer box 1 includes a main box 11 and a cover 12. The cover 12 is buckled into a slot on the main box 11 and sealed by a sealing ring. The inner walls of the main box 11 and the cover 12 are evenly distributed with a plurality of grille installation slots. The buckling part of the main box 11 and the cover 12 can adopt a magnetic attraction or other locking mechanism to prevent it from falling off during transportation.

[0041] Embodiment 3, the controllable spring component 21 includes a controllable gas spring 211, a buffer pad 212 and a membrane connecting block 213, the base of the controllable gas spring 211 is detachably mounted on the grille mounting groove of the main box body 11 or the cover body 12, one side of the buffer pad 212 is detachably mounted on the piston rod end of the controllable gas spring 211, one side of the membrane connecting block 213 is detachably mounted on the other side of the buffer pad 212, and the outer side wall of the membrane inner box body is connected to the other side of the membrane connecting block 213.

[0042] Multiple controllable spring members 21 are installed in an array. When the cover body 12 is buckled onto the main box body 11, the ends of multiple controllable gas springs 211 respectively installed on the cover body 12 and the inner wall of the main box body 11 are installed between the membrane connecting blocks 213 to form a space shaped like an isolated heart. This space constrains the outer shape of the membrane-type inner box to be similar to the outer shape of the isolated heart 100 to be transported, so that the external force on the isolated heart 100 to be transported during transportation can be softer and more balanced.

[0043] Embodiment 4, the cardiac shape scanning assembly includes a plurality of main box visual cameras 221, a plurality of cover visual cameras 222, a memory 223, a visual analysis chip 224 and a data analysis chip 225, the plurality of main box visual cameras 221 are respectively installed on the inner wall of the main box 11, and the cameras face upward, the plurality of cover visual cameras 222 are installed on the inner wall of the cover 12, and when the cover 12 is buckled on the main box 11, the cameras of the plurality of cover visual cameras 222 face downward, and the plurality of main box visual cameras 221 and the plurality of cover visual cameras 222 communicate and interact with the memory 223 respectively The visual image data is collected, and the visual analysis chip 224 is communicated with the memory 223. The three-dimensional reconstruction of the heart to be transported 100 is performed through the collected visual image data. The data analysis chip 225 exchanges the three-dimensional reconstruction data with the visual analysis chip 224, and generates storage space parameters of the heart to be transported 100 based on the three-dimensional reconstruction data, and generates control instructions for controlling multiple controllable spring components 21 based on the storage space parameters. The spring travel controller 23 communicates and exchanges control instruction data with the data analysis chip 225, and controls the execution actions of the multiple controllable spring components 21 based on the control instructions.

[0044] In embodiment 5, the spring travel controller 23 includes an instruction buffer 231 and a control chip 232. The instruction buffer 231 communicates with the data analysis chip 225 to exchange control instruction data. The control chip 232 is connected to the instruction buffer 231 to control the execution actions of multiple controllable spring members 21 according to the exchanged control instruction data.

[0045] The main function of the heart shape scanning component is to perform three-dimensional reconstruction of the isolated heart 100 to be transported, and to control the execution of multiple controllable spring members 21 respectively so that the ends of multiple controllable gas springs 211 are installed between the membrane connecting blocks 213 to form a space that emulates the isolated heart. The three-dimensional reconstruction can be carried out in two steps. In the first step, the isolated heart 100 to be transported is placed at the center position of 100mm-200mm above the main box 11 after processing and stays there for more than five seconds. Multiple main box visual cameras 221 obtain the visual picture of the bottom of the isolated heart 100 to be transported, and then The cover 12 is closed, and after waiting for five seconds, the multiple cover visual cameras 222 complete the lower scanning. The main box visual camera 221 and the visual camera 222 can be miniature visual cameras based on short-range wireless transmission technology, such as Bluetooth cameras, which can achieve close-range interaction of visual image data with the memory 223 through short-range wireless transmission technology. The visual analysis chip 224 can achieve three-dimensional reconstruction of the shape and size of the isolated heart 100 to be transported based on mature three-dimensional visual reconstruction technology. After the reconstruction is completed, the size can be proportionally enlarged, for example, 1.2 times. Finally, control instructions for controlling multiple controllable spring members 21 are generated respectively according to the proportionally enlarged size. The spring travel controller 23 communicates with the data analysis chip 225 to exchange control instruction data, and controls the execution actions of multiple controllable spring members 21 respectively based on the control instructions.

[0046] Three-dimensional reconstruction based on images captured by multiple cameras involves the following steps:

[0047] 1. Camera calibration;

[0048] Before performing 3D reconstruction, each camera needs to be calibrated to obtain its intrinsic parameters (focal length, principal point, etc.) and extrinsic parameters (the position and direction of the camera in space).

[0049] Intrinsic parameter calibration: Use a calibration plate of known size (such as a chessboard), take multiple photos from different angles, and calculate the camera's intrinsic parameters through an algorithm (such as Zhang's calibration method).

[0050] Extrinsic calibration: The relative positions of the cameras need to be determined, which is usually done by seeing a calibration plate in the field of view of multiple cameras at the same time.

[0051] 2. Stereo matching;

[0052] Stereo matching is the process of finding common points in the same scene captured by different cameras.

[0053] Feature matching: Use feature detection algorithms such as SIFT and SURF to find matching points between images.

[0054] Dense matching: Based on feature matching, algorithms such as semi-global matching (SGM) are used to obtain more matching points to form a disparity map.

[0055] 3D reconstruction;

[0056] The 3D structure of the scene is restored using matching points and the camera's intrinsic and extrinsic parameters.

[0057] Triangulation: By matching the positions of points on the imaging planes of each camera, the coordinates of the spatial points are calculated using geometric relationships.

[0058] Surface reconstruction: Based on the results of triangulation, algorithms such as Poisson reconstruction and cube growing are used to construct a 3D surface model of the scene.

[0059] The 3D reconstructed model may contain noise and holes and requires further processing.

[0060] Denoising: Remove noise points from the reconstructed model.

[0061] Fill Holes: Fill holes in the model.

[0062] Smooth: Smooths the surface of the model for a more natural appearance.

[0063] The visual analysis chip 224 can also be replaced by a microcomputer to achieve a more efficient visual processing speed.

[0064] The control chip 232 can communicate and interact with the command buffer 231 to obtain control command data, and can control the execution actions of the plurality of controllable spring members 21 to complete the shape and size adaptation of the current isolated heart.

[0065] Embodiment 6, the membrane type inner box includes a flexible membrane bag 31 and a closed zipper, the outer wall of the flexible membrane bag 31 is provided with a plurality of connection points, the plurality of connection points at the bottom of the flexible membrane bag 31 are respectively connected and installed with the membrane connection block 213 of the controllable spring member 21 installed in the main box 11, the interior is used to fill the oxygen-containing donor heart perfusion fluid delivered by the life support unit and the isolated heart 100 to be transported, the closed zipper is installed at the bag opening at the top of the flexible membrane bag 31, when the flexible membrane bag 31 is locked, a closed and sterile isolated heart temporary storage space is formed inside the flexible membrane bag 31.

[0066] The material of the flexible membrane bag 31 needs to be of medical hygienic grade, with certain toughness and strength. The interior is used to fill with oxygen-containing donor heart perfusion fluid delivered by the life support unit. Placing the isolated heart 100 to be transported in the oxygen-containing donor heart perfusion fluid can form a good wrapped buffer.

[0067] Embodiment 7, the low temperature maintenance unit includes a plurality of semiconductor refrigeration sheets 41, a plurality of temperature sensors 42 and a chip-based semiconductor temperature controller 43, the plurality of semiconductor refrigeration sheets 41 are respectively mounted on the outer wall of the flexible film bag 31, the plurality of temperature sensors 42 are respectively installed on the outer wall of the flexible film bag 31 at the gap between two adjacent semiconductor refrigeration sheets 41, and are respectively communicated with the semiconductor temperature controller 43, and the semiconductor temperature controller 43 respectively controls the cooling power of the plurality of semiconductor refrigeration sheets 41.

[0068] The semiconductor refrigeration chip 41 can be made of flexible semiconductor refrigeration material, which can be better attached to the outer wall of the flexible membrane bag 31. When installing the semiconductor refrigeration chip 41, avoid the position connected with the membrane connecting block 213. When the semiconductor temperature controller 43 controls multiple semiconductor refrigeration chips 41 for cooling, wrap-type temperature control is achieved, so that the ex vivo heart 100 to be transported is in a relatively more uniform low-temperature environment, avoiding the damage to the heart activity caused by uneven temperature.

[0069] Embodiment 8, the life support unit includes a cardiac perfusate tank 51, a micro perfusion pump 52 and an oxygen supply device 53, the cardiac perfusate tank 51 is provided with a circulation outlet, a circulation inlet and an oxygen inlet, the pump inlet of the micro perfusion pump 52 is connected with the circulation outlet through a pipeline, the pump outlet is connected with the perfusate inlet provided on the flexible membrane bag 31 through a pipeline and a valve, the perfusate outlet provided on the flexible membrane bag 31 is connected with the circulation inlet of the cardiac perfusate tank 51 through a pipeline and a valve, the oxygen outlet of the oxygen supply device 53 is connected with the oxygen inlet of the cardiac perfusate tank 51 through a pipeline and a valve, so as to adjust the oxygen concentration of the donor heart perfusate stored in the cardiac perfusate tank 51.

[0070] The cardiac perfusion solution in the cardiac perfusion solution box 51 needs to contain electrolyte solutions, buffers, energy substrates, antioxidants, hormones and vitamins, antibiotics, etc. The perfusion solution needs to be used at a temperature of 2-4°C (36-39°F). This temperature can significantly reduce the metabolic rate of cells, thereby prolonging the survival time of the organ.

[0071] A specific cardiac perfusion solution is provided below:

[0072] Electrolyte solution:

[0073] Sodium chloride: 110 mM; Potassium chloride: 4.0 mM; Magnesium chloride hexahydrate: 1.2 mM; Calcium chloride dihydrate: 1.8 mM;

[0074] Buffer:

[0075] Sodium bicarbonate: 25 mM; Hydroxyethylpiperazineethanesulfonic acid: 20 mM;

[0076] Energy substrate:

[0077] Glucose: 30mM; Inositol: 10mM;

[0078] Antioxidants: Mannitol: 20mM; Glutathione: 1.0mM;

[0079] Hormones and vitamins:

[0080] Cortisol Acetate: 0.1 μg / mL; Insulin: 40 mU / mL; Vitamin C (ascorbic acid): 100 μM; Vitamin E (α-tocopherol): 15 μM

[0081] antibiotic:

[0082] Penicillin G: 40 U / mL; Streptomycin: 40 μg / mL; Gentamycin: 50 μg / mL

[0083] Preparation steps:

[0084] The above ingredients were dissolved in sterile saline.

[0085] Adjust pH to 7.4.

[0086] Sterile filter using a filter with a pore size of 0.22 μm or smaller.

[0087] Embodiment 9 further includes a touch screen 6, which is respectively connected to the controllable spring-type buffer surround grille assembly, the low-temperature maintenance unit and the life support unit for communicating with each other, and is used for displaying the working parameters of the low-temperature maintenance unit and the life support unit, and in an authorized state, the operating parameters of the controllable spring-type buffer surround grille assembly, the low-temperature maintenance unit and the life support unit are adjusted by manipulating the touch screen 6.

[0088] In actual application, the touch screen 6 can be installed on the main box 11 or the cover 12, and can obtain operation authorization by entering a management password or other authorization methods, and can adjust the operating parameters of the controllable spring-type buffer surround grille assembly, the low temperature maintenance unit and the life support unit.

[0089] Embodiment 10, a method for controlling cryogenic transport of an isolated heart, using an isolated heart cryogenic transport system to control the transport process of an isolated heart 100 to be transported, comprising the following steps:

[0090] Step 1, open the cover 12 and close the zipper, place the isolated heart 100 to be transported at the center of 100 mm to 200 mm above the main box 11 and keep it for more than five seconds. When the touch screen 6 prompts that the lower scan is completed, place the isolated heart 100 to be transported in the flexible film bag 31 and lock the closed zipper;

[0091] Step 2, cover the cover 12, wait for five seconds, and when the touch screen 6 prompts that the lower scan is completed, turn on the low temperature maintenance unit and the life maintenance unit respectively by controlling the touch screen 6;

[0092] Step 3, the life support unit starts to fill the flexible membrane bag 31 with a set volume of oxygen-containing donor cardiac perfusion fluid;

[0093] Step 4, the low temperature maintenance unit is started to control the temperature in the flexible film bag 31 at 2°C-4°C;

[0094] Step 5: When the touch screen 6 shows that the controllable spring-type buffer surround grille assembly, the low temperature maintenance unit and the life maintenance unit are all within normal working parameters, the outer box 1 is transported by a carrier.

[0095] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An isolated heart cryogenic transport system, characterized in that: The invention comprises an outer box (1), a controllable spring-type buffer surrounding grille assembly, a membrane-type inner box, a low-temperature maintenance unit and a life-supporting unit. The inner wall of the outer box (1) is provided with a plurality of grille installation grooves. The controllable spring-type buffer surrounding grille assembly comprises a plurality of controllable spring members (21), a heart shape scanning assembly and a chip-based spring travel controller (23). The bases of the plurality of controllable spring members (21) are respectively detachably mounted at the plurality of grille installation grooves on the inner wall of the outer box (1). The heart shape scanning assembly scans the outer dimensions of the heart (100) to be transported and transmits the dimensions to the spring travel controller (23). The spring stroke controller (23) generates stroke control instructions for controlling the multiple controllable spring members (21) according to the outer dimensions, and controls the strokes of the multiple controllable spring members (21) based on the stroke control instructions, so that the support area formed by the ends of the multiple controllable spring members (21) is similar to the outer shape of the heart (100) to be transported. The outer wall of the membrane-type inner box is respectively connected to the ends of the multiple controllable spring members (21). The low temperature maintenance unit is mounted outside the membrane-type inner box, and the temperature inside the membrane-type inner box is controlled based on semiconductor refrigeration technology. The life support unit is used to fill the membrane-type inner box with oxygen-containing donor heart perfusion fluid.

2. The isolated heart cryogenic transport system according to claim 1, characterized in that: The outer box body (1) comprises a main box body (11) and a cover body (12); the cover body (12) is buckled into a slot on the main box body (11) and sealed by a sealing ring; the inner walls of the main box body (11) and the cover body (12) are evenly distributed with a plurality of grille installation slots.

3. The isolated heart cryogenic transport system according to claim 2, characterized in that: The controllable spring component (21) comprises a controllable gas spring (211), a buffer pad (212) and a membrane connection block (213); the base of the controllable gas spring (211) is detachably mounted on a grille mounting groove of a main box body (11) or a cover body (12); one side of the buffer pad (212) is detachably mounted on the end of a piston rod of the controllable gas spring (211); one side of the membrane connection block (213) is detachably mounted on the other side of the buffer pad (212); and the outer side wall of the membrane inner box body is connected to the other side of the membrane connection block (213).

4. The isolated heart cryogenic transport system according to claim 3, characterized in that: The heart shape scanning component comprises a plurality of main box visual cameras (221), a plurality of cover visual cameras (222), a memory (223), a visual analysis chip (224) and a data analysis chip (225); the plurality of main box visual cameras (221) are respectively mounted on the inner wall of the main box (11) with the cameras facing upward; the plurality of cover visual cameras (222) are mounted on the inner wall of the cover (12); when the cover (12) is buckled onto the main box (11), the plurality of cover visual cameras (222) face downward; the plurality of main box visual cameras (221) and the plurality of cover visual cameras (222) respectively communicate and interact with the memory (223) The visual analysis chip (224) is in communication with the memory (223), and the three-dimensional reconstruction of the isolated heart (100) to be transported is performed using the collected visual image data. The data analysis chip (225) exchanges the three-dimensional reconstruction data with the visual analysis chip (224), and generates storage space parameters of the isolated heart (100) to be transported based on the three-dimensional reconstruction data, and generates control instructions for controlling multiple controllable spring components (21) based on the storage space parameters. The spring travel controller (23) exchanges control instruction data with the data analysis chip (225), and controls the execution actions of the multiple controllable spring components (21) based on the control instructions.

5. The isolated heart cryogenic transport system according to claim 4, characterized in that: The spring travel controller (23) comprises an instruction buffer (231) and a control chip (232), wherein the instruction buffer (231) communicates with the data analysis chip (225) to exchange control instruction data, and the control chip (232) is connected to the instruction buffer (231) for communication, and controls the execution actions of the plurality of controllable spring members (21) respectively according to the exchanged control instruction data.

6. The isolated heart cryogenic transport system according to claim 5, characterized in that: The membrane-type inner box includes a flexible membrane bag (31) and a closed zipper. The outer wall of the flexible membrane bag (31) is provided with a plurality of connection points. The plurality of connection points at the bottom of the flexible membrane bag (31) are respectively connected and installed with the membrane connection block (213) of the controllable spring member (21) installed in the main box (11). The interior is used to fill the oxygen-containing donor heart perfusion fluid delivered by the life support unit and the isolated heart (100) to be transported. The closed zipper is installed at the bag opening at the top of the flexible membrane bag (31). When the flexible membrane bag (31) is locked, a closed and sterile isolated heart temporary storage space is formed inside the flexible membrane bag (31).

7. The isolated heart cryogenic transport system according to claim 6, characterized in that: The low temperature maintenance unit comprises a plurality of semiconductor cooling sheets (41), a plurality of temperature sensors (42) and a chip-based semiconductor temperature controller (43); the plurality of semiconductor cooling sheets (41) are respectively mounted on the outer wall of the flexible film bag (31); the plurality of temperature sensors (42) are respectively mounted on the outer wall of the flexible film bag (31) at the gap between two adjacent semiconductor cooling sheets (41) and are respectively connected to the semiconductor temperature controller (43) for communication; the semiconductor temperature controller (43) respectively controls the cooling power of the plurality of semiconductor cooling sheets (41).

8. The isolated heart cryogenic transport system according to claim 7, characterized in that: The life support unit comprises a cardiac perfusion liquid box (51), a micro perfusion pump (52) and an oxygen supply device (53). The cardiac perfusion liquid box (51) is provided with a circulation outlet, a circulation inlet and an oxygen inlet. The pump inlet of the micro perfusion pump (52) is connected with the circulation outlet through a pipeline, the pump outlet is connected with the perfusion liquid inlet provided on the flexible membrane bag (31) through a pipeline and a valve, the perfusion liquid outlet provided on the flexible membrane bag (31) is connected with the circulation inlet of the cardiac perfusion liquid box (51) through a pipeline and a valve, and the oxygen outlet of the oxygen supply device (53) is connected with the oxygen inlet of the cardiac perfusion liquid box (51) through a pipeline and a valve, so as to adjust the oxygen concentration of the donor cardiac perfusion liquid stored in the cardiac perfusion liquid box (51).

9. The isolated heart cryogenic transport system according to claim 8, characterized in that: The device also comprises a touch screen (6), which is respectively connected to the controllable spring-type buffer surround grille assembly, the cryogenic maintenance unit and the life-supporting unit for communication, and is used to display the operating parameters of the cryogenic maintenance unit and the life-supporting unit, and in an authorized state, the operating parameters of the controllable spring-type buffer surround grille assembly, the cryogenic maintenance unit and the life-supporting unit are adjusted by manipulating the touch screen (6).

10. A method for controlling cryogenic transport of an isolated heart, characterized in that: Using the isolated heart cryogenic transport system according to claim 9 to control the transport process of an isolated heart (100) to be transported, the process comprises the following steps: Step 1, open the cover (12) and close the zipper, place the isolated heart (100) to be transported at the center position 100mm-200mm above the main box (11) and keep it for more than five seconds, when the touch screen (6) prompts that the lower scan is completed, place the isolated heart (100) to be transported in the flexible film bag (31), and lock the closed zipper; Step 2, close the cover (12), wait for five seconds, and when the touch screen (6) prompts that the lower scan is completed, turn on the low temperature maintenance unit and the life maintenance unit respectively by controlling the touch screen (6); Step 3, the life support unit starts to fill the flexible membrane bag (31) with a set volume of oxygen-containing donor cardiac perfusion fluid; Step 4, the low temperature maintenance unit is started to control the temperature in the flexible film bag (31) at 2°C-4°C; Step 5, when the touch screen (6) shows that the controllable spring-type buffer surround grille assembly, the low temperature maintenance unit and the life maintenance unit are all within normal working parameters, the outer box (1) is transported by a carrier.

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