Motor fault processing method, control unit, ventricular assist device and medical equipment

Abstract

The present application proposes a motor fault processing method, a control unit, a ventricular assist device and a medical device, the method comprising: applying a first suspension current and a first rotation current to a first stator and a second stator at the same time to control the suspension rotation of an impeller; if a faulty three-phase winding is detected in the first stator and / or the second stator, the faulty three-phase winding is a three-phase winding having one or more faulty winding units; and redetermining the control strategy of the first stator and the second stator according to the faulty three-phase winding. When the present application detects a faulty three-phase winding in the first stator and / or the second stator, the control strategy of the first stator and the second stator is redetermined according to the faulty three-phase winding, so that when the three-phase winding fails, the first stator and the second stator can still be controlled to maintain the impeller in the first suspension position for rotation, thereby improving the service life of the ventricular assist device and user safety.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a motor fault processing method, a control unit, a ventricular assist device and medical equipment. Background Art

[0002] Many types of circulatory assist devices are available for short-term or long-term support of patients with cardiovascular disease. For example, an implanted pump in a ventricular assist device for the left side of the heart can provide long-term patient support. This ventricular assist device improves circulation throughout the body by helping the left side of the heart pump blood.

[0003] The ventricular assist device includes an impeller, a motor and a microprocessor control circuit, wherein the motor usually uses a three-phase motor to drive the impeller to rotate in suspension. The ventricular assist device is implanted in the patient's body for a long time. If a fault occurs inside the three-phase motor, such as a welding terminal failure, a coil break, or a short circuit between coil turns, which causes the three-phase motor to be missing, the performance of the three-phase motor will be reduced. In severe cases, the motor will be damaged, affecting the operation of the ventricular assist device. Summary of the invention

[0004] The embodiments of the present application provide a motor fault handling method, a control unit, a ventricular assist device and a medical device, which can ensure the normal operation of the motor when a three-phase winding fails, thereby improving the service life of the ventricular assist device and user safety.

[0005] In a first aspect, an embodiment of the present application provides a motor fault processing method, which is applied to a ventricular assist device, wherein the ventricular assist device includes a housing, an impeller disposed in the housing, and a motor that drives the impeller to rotate in suspension, wherein the motor includes a rotor fixed to the impeller and a stator that drives the rotor to rotate in suspension, wherein the stator includes a first stator and a second stator, wherein the first stator and the second stator each include 3N winding units, wherein every three adjacent winding units in the first stator form a first three-phase winding, and every three adjacent winding units in the second stator form a second three-phase winding, wherein N is a positive integer; the method includes:

[0006] Simultaneously applying a first suspension current and a first rotation current to the first stator and the second stator to control the suspension rotation of the impeller;

[0007] If a faulty three-phase winding is detected in the first stator and / or the second stator, the control strategy of the first stator and the second stator is re-determined according to the faulty three-phase winding, where the faulty three-phase winding is a three-phase winding having one or more faulty winding units.

[0008] In a second aspect, an embodiment of the present application provides a control unit of a ventricular assist device, the control unit comprising one or more processors, the ventricular assist device comprising a housing, an impeller disposed in the housing, and a motor driving the impeller to rotate in suspension, the motor comprising a rotor fixed to the impeller and a stator driving the rotor to rotate in suspension, the stator comprising a first stator and a second stator, the first stator and the second stator each comprising 3N winding units, every three adjacent winding units in the first stator forming a first three-phase winding, every three adjacent winding units in the second stator forming a second three-phase winding, and N being a positive integer; the one or more processors are used to:

[0009] Simultaneously applying a first suspension current and a first rotation current to the first stator and the second stator to control the suspension rotation of the impeller;

[0010] If a faulty three-phase winding is detected in the first stator and / or the second stator, the control strategy of the first stator and the second stator is re-determined according to the faulty three-phase winding, where the faulty three-phase winding is a three-phase winding having one or more faulty winding units.

[0011] In a third aspect, an embodiment of the present application provides a ventricular assist device, the ventricular assist device comprising:

[0012] case;

[0013] an impeller disposed in the housing;

[0014] a motor driving the impeller to rotate in suspension, the motor comprising a rotor fixed to the impeller and a stator driving the rotor to rotate in suspension, the stator comprising a first stator and a second stator, the first stator and the second stator each comprising 3N winding units, every three adjacent winding units in the first stator forming a first three-phase winding, and every three adjacent winding units in the second stator forming a second three-phase winding, wherein N is a positive integer;

[0015] A control unit connected to the first stator and the second stator, the control unit is used to execute the steps in the method described in the first aspect above.

[0016] In a fourth aspect, an embodiment of the present application provides a medical device, comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing some or all of the steps described in the method described in the first aspect above.

[0017] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute some or all of the steps described in the method described in the first aspect above.

[0018] In a sixth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the method described in the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0019] The technical solution provided by the present application applies a first suspension current and a first rotation current to the first stator and the second stator at the same time to control the suspension rotation of the impeller; if a faulty three-phase winding is detected in the first stator and / or the second stator, the faulty three-phase winding is a three-phase winding with one or more faulty winding units; the control strategy of the first stator and the second stator is re-determined according to the faulty three-phase winding. When the present application detects that a faulty three-phase winding exists in the first stator and / or the second stator, the control strategy of the first stator and the second stator is re-determined according to the faulty three-phase winding, so that when the three-phase winding fails, the first stator and the second stator can still be controlled to keep the impeller rotating in the first suspension position, thereby improving the service life of the ventricular assist device and user safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 is a schematic structural diagram of a ventricular assist device provided in an embodiment of the present application;

[0022] Figure 2 is a partial explosion schematic diagram of a ventricular assist device provided in an embodiment of the present application;

[0023] Figure 3 is a schematic diagram of a rotor when N=2 provided in an embodiment of the present application;

[0024] Figure 4 This is a schematic diagram of a stator when N=2 provided in an embodiment of the present application;

[0025] Figure 5 is a schematic diagram of a rotor when N=3 provided in an embodiment of the present application;

[0026] Figure 6 This is a schematic diagram of a stator when N=3 provided in an embodiment of the present application;

[0027] Figure 7 It is a flow chart of a motor fault processing method provided in an embodiment of the present application;

[0028] Figure 8 This is a schematic diagram of a rotor and a stator when N=2 provided in an embodiment of the present application;

[0029] Fig. 9 This is a schematic diagram of a rotor and a stator when N=3 provided in an embodiment of the present application;

[0030] Fig.10 It is a structural schematic diagram of a medical device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to help those skilled in the art better understand the technical solutions of the present application, the following is a clear and complete description of the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the description of the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0032] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, software, product, or device that includes a series of steps or units is not limited to the listed steps or units, but also includes steps or units that are not listed, or also includes other steps or units inherent to these processes, methods, products, or devices.

[0033] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0034] The pump involved in the present application may be a ventricular assist device in a medical assist device, and the pump may be an implantable ventricular assist device (VAD), which may be attached to the left ventricle, or the right ventricle, or both ventricles of the heart. The VAD may further include a magnetically levitated pump capable of delivering the entire output to the left ventricle according to the pulmonary circulation or the blood circulation.

[0035] The embodiments of the present application are described by taking a centrifugal magnetic levitation pump as an example.

[0036] The ventricular assist device can be attached to the heart via a ventricular connection component (such as a top ring, a ventricular cuff, or a ventricular cuff), which can be sutured to the heart and connected to the ventricular assist device. The other end of the ventricular assist device can be connected to the ascending aorta via an outlet tube and / or an artificial blood vessel connected to the outlet tube, so that the ventricular assist device can effectively transfer blood from the weakened ventricle and propel it to the aorta, thereby circulating to the rest of the patient's vascular system and providing ventricular assist function to the patient.

[0037] See also Figure 1 , Figure 1 The present invention provides a schematic diagram of the structure of a ventricular assist device 100, which particularly relates to a centrifugal magnetic levitation ventricular assist device. The ventricular assist device 100 includes a housing assembly, an impeller 20 disposed in the housing assembly, and a motor 10 for driving the impeller 20 to suspend and rotate.

[0038] The housing assembly has a liquid inlet 14, a liquid outlet 15, and a first chamber 30 and a second chamber 40 arranged at intervals. The liquid inlet 14 and the liquid outlet 15 are both connected to the first chamber 30. In the illustrated embodiment, the central axis of the liquid inlet 14 and the central axis of the liquid outlet 15 are perpendicular; the first chamber 30 and the second chamber 40 are arranged along the central axis of the liquid inlet 14. The first chamber 30 has a first chamber wall 31 and a second chamber wall 32 spaced and opposite to each other along the central axis of the liquid inlet 14. The second chamber 40 is arranged close to the second chamber wall 32.

[0039] The impeller 20 is rotatably disposed in the first chamber 30. The impeller 20 is located between the first chamber wall 31 and the second chamber wall 32. Specifically, when the impeller 20 operates smoothly, the rotation axis 21 of the impeller 20 coincides with the central axis of the liquid inlet 14. Through the rotation of the impeller 20, the external liquid (such as blood) enters the first chamber 30 from the liquid inlet 14 and flows out from the liquid outlet 15.

[0040] The motor 10 includes a stator 11 and a rotor 13, wherein the stator 11 is disposed in the second chamber 40, the rotor 13 is disposed in the first chamber 30, and the rotor 13 is fixedly connected to the impeller 20, wherein the stator 11 can drive the rotor 13 to suspend and rotate, and the impeller 20 can suspend and rotate with the rotor 13. Specifically, the rotor 13 is disposed in the impeller 20. The suspending rotation of the impeller 20 means that the impeller 20 does not contact the cavity wall of the first chamber 30 when rotating.

[0041] For example, the motor 10 may be a three-phase brushless direct current motor (BLDC), the stator 11 having three windings controlled by different corresponding phases U, V, W of the power input controlled by the three-phase motor, and the motor 10 may also include an inverter circuit, which may be used to convert the DC input into a three-phase output. For example, the ventricular assist device 100 may receive a three-phase input of alternating current.

[0042] The stator 11 includes a first stator 110 and a second stator 120, and the first stator 110 and the second stator 120 are both roughly annular. The first stator 110 includes 3N first winding units, and the 3N first winding units are arranged at equal intervals along a first circle, and the second stator 120 includes 3N second winding units, and the 3N second winding units are arranged at equal intervals along a second circle, wherein the second circle is concentric with the first circle, and the diameter of the first circle is smaller than the diameter of the second circle. In other words, the first stator 110 and the second stator 120 are coaxially arranged, and the first stator 110 is located inside the second stator 120. Specifically, each first winding unit and each second winding unit includes a stator tooth and a stator coil arranged on the stator tooth.

[0043] The rotor 13 includes a first rotor 130 and a second rotor 140, and the first rotor 130 and the second rotor 140 are both fixedly connected to the impeller 20. Specifically, the first rotor 130 and the second rotor 140 are both arranged in the impeller 20. The first rotor 130 and the second rotor 140 are both annular, and the first rotor 130 and the second rotor 140 are concentrically and coaxially arranged, and the central axes of the first rotor 130 and the second rotor 140 coincide with the rotation axis 21 of the impeller 20. The inner diameter of the second rotor 140 is greater than the outer diameter of the first rotor 130. Along the central axis direction of the first rotor 130 or the second rotor 140, the position of the first rotor 130 corresponds to the position of the first stator 110 (i.e., the first rotor 130 and the first stator 110 are aligned along the axial direction of the first stator 110), and the first stator 110 can drive the first rotor 130 to rotate and suspend, that is, the first stator 110 and the first rotor 130 together constitute a first motor; the position of the second stator 120 corresponds to the position of the second rotor 140 (i.e., the second rotor 140 and the second stator 120 are aligned along the axial direction of the second stator 120), and the second stator 120 can drive the second rotor 140 to rotate and suspend, that is, the second stator 120 and the second rotor 140 together constitute a second motor. The first motor and the second motor can be controlled independently. In some embodiments, the first motor is used to drive the suspension and / or rotation of the impeller 20, and the second motor is also used to drive the suspension and / or rotation of the impeller 20, for example, the first motor is used to drive the impeller 20 to suspend, and the second motor is used to drive the impeller 20 to rotate. For example, the functions of the first motor and the second motor can be switched with each other. At certain moments, the first motor is used to drive the impeller 20 to suspend, and the second motor is used to drive the impeller 20 to rotate. At certain moments, the first motor is used to drive the impeller to rotate, and the second motor is used to drive the impeller to suspend. Among them, since the first rotor 130 and the second rotor 140 are both fixedly connected to the impeller 20, the first rotor 130, the second rotor 140 and the impeller 20 move synchronously. The magnetic pole distribution angles of the first motor and the second motor, and the distribution angles of the stator core and the coil are consistent, so as to achieve synchronous control of the first motor and the second motor.

[0044] The outer peripheral wall of the first rotor 130 is fixedly connected to the inner peripheral wall of the second rotor 140 to reduce the magnetic pole angle deviation of the impeller 20. For example, the first rotor 130 and the second rotor 140 can be fixedly connected by gluing. In other embodiments, the outer peripheral wall of the first rotor 130 is opposite to and spaced from the inner peripheral wall of the second rotor 140. The outer peripheral wall of the first rotor 130 is the side wall of the first rotor 130 that is away from the central axis of the first rotor 130; the inner peripheral wall of the second rotor 140 is the side wall of the second rotor 140 that is facing the central axis of the second rotor 140.

[0045] Specifically, the first rotor 130 and the second rotor 140 each include a plurality of magnetic blocks, and the plurality of magnetic blocks of the first rotor 130 are spliced ​​into a first circular ring structure, and the plurality of magnetic blocks of the second rotor 140 are spliced ​​into a second circular ring structure. Each magnetic block is roughly in the shape of a fan ring. In some embodiments, the magnetization direction of each magnetic block of the first rotor 130 is the same as the axial direction of the first rotor 130, and the magnetic poles of adjacent magnetic blocks are opposite; in some embodiments, the plurality of magnetic blocks of the first rotor 130 are arranged in a Halbach array, that is, the first rotor 130 is a Halbach array magnet. The magnetic block setting method of the second rotor 140 is roughly the same as the magnetic block setting method of the first rotor 130, and will not be repeated.

[0046] In some embodiments, the positions of the multiple magnetic blocks of the first rotor 130 are respectively arranged in a one-to-one correspondence with the positions of the multiple magnetic blocks of the second rotor 140, that is, each magnetic block of the first rotor 130 corresponds to the position of a magnetic block of the second rotor 140, so as to form a plurality of position-corresponding magnetic block groups, in which in each position-corresponding magnetic block group, the magnetic blocks of the first rotor 130 and the magnetic blocks of the second rotor 140 have the same magnetizing direction, the magnetic blocks of the first rotor 130 and the magnetic blocks of the second rotor 140 are arranged radially of the first rotor 130 and / or the second rotor 140, and the outer peripheral walls of the magnetic blocks of the first rotor 130 are opposite to the inner peripheral walls of the magnetic blocks of the second rotor 140; and in each position-corresponding magnetic block group, the central angle corresponding to the sector ring where the magnetic blocks of the first rotor 130 are located is equal to the central angle corresponding to the sector ring where the magnetic blocks of the second rotor 140 are located. In some embodiments, in the magnetic block group corresponding to each position, the outer peripheral wall of the magnetic block of the first rotor 130 is fixedly connected or in contact with the inner peripheral wall of the magnetic block of the second rotor 140, that is, the outer peripheral wall of the first rotor 130 is fixedly connected or in contact with the outer peripheral wall of the magnetic block of the second rotor 140. In some embodiments, in the magnetic block group corresponding to each position, the magnetic block of the first rotor 130 and the magnetic block of the second rotor 140 are arranged at intervals along the radial direction of the second rotor 140. The outer peripheral wall of the magnetic block of the first rotor 130 is the side wall of the magnetic block away from the central axis of the first rotor 130; the inner peripheral wall of the magnetic block of the second rotor 140 is the side wall of the magnetic block facing the central axis of the second rotor 140.

[0047] In other embodiments, the first stator 110 and the second stator 120 may also share a rotor 13, that is, along the central axis direction of the rotor 13, the position of the rotor 13 corresponds to both the first stator 110 and the second stator 120, that is, the rotor 13 is aligned with the first stator 110 and the second stator 120 in the axial direction of the first stator 110 and / or the second stator 120, and in this case, the rotor 13 has a large radial width. The first stator 110 can drive the rotor 13 to suspend and rotate, and the second stator 120 can also drive the rotor 13 to suspend and rotate. Among them, the first stator 110 and the second stator 120 are independently controlled. In this case, the rotor 13 includes a plurality of magnetic blocks, which are spliced ​​into an annular structure, and at least some of the magnetic blocks are magnetized along the axial direction of the rotor 13; and along the circumferential direction of the rotor 13, the magnetic poles of adjacent axially magnetized magnetic blocks are opposite. In some embodiments, the magnetization direction of each magnetic block of the rotor 13 is the same as the axial direction of the rotor 13, and the magnetic poles of adjacent magnetic blocks are opposite; in some embodiments, the multiple magnetic blocks of the rotor 13 are arranged in a Halbach array, that is, the rotor 13 is a Halbach array magnet. Each magnetic block in the rotor 13 has a center line, and the center line is perpendicular to and intersects with the central axis of the rotor 13.

[0048] The first stator 110 and the second stator 120 are substantially annular, and every three adjacent first winding units among the 3N first winding units form a first three-phase winding, and every three adjacent second winding units among the 3N second winding units form a second three-phase winding. The positions of the first three-phase windings correspond to the positions of the second three-phase windings one by one.

[0049] exist Figure 2-Figure 3In the illustrated embodiment, N=2, the first stator 110 and the second stator 120 each include 6 winding units, every three adjacent winding units form a three-phase winding, and the first stator 110 and the second stator 120 each have 2 three-phase windings. The rotor 13 includes a first rotor 130 and a second rotor 140, and the first rotor 130 and the second rotor 140 each include 8 magnetic blocks, and the magnetic blocks in the first rotor 130 and the magnetic blocks in the second rotor 140 adjacent to the magnetic blocks form a magnetic block group. The U1-phase winding unit of the first three-phase winding unit is aligned with the U3-phase winding unit of the second three-phase winding unit in the radial direction of the first stator 110 and / or the second stator 120, the V1-phase winding unit of the first three-phase winding unit is aligned with the V3-phase winding unit of the second three-phase winding unit in the radial direction of the first stator 110 and / or the second stator 120, and the W1-phase winding unit of the first three-phase winding unit is aligned with the W3-phase winding unit of the second three-phase winding unit in the radial direction of the first stator 110 and / or the second stator 120. The U2-phase winding unit of the first three-phase winding unit is aligned radially with the U4-phase winding unit of the second three-phase winding unit along the first stator 110 and / or the second stator 120, the V2-phase winding unit of the first three-phase winding unit is aligned radially with the V4-phase winding unit of the second three-phase winding unit along the first stator 110 and / or the second stator 120, and the W2-phase winding unit of the first three-phase winding unit is aligned radially with the W4-phase winding unit of the second three-phase winding unit along the first stator 110 and / or the second stator 120.

[0050] exist Figure 4-Figure 5In the embodiment, N=3, the first stator 110 and the second stator 120 each include 9 winding units, every three adjacent winding units form a three-phase winding, and the first stator 110 and the second stator 120 each have 3 three-phase windings. The rotor 13 includes a first rotor 130 and a second rotor 140, and the first rotor 130 and the second rotor 140 each include 6 magnetic blocks, and the magnetic blocks in the first rotor 130 and the magnetic blocks in the second rotor 140 adjacent to the magnetic blocks form a magnetic block group. The U1-phase winding unit of the first three-phase winding unit is aligned with the U4-phase winding unit of the second three-phase winding unit in the radial direction of the first stator 110 and / or the second stator 120, the V1-phase winding unit of the first three-phase winding unit is aligned with the V4-phase winding unit of the second three-phase winding unit in the radial direction of the first stator 110 and / or the second stator 120, the W1-phase winding unit of the first three-phase winding unit is aligned with the W4-phase winding unit of the second three-phase winding unit in the radial direction of the first stator 110 and / or the second stator 120, the U2-phase winding unit of the first three-phase winding unit is aligned with the U5-phase winding unit of the second three-phase winding unit in the radial direction of the first stator 110 and / or the second stator 120, the V2-phase winding unit of the first three-phase winding unit is aligned with the V5-phase winding unit of the second three-phase winding unit. The phase winding units are aligned radially of the first stator 110 and / or the second stator 120, the W2 phase winding unit of the first three-phase winding unit is aligned radially with the W5 phase winding unit of the second three-phase winding unit, the U3 phase winding unit of the first three-phase winding unit is aligned radially with the U6 phase winding unit of the second three-phase winding unit, the V3 phase winding unit of the first three-phase winding unit is aligned radially with the V6 phase winding unit of the second three-phase winding unit, and the W3 phase winding unit of the first three-phase winding unit is aligned radially with the W6 phase winding unit of the second three-phase winding unit.

[0051] The impeller 20 moves axially relative to the housing assembly along the rotation axis 21. During rotation, the impeller 20 is suspended in the housing assembly by a contactless bearing, such as a magnetic bearing, which can generate a magnetic suspension system. For example, in some embodiments, magnets (not shown) are also provided in the housing assembly and the impeller 20, respectively. The magnets in the housing assembly and the magnets in the impeller 20 together constitute a magnetic bearing, and the force generated by the magnetic bearing on the impeller 20 and the magnetic force generated between the stator 11 and the rotor 13 act together on the impeller 20, so that the impeller 20 is suspended in the first chamber 30 under the state of magnetic balance, thereby realizing the motion state of the impeller 20 suspended and rotating. The control unit 33 can control the suspension posture and position of the impeller 20 by controlling the magnetic force between the stator 11 and the rotor 13. At the same time, in the direction perpendicular to the rotation axis 21, the attraction and repulsion between the stator 11 and the rotor 13 are used to generate a torsional force, which causes the impeller 20 to rotate in this direction. When the impeller 20 rotates at a preset speed, the attraction or thrust between the stator 11 and the rotor 13 causes the impeller 20 in the first chamber 30 to rotate in suspension in the first chamber 30 .

[0052] The first rotor 130 and the second rotor 140 are both fixedly connected to the impeller 20, so that the first rotor 130, the second rotor 140 and the impeller 20 move synchronously. The control unit 33 can control the magnetic pole angle and the suspension height of the entire rotor 13 by controlling the current magnitude and phase of the stator coil flowing through the first winding unit and / or the second winding unit; and the control unit 33 controls the suspension height of the rotor 13 to suspend the impeller 20 at a desired axial position relative to the stator 11.

[0053] Among them, the winding units in the first three-phase winding and the second three-phase winding are three windings controlled by different corresponding phases U, V, and W of the voltage input controlled by the three-phase motor. The control unit 33 can control the application of current to the first three-phase winding to control the suspension and / or rotation of the first rotor 130, thereby controlling the suspension and / or rotation of the impeller 20; the control unit 33 can control the application of current to the second three-phase winding to control the suspension and / or rotation of the second rotor 140, thereby controlling the suspension and / or rotation of the impeller 20.

[0054] The ventricular assist device 100 further includes a control unit 33 and a sensor 50. The control unit 33 is electrically connected to the stator 11. The sensor 50 is electrically connected to the control unit 33. The sensor 50 is used to detect the magnetic pole angle and the suspension height of the impeller 20. The control unit 33 is used to receive the detection result of the sensor 50 and can control the rotation speed and suspension height of the impeller 20 through the motor 10 according to the detection result. Specifically, the suspension height of the impeller 20 is the distance of the impeller 20 relative to the second cavity wall 32.

[0055] Furthermore, the control unit 33 is used to monitor and control the startup and subsequent operation of the motor 10, including executing a three-phase field-oriented control (FOC) method. The control unit 33 can be a module independent of the stator 11, or it can be built into the stator 11. The control unit 33 includes hardware and software for controlling various aspects of the operation of the motor 10. The control unit 33 can be coupled to the motor 10 through an interface for collecting at least one data of the motor 10. The at least one data may include the measured current flowing through the stator 11, the data measured by the sensor 50, the motor speed, the pressure difference across the pump, the flow pulsation, the fluid flow rate, and the like.

[0056] The sensor 50 includes 3N first position sensors 51 and 3N second position sensors 52. Each first position sensor 51 is arranged between two adjacent first winding units. The first position sensor 51 is used to measure the suspension height and magnetic pole angle of the first rotor 130 corresponding to the first winding unit. Each second position sensor 52 is arranged between two adjacent second winding units. The second position sensor 52 is used to measure the suspension height and magnetic pole angle of the second rotor 140 corresponding to the second winding unit. Specifically, each position sensor is arranged relative to the path through which the rotor 13 on the impeller 20 passes. When the impeller 20 rotates and the S pole and the N pole of the rotor 13 alternately pass near the position sensor, the signal level of the position sensor output indicating the magnetic flux intensity changes in an up-and-down wave shape (such as a square wave or a sine wave). Therefore, by detecting the time change of the output signal of the position sensor, the position relationship of the first rotor 130 relative to the first stator 110 and the position relationship of the second rotor 140 relative to the second stator 120 can be detected, so that the rotation speed and suspension height of the impeller 20 can be calculated.

[0057] For example, the first position sensor 51 and the second position sensor 52 may be a Hall sensor, an eddy current sensor, a distance sensor, or the like.

[0058] In combination with the above description, the present application is described below from the perspective of method examples.

[0059] See also Figure 7 , Figure 7 A flow chart of a motor fault processing method provided in an embodiment of the present application is applied to Figure 1-Figure 6 The ventricular assist device shown. Figure 7 As shown, the method includes the following steps.

[0060] S710: Apply a first suspension current and a first rotation current to the first stator and the second stator simultaneously to control the suspension rotation of the impeller.

[0061] When the impeller 20 is suspended and rotated at the target speed, the control unit 33 controls the suspension and rotation of the impeller 20 by the first stator 110 and the second stator 120. In order to extend the life of the motor 10, during the operation of the ventricular assist device 100, when the speed of the impeller 20 reaches the target speed, the control unit 33 applies a first suspension current and a first rotation current to the first stator 110 and the second stator 120 respectively, so that the first stator 110 generates an axial magnetic thrust and a torque force along the circumferential direction of the first rotor 130 on the first rotor 130, and the second stator 120 generates an axial suspension force and a torque force along the circumferential direction of the second rotor 140 on the second rotor 140. The first stator 110 and the second stator 120 each generate half of the suspension force and torque force, so that the impeller 20 is suspended at the first position and rotates at the target speed.

[0062] The target speed is within the speed range allowed during normal operation of the ventricular assist device 100, which is 2200RPM to 4300RPM. The first position is within a preset suspension range, which is near the center of the first chamber 30. For example, the preset suspension range is 0.05mm-0.5mm.

[0063] S720: If it is detected that there is a faulty three-phase winding in the first stator and / or the second stator, redetermine the control strategy of the first stator and the second stator according to the faulty three-phase winding, where the faulty three-phase winding is a three-phase winding having one or more faulty winding units.

[0064] The ventricular assist device 100 is used to provide auxiliary pumping function for a long time. After the ventricular assist device 100 is implanted in the human body, during the long-term operation of the motor 10 or when the motor 10 is in an overload state, the circuit of the motor 10, especially the phase line of each phase winding in the motor 10, may be damaged due to factors such as aging, high temperature overload, etc., resulting in a failure of the motor 10. Among them, the failure of the motor 10 is a situation in which at least one phase winding unit in the three-phase winding in the first stator 110 and the second stator 120 of the motor 10 is broken due to cable damage, connector aging, etc. If the first stator 110 and the second stator 120 are started or operated under the condition of failure, the operation of the motor 10 will be unstable, and the current of the normal winding unit other than the broken winding unit will increase, which will further aggravate the damage of the motor 10, and in severe cases, the motor 10 will stop unexpectedly, affecting the safety of the user. Therefore, during the operation of the motor 10, it is necessary to detect whether the motor 10 is faulty in real time to ensure that the motor 10 does not use the faulty winding unit.

[0065] In the present application, in order to improve the reliability and safety of the operation of the motor 10, a first stator 110 and a second stator 120 are provided. When the ventricular assist device 100 operates normally, the first stator 110 and the second stator 120 simultaneously drive the impeller 20 to suspend and rotate, and at the same time, the operating status of the first stator 110 and the second stator 120 are monitored in real time during the operation of the ventricular assist device 100. When a faulty three-phase winding is detected in the first stator 110 and / or the second stator 120, the control strategy of the motor 10 can be adjusted in time to ensure the normal operation of the ventricular assist device 100 and the safety of the patient.

[0066] Among them, a phase current detection circuit can be set on each phase winding unit to detect the current flowing through the phase winding unit. The phase current detection circuit can be connected to the control unit 33 and feedback the detected current in real time. When the winding unit in the three-phase winding is not normally in an open circuit state, the phase winding unit forms a loop with the winding units of other phases through the phase power line. When the control unit 33 inputs current to the phase winding unit, the phase current detection circuit detects that the current value flowing through the loop is the same or similar to the current value applied by the control unit 33. Therefore, when the control unit 33 detects that the output current curve flowing through each phase winding unit in the three-phase winding does not match the preset current curve, it means that the unmatched winding unit line may have a circuit breaker fault, and the winding unit has a fault. When the three-phase winding fails, the faulty winding unit cannot form a loop with other winding units, so that the output current of the phase winding unit suddenly becomes zero or abnormally low.

[0067] The control unit 33 can determine whether the winding unit is faulty by obtaining the current curve flowing through the winding unit in real time. Then, when the winding unit is faulty, it is determined that the three-phase winding where the winding unit is located is faulty. There may be one or more winding units faulty in the three-phase winding.

[0068] When there is a fault in the three-phase winding in the first stator 110 and / or the second stator 120, the faulty three-phase winding will cause the motor 10 to run unstably, and in severe cases, even cause the motor 10 to stop unexpectedly. Therefore, when there is a faulty three-phase winding in the first stator 110 and / or the second stator 120, the control unit 33 re-determines the control strategy for the first stator 110 and the second stator 120 in the current situation according to the faulty winding unit, so as to ensure the normal operation of the ventricular assist device 100 as much as possible and avoid the patient from being harmed.

[0069] Optionally, the control strategy of the first stator and the second stator is re-determined based on the faulty three-phase winding, including: if there are at most N-1 faulty three-phase windings in the first stator or the second stator, the normal three-phase windings in the first stator and the second stator are used to control the suspension and rotation of the impeller; if there are at most 2N-1 faulty three-phase windings in the first stator and the second stator, the faulty three-phase windings are used to control the suspension of the impeller and the normal three-phase windings are used to control the rotation of the impeller; otherwise, the motor is controlled to stop running.

[0070] In the present application, the motor 10 includes a first stator 110 and a second stator 120, and the first stator 110 and the second stator 120 respectively have N three-phase windings. The control unit 33 can specifically determine the control strategy for the first stator 110 and the second stator 120 according to the number of faulty three-phase windings.

[0071] When there is a faulty three-phase winding, the faulty three-phase winding can no longer provide suspension force and torque force to the rotor 13. Therefore, the control unit 33 can change the suspension force and torque force provided by the first stator 110 and the second stator 120 at the same time to the first stator 110 (second stator 120) providing the suspension force and the second stator 120 (first stator 110) providing the torque force, so as to avoid the impact of the faulty three-phase winding on the normal operation of the motor 10.

[0072] When only one of the three-phase windings in the first stator 110 and the second stator 120 fails, since there are still three-phase windings in the first stator 110 and the second stator 120 that can operate normally, the control unit 33 can directly use the normal three-phase windings to continue to control the suspension and rotation of the impeller 20. When multiple three-phase windings in the first stator 110 and the second stator 120 fail, so that the first stator 110 or the second stator 120 cannot normally control the suspension or rotation of the impeller 20, since the suspension force required by the impeller 20 is small, the control unit 33 can re-determine the winding unit that can apply the axial suspension force to the rotor 13 from the failed three-phase winding, and then provide the axial suspension force through the failed winding unit, and provide the torque force through the normal three-phase winding, so that the impeller 20 can maintain the suspension and rotation at the first position. Furthermore, when the three-phase windings in the first stator 110 or the second stator 120 are all faulty and cannot form a winding unit that can provide suspension force, the control unit 33 can directly control the first stator 110 or the second stator 120 to stop running; or, when there are faulty three-phase windings in the first stator 110 and the second stator 120 and a winding unit that can provide suspension force cannot be formed from the faulty three-phase windings, the control unit 33 can directly control the motor 10 to stop running and issue an alarm.

[0073] Wherein, if there are at most N-1 faulty three-phase windings in the first stator or the second stator, the normal three-phase windings in the first stator and the second stator are used to control the suspension and rotation of the impeller, including: if there are at most N-1 faulty three-phase windings in the first three-phase winding, a second suspension current is applied to the remaining normal first three-phase windings in the first stator to control the suspension of the impeller, and a second rotation current is applied to the second three-phase winding to control the rotation of the impeller; if there are at most N-1 faulty three-phase windings in the second three-phase winding, the second suspension current is applied to the remaining normal first three-phase windings in the second stator to control the suspension of the impeller, and the second rotation current is applied to the first three-phase winding to control the rotation of the impeller.

[0074] Specifically, when a first three-phase winding in the first stator 110 fails, the control unit 33 applies a first suspension current to the other remaining normal first three-phase windings in the first stator 110 to provide an axial suspension force to the first rotor 130, and control the impeller 20 to suspend at the first position; at the same time, the control unit 33 applies a first rotation current to the second stator 120 to provide a torque force along the circumferential direction of the second rotor 140 to the second rotor 140, and control the impeller 20 to rotate at the first position. Similarly, when a second three-phase winding in the second stator 120 fails, the control unit 33 applies a first suspension current to the other remaining normal second three-phase windings in the second stator 120 to provide an axial suspension force to the second rotor 140, and control the impeller 20 to suspend at the first position; at the same time, the control unit 33 applies a first rotation current to the first stator 110 to provide a torque force along the circumferential direction of the first rotor 130 to the first rotor 130, and control the impeller 20 to rotate at the first position.

[0075] For example, N=2, such as Figure 4As shown, the first stator 110 includes a three-phase winding 1 and a three-phase winding 2, wherein the three-phase winding 1 is composed of a U1 phase winding unit, a V1 phase winding unit, and a W1 phase winding unit, and the three-phase winding 2 is composed of a U2 phase winding unit, a V2 phase winding unit, and a W2 phase winding unit. The second stator 120 includes a three-phase winding 3 and a three-phase winding 4, wherein the three-phase winding 3 is composed of a U3 phase winding unit, a V3 phase winding unit, and a W3 phase winding unit, and the three-phase winding 4 is composed of a U4 phase winding unit, a V4 phase winding unit, and a W4 phase winding unit. When the U1 phase winding unit in the three-phase winding 1 fails, the control unit 33 will simultaneously apply the first suspension current and the first rotation current to the first stator 110 and the second stator 120, and change to apply the second suspension current to the three-phase winding 2, and apply the second rotation current to the three-phase winding 3 and the three-phase winding 4. When the V3 phase winding unit and the W3 phase winding unit in the three-phase winding 3 fail, the control unit 33 will simultaneously apply the first suspension current and the first rotation current to the first stator 110 and the second stator 120, and change to applying the second suspension current to the three-phase winding 4, and applying the second rotation current to the three-phase winding 1 and the three-phase winding 2.

[0076] For example, when N=3, Figure 6 As shown, the first stator 110 includes three-phase winding 1, three-phase winding 2 and three-phase winding 3. The three-phase winding 1 is composed of U1 phase winding unit, V1 phase winding unit and W1 phase winding unit. The three-phase winding 2 is composed of U2 phase winding unit, V2 phase winding unit and W2 phase winding unit. The three-phase winding 3 is composed of U3 phase winding unit, V3 phase winding unit and W3 phase winding unit. The second stator 120 includes three-phase winding 4, three-phase winding 5 and three-phase winding 6. The three-phase winding 4 is composed of U4 phase winding unit, V4 phase winding unit and W4 phase winding unit. The three-phase winding 5 is composed of U5 phase winding unit, V5 phase winding unit and W5 phase winding unit. The three-phase winding 6 is composed of U6 phase winding unit, V6 phase winding unit and W6 phase winding unit. When the V3 phase winding unit and the W3 phase winding unit in the three-phase winding 3 fail, the control unit will apply the first suspension current and the first rotation current to the first stator 110 and the second stator 120 at the same time, and change to apply the second suspension current to the three-phase winding 1 or the three-phase winding 2, and apply the second rotation current to the three-phase winding 4, the three-phase winding 5 and the three-phase winding 6. When the V4 phase winding unit in the three-phase winding 4 fails, the control unit 33 will apply the first suspension current and the first rotation current to the first stator 110 and the second stator 120 at the same time, and change to apply the second suspension current to the three-phase winding 5 or the three-phase winding 6, and apply the second rotation current to the three-phase winding 1, the three-phase winding 2 and the three-phase winding 3.

[0077] Wherein, if there are at most 2N-1 faulty three-phase windings in the first stator and the second stator, the faulty three-phase winding is used to control the suspension of the impeller, and the normal three-phase winding is used to control the rotation of the impeller, including: if the first three-phase windings in the first stator are all the faulty three-phase windings, and there are N target normal winding units, then a second suspension current is applied to the N target normal winding units to control the suspension of the impeller, and a second rotation current is applied to the second stator to control the rotation of the impeller, and the N target normal winding units are respectively normal same-phase winding units in the faulty three-phase windings; if the first three-phase windings in the first stator are all the faulty three-phase windings, and the N target normal winding units do not exist in the first stator at the same time, N target normal windings are determined from the faulty three-phase winding units and the second three-phase windings. A group unit is provided, the second suspension current is applied to the N target normal winding units to control the suspension of the impeller, and the second rotating current is applied to the target second three-phase winding to control the rotation of the impeller, the N target normal winding units are respectively normal same-phase winding units in the first three-phase winding and the second three-phase winding, and the target second three-phase winding is a second three-phase winding that does not include the target normal winding unit; if all the first three-phase windings in the first stator and at most N-1 second three-phase windings in the second stator are the faulty three-phase windings, and there are N target normal winding units, then the second suspension current is applied to the N target normal winding units to control the suspension of the impeller, and the second rotating current is applied to the normal second three-phase winding in the second stator to control the rotation of the impeller; otherwise, the motor is controlled to stop running.

[0078] The first stator 110 or the second stator 120 provides the rotor 13 with an axial suspension force by applying a suspension current to the winding unit in the first three-phase winding or the second three-phase winding that is directly opposite to the magnetic block group or magnetic block of the rotor 13, so that the winding unit that is directly opposite to the magnetic block group or magnetic block generates an axial magnetic thrust, and the axial magnetic thrust causes the impeller 20 to move in the axial direction, thereby achieving suspension control of the impeller 20. According to the arrangement of the winding unit in the stator 11 and the magnetic block in the rotor 13, during the rotation of the impeller 20, the winding unit that is directly opposite to the magnetic block group or magnetic block in the rotor 13 is a same-phase winding unit in the three-phase winding.

[0079] For example, Figure 8 As shown, when N=2, the U1 winding unit in the three-phase winding 1, the U2 winding unit in the three-phase winding 2, the U3 winding unit in the three-phase winding 3, and the U4 winding unit in the three-phase winding 4 will be directly opposite to the magnetic block or magnetic block group respectively.

[0080] For example, Fig. 9As shown, when N=3, the U1 winding unit in the three-phase winding 1, the U2 winding unit in the three-phase winding 2, the U3 winding unit in the three-phase winding 3, the U4 winding unit in the three-phase winding 4, the U5 winding unit in the three-phase winding 5, and the U6 winding unit in the three-phase winding 6 will be opposite to the magnetic block or magnetic block group respectively.

[0081] The control unit 33 applies a suspension current to the same-phase winding units in the first three-phase winding and / or the second three-phase winding to provide an axial suspension force to the rotor 13. Therefore, when each phase winding unit in the first three-phase winding and / or the second three-phase winding fails, the control unit 33 can control the suspension of the impeller 20 by applying a suspension current to other normal same-phase winding units.

[0082] The control unit 33 can determine a specific control strategy according to the number of faults in the faulty three-phase winding and the faulty winding unit in the faulty three-phase winding. Specifically, it can be divided into the following situations:

[0083] The first situation: the first three-phase windings in the first stator 110 are all faulty, but there are N normal winding units in the first stator 110 .

[0084] When there are winding unit faults in the first three-phase windings of the first stator 110, but there are normal winding units of the same phase in the first three-phase windings, the control unit 33 can change the simultaneous application of the first suspension current and the first rotation current to the first stator 110 and the second stator 120, to applying the second suspension current to the normal winding units of the same phase of the first three-phase winding and applying the second rotation current to the second three-phase winding, so as to maintain the impeller 20 rotating at the first position. Similarly, when there are all faults in the second three-phase windings of the second stator 120, that is, there are winding unit faults in the second three-phase windings of the second stator 120, but there are normal winding units of the same phase in the second three-phase windings, the control unit 33 can change the simultaneous application of the first suspension current and the first rotation current to the first stator 110 and the second stator 120, to applying the second suspension current to the normal winding units of the same phase of the second three-phase winding and applying the second rotation current to the first three-phase winding, so as to maintain the impeller 20 rotating at the first position.

[0085] The normal winding units of the first three-phase winding and the normal winding units of the second three-phase winding are the N target normal winding units. Figure 4 As shown, N=2, when the U1 phase winding unit and the V2 phase winding unit in the first stator fail, the control unit can apply a second suspension current to the W1 phase winding unit and the W2 phase winding unit in the first stator 110 to control the impeller 20 to suspend, and apply a second rotation current to the second three-phase winding in the second stator 120 to control the impeller 20 to rotate. For example, Figure 6As shown, N=3. When the U1 phase winding unit, the V2 phase winding unit and the U3 phase winding unit in the first stator 110 fail, the control unit 33 can apply a second suspension current to the W1 phase winding unit, the W2 phase winding unit and the W3 phase winding unit in the first stator 110 to control the impeller suspension, and apply a second rotation current to the second three-phase winding in the second stator 120 to control the impeller rotation.

[0086] The second situation: the first three-phase windings in the first stator 110 are all faulty, but there are no N normal winding units in the first stator 110 .

[0087] When there are winding unit faults in the first three-phase windings of the first stator 110 and there are no normal winding units of the same phase in the first three-phase windings, the control unit 33 can determine the normal winding units in the first three-phase windings and the winding units of the same phase as the normal winding units in the second three-phase windings as the target normal winding units. Then, a second suspension current is applied to the target normal winding units to control the impeller suspension, and a second rotation current is applied to the second three-phase windings in the second stator 120 that do not include the target normal winding units to control the impeller 20 to rotate. Similarly, when the second three-phase windings in the second stator 120 are all faulty, that is, there are winding unit faults in the second three-phase windings of the second stator 120, and there are no normal winding units of the same phase in the second three-phase windings, the control unit 33 determines the normal winding units in the first three-phase winding and the winding units of the same phase as the normal winding units in the second three-phase winding as the target normal winding units, applies a second suspension current to the target normal winding units to control the suspension of the impeller 20, and applies a second rotation current to the first three-phase winding in the first stator 110 that does not include the target normal winding unit to control the rotation of the impeller 20.

[0088] For example, Figure 4 As shown, N=2, when the U1 phase winding unit, the V2 phase winding unit and the W2 phase winding unit in the first stator 110 fail, the control unit 33 can apply a second suspension current to the W1 phase winding unit in the first stator 110 and the W4 phase winding unit in the second stator 120 to control the impeller 20 to suspend, and apply a second rotation current to the three-phase winding 3 in the second stator 120 to control the impeller 20 to rotate. N=3, for example, Figure 6 As shown, when the U1 phase winding unit, V2 phase winding unit, W3 phase winding unit and U3 phase winding unit in the first stator 110 fail, the control unit 33 can apply a second suspension current to the W1 phase winding unit, W2 phase winding unit in the first stator 110 and the W6 phase winding unit in the second stator 120 to control the suspension of the impeller 20, and apply a second rotation current to the three-phase winding 4 and the three-phase winding 5 in the second stator 120 to control the rotation of the impeller 20.

[0089] The third situation: all the first three-phase windings in the first stator 110 are faulty, at most N-1 second three-phase windings in the second stator 120 are faulty, and there are N target normal winding units in the faulty three-phase windings in the first stator 110 and the second stator 120.

[0090] There are winding unit faults in the first three-phase windings of the first stator 110, there is a second three-phase winding fault in the second stator 120, and there are normal winding units of the same phase in the faulty first three-phase winding and the faulty second three-phase winding. The control unit 33 can determine the normal and same-phase winding units from the faulty first three-phase winding and the faulty second three-phase winding as the target normal winding units. Then, a second suspension current is applied to the target normal winding unit to control the impeller 20 to suspend, and a second rotation current is applied to the normal second three-phase winding in the second stator 120 to control the impeller 20 to rotate. Similarly, when the second three-phase windings in the second stator 120 are all faulty, the first three-phase winding in the first stator 110 is faulty, and there are normal winding units of the same phase in the faulty first three-phase winding and the faulty second three-phase winding, the control unit 33 determines the normal and same-phase winding units from the faulty first three-phase winding and the faulty second three-phase winding as the target normal winding units, applies a second suspension current to the target normal winding units to control the suspension of the impeller 20, and applies a second rotation current to the normal first three-phase winding in the first stator 110 to control the rotation of the impeller 20.

[0091] For example, Figure 4 As shown, N=2, when the U1 phase winding unit, the V2 phase winding unit and the V3 phase winding unit in the first stator 110 fail, the control unit 33 can apply a second suspension current to the W1 phase winding unit and the W2 phase winding unit in the first stator 110 to control the impeller 20 to suspend, and apply a second rotation current to the three-phase winding 4 in the second stator 120 to control the impeller 20 to rotate. N=3, for example, Figure 6 As shown, when the U1 phase winding unit, W2 phase winding unit, W3 phase winding unit and U4 phase winding unit in the first stator 110 fail, the control unit 33 can apply a second suspension current to the V1 phase winding unit, V2 phase winding unit and W3 phase winding unit in the first stator 110 to control the suspension of the impeller 20, and apply a second rotation current to the three-phase winding 5 and the three-phase winding 6 in the second stator 120 to control the rotation of the impeller 20.

[0092] Fourth situation: if all winding units in the first three-phase winding are faulty, the operation of the first stator 110 is stopped, and the second stator 120 controls the suspended rotation of the impeller 20. Alternatively, if all the first three-phase windings in the first stator 110 are faulty, at most N-1 second three-phase windings in the second stator 120 are faulty, and there are no N target normal winding units in the faulty three-phase windings in the first stator 110 and the second stator 120, the operation of the motor 10 is stopped.

[0093] In the present application, when N=2, the N target normal winding units are spaced 180 degrees apart from each other. When N=3, the N target normal winding units are spaced 120 degrees apart from each other. Further, the N target normal winding units are spaced 360 / N degrees apart from each other.

[0094] Among them, the second suspension current is twice the first suspension current, and the second rotation current is twice the first rotation current. When there is no faulty three-phase motor in the first stator 110 and the second stator 120, the first stator 110 and the second stator 120 each provide half of the suspension force and torque force to drive the impeller 20 to suspend and rotate. When it is detected that there is a faulty three-phase winding in the first stator 110 and / or the second stator 120, the control unit 33 changes to one stator controlling the suspension and one stator controlling the rotation. That is to say, when there is a three-phase winding fault, the first stator 110 or the second stator 120 changes from providing half of the suspension force and half of the torque force to providing all of the suspension force or all of the torque force. Therefore, after there is a faulty three-phase winding, the second suspension current applied by the control unit 33 is twice the first suspension current, and the second rotation current applied is twice the first rotation current.

[0095] It can be seen that the present application proposes a motor fault processing method, which applies a first suspension current and a first rotation current to the first stator and the second stator respectively to control the impeller to suspend and rotate; if a faulty three-phase winding is detected in the first stator and / or the second stator, the faulty three-phase winding is a three-phase winding with one or more winding units faulty; the control strategy of the first stator and the second stator is re-determined according to the faulty three-phase winding. When the present application detects that a faulty three-phase winding exists in the first stator and / or the second stator, the control strategy of the first stator and the second stator is re-determined according to the faulty three-phase winding, so that when the three-phase winding fails, the first stator and the second stator can still be controlled to keep the impeller rotating in the first suspension position, thereby improving the service life of the ventricular assist device and user safety.

[0096] The above mainly introduces the scheme of the embodiment of the present application from the perspective of the execution process on the method side. It is understandable that in order to realize the above functions, the network device includes a hardware structure and / or software module corresponding to each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiment provided in this article, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0097] For example, an embodiment of the present application provides a control unit of a ventricular assist device, the control unit comprising one or more processors, the ventricular assist device comprising a housing, an impeller disposed in the housing, and a motor driving the impeller to rotate in suspension, the motor comprising a rotor fixed to the impeller and a stator driving the rotor to rotate in suspension, the stator comprising a first stator and a second stator, the first stator and the second stator each comprising 3N winding units, every three adjacent winding units in the first stator forming a first three-phase winding, every three adjacent winding units in the second stator forming a second three-phase winding, and N being a positive integer; the one or more processors are used to:

[0098] Simultaneously applying a first suspension current and a first rotation current to the first stator and the second stator to control the suspension rotation of the impeller;

[0099] If a faulty three-phase winding is detected in the first stator and / or the second stator, the control strategy of the first stator and the second stator is re-determined according to the faulty three-phase winding, where the faulty three-phase winding is a three-phase winding having one or more faulty winding units.

[0100] For example, an embodiment of the present application provides a ventricular assist device, the ventricular assist device comprising:

[0101] case;

[0102] an impeller disposed in the housing;

[0103] a motor driving the impeller to rotate in suspension, the motor comprising a rotor fixed to the impeller and a stator driving the rotor to rotate in suspension, the stator comprising a first stator and a second stator, the first stator and the second stator each comprising 3N winding units, every three adjacent winding units in the first stator forming a first three-phase winding, and every three adjacent winding units in the second stator forming a second three-phase winding, wherein N is a positive integer;

[0104] A control unit connected to the first stator and the second stator, the control unit is used to execute the steps in the method described in the first aspect above.

[0105] As an example, the present application also provides a medical device, which includes the control unit or ventricular assist device described above.

[0106] Among them, the control unit of each of the above schemes has the function of implementing the corresponding steps performed by the medical device in the above method; the functions can be implemented by hardware, or by hardware executing corresponding software.

[0107] In the embodiment of the present application, the control unit may also be a chip or a chip system, for example, a system on chip (SoC).

[0108] See also Fig.10 , Fig.10 It is a structural diagram of a medical device provided in an embodiment of the present application, wherein the medical device comprises: one or more processors, one or more memories, one or more communication interfaces, and one or more programs; the one or more programs are stored in the memories and are configured to be executed by the one or more processors.

[0109] The above program includes instructions for performing the following steps:

[0110] Simultaneously applying a first suspension current and a first rotation current to the first stator and the second stator to control the suspension rotation of the impeller;

[0111] If a faulty three-phase winding is detected in the first stator and / or the second stator, the control strategy of the first stator and the second stator is re-determined according to the faulty three-phase winding, where the faulty three-phase winding is a three-phase winding having one or more faulty winding units.

[0112] Among them, all relevant contents of each scenario involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0113] It should be understood that the above-mentioned memory may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0114] In the embodiment of the present application, the processor of the above-mentioned device may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0115] It should be understood that the "at least one" involved in the embodiments of the present application refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0116] Furthermore, unless otherwise specified, ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects. For example, the first information and the second information are only used to distinguish different information, and do not indicate the difference in content, priority, sending order or importance of the two types of information.

[0117] In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software. The steps of the method disclosed in conjunction with the embodiment of the present application can be directly embodied as a hardware processor for execution, or a combination of hardware and software units in a processor for execution. The software unit can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor executes the instructions in the memory, and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it is not described in detail here.

[0118] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any method recorded in the above method embodiments.

[0119] The present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps of any method described in the above method embodiment. The computer program product may be a software installation package.

[0120] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0121] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0122] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0123] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0124] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0125] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or TRP, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0126] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing the relevant hardware through a program, and the program may be stored in a computer-readable memory, which may include a flash drive, ROM, RAM, a magnetic disk or an optical disk, etc.

[0127] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for handling motor faults, characterized in that: The invention is applied to a ventricular assist device, the ventricular assist device comprises a housing, an impeller arranged in the housing, and a motor driving the impeller to suspend and rotate, the motor comprises a rotor fixed to the impeller and a stator driving the rotor to suspend and rotate, the stator comprises a first stator and a second stator, the first stator and the second stator each comprise 3N winding units, every three adjacent winding units in the first stator constitute a first three-phase winding, every three adjacent winding units in the second stator constitute a second three-phase winding, and N is a positive integer; the rotor comprises a first rotor and a second rotor, the first rotor and the second rotor are both annular, and the first rotor and the second rotor are concentrically and coaxially arranged; along the central axis direction of the first rotor, the position of the first stator corresponds to the position of the first rotor, and is used to drive the first rotor to suspend and / or rotate; along the central axis direction of the second rotor, the position of the second stator corresponds to the position of the second rotor, and is used to drive the second rotor to suspend and / or rotate; the method comprises: Simultaneously applying a first suspension current and a first rotation current to the first stator and the second stator to control the suspension rotation of the impeller; If a faulty three-phase winding is detected in the first stator and / or the second stator, the control strategy of the first stator and the second stator is re-determined according to the faulty three-phase winding, where the faulty three-phase winding is a three-phase winding having one or more faulty winding units.

2. The method according to claim 1, characterized in that: The 3N winding units in the first stator are arranged at equal intervals along a first circle, and the 3N winding units in the second stator are arranged at equal intervals along a second circle, the second circle is concentric with the first circle, and the diameter of the first circle is smaller than the diameter of the second circle.

3. The method according to claim 1 or 2, characterized in that: The re-determining the control strategy of the first stator and the second stator according to the faulty three-phase winding includes: If there are at most N-1 faulty three-phase windings in the first stator or the second stator, use the normal three-phase windings in the first stator and the second stator to control the suspension and rotation of the impeller; If there are at most 2N-1 faulty three-phase windings in the first stator and the second stator, the faulty three-phase windings are used to control the suspension of the impeller, and the normal three-phase windings are used to control the rotation of the impeller; Otherwise, the motor is controlled to stop running.

4. The method according to claim 3, characterized in that Along the radial direction of the first stator and / or the second stator, positions of the first three-phase winding correspond one-to-one to positions of the second three-phase winding.

5. The method according to claim 4, characterized in that If there are at most N-1 faulty three-phase windings in the first stator or the second stator, using the normal three-phase windings in the first stator and the second stator to control the suspension and rotation of the impeller includes: If there are at most N-1 faulty three-phase windings in the first three-phase windings, a second suspension current is applied to the remaining normal first three-phase windings in the first stator to control the suspension of the impeller, and a second rotation current is applied to the second three-phase winding to control the rotation of the impeller; If there are at most N-1 faulty three-phase windings in the second three-phase windings, the second suspension current is applied to the remaining normal first three-phase windings in the second stator to control the suspension of the impeller, and the second rotation current is applied to the first three-phase winding to control the rotation of the impeller.

6. The method according to claim 4, characterized in that If there are at most 2N-1 faulty three-phase windings in the first stator and the second stator, using the faulty three-phase windings to control the suspension of the impeller and using the normal three-phase windings to control the rotation of the impeller includes: If the first three-phase windings in the first stator are all the faulty three-phase windings and there are N target normal winding units, a second suspension current is applied to the N target normal winding units to control the suspension of the impeller, and a second rotation current is applied to the second stator to control the rotation of the impeller, and the N target normal winding units are respectively normal same-phase winding units in the faulty three-phase windings; If the first three-phase windings in the first stator are all the faulty three-phase windings, and the N target normal winding units do not exist in the first stator at the same time, N target normal winding units are determined from the faulty three-phase winding units and the second three-phase windings, the second suspension current is applied to the N target normal winding units to control the suspension of the impeller, and the second rotation current is applied to the target second three-phase winding to control the rotation of the impeller, the N target normal winding units are respectively normal same-phase winding units in the first three-phase winding and the second three-phase winding, and the target second three-phase winding is the second three-phase winding that does not include the target normal winding unit; If all the first three-phase windings in the first stator and at most N-1 second three-phase windings in the second stator are the faulty three-phase windings, and there are the N target normal winding units, then the second suspension current is applied to the N target normal winding units to control the suspension of the impeller, and the second rotation current is applied to the normal second three-phase windings in the second stator to control the rotation of the impeller; Otherwise, the motor is controlled to stop running.

7. The method according to claim 6, characterized in that When N=2, the N target normal winding units are spaced 180 degrees apart from each other; when N=3, the N target normal winding units are spaced 120 degrees apart from each other.

8. The method according to any one of claims 5 to 7, characterized in that: The second suspension current is twice the first suspension current, and the second rotation current is twice the first rotation current.

9. A control unit for a ventricular assist device, characterized in that: The control unit includes one or more processors, the ventricular assist device includes a housing, an impeller disposed in the housing, and a motor driving the impeller to suspend and rotate, the motor includes a rotor fixed to the impeller and a stator driving the rotor to suspend and rotate, the stator includes a first stator and a second stator, the first stator and the second stator each include 3N winding units, every three adjacent winding units in the first stator form a first three-phase winding, every three adjacent winding units in the second stator form a second three-phase winding, and N is a positive integer; the rotor includes a first rotor and a second rotor, the first rotor and the second rotor are both annular, and the first rotor and the second rotor are concentrically and coaxially arranged; along the central axis direction of the first rotor, the position of the first stator corresponds to the position of the first rotor, which is used to drive the first rotor to suspend and / or rotate; along the central axis direction of the second rotor, the position of the second stator corresponds to the position of the second rotor, which is used to drive the second rotor to suspend and / or rotate; the one or more processors are used to: A first suspension current and a first rotation current are simultaneously applied to the first stator and the second stator to control the suspension rotation of the impeller; if a faulty three-phase winding is detected in the first stator and / or the second stator, the control strategy of the first stator and the second stator is re-determined according to the faulty three-phase winding, and the faulty three-phase winding is a three-phase winding with one or more faulty winding units.

10. A ventricular assist device, characterized in that: The ventricular assist device comprises: case; an impeller disposed in the housing; a motor driving the impeller to rotate in suspension, the motor comprising a rotor fixed to the impeller and a stator driving the rotor to rotate in suspension, the stator comprising a first stator and a second stator, the first stator and the second stator each comprising 3N winding units, every three adjacent winding units in the first stator forming a first three-phase winding, and every three adjacent winding units in the second stator forming a second three-phase winding, wherein N is a positive integer; A control unit connected to the first stator and the second stator, the control unit being configured to execute the steps in the method according to any one of claims 1 to 8.

11. A medical device, characterized in that: The method comprises a processor, a memory and a communication interface, wherein the memory stores one or more programs, and the one or more programs are executed by the processor, and the one or more programs include instructions for executing the steps in the method according to any one of claims 1 to 8.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute the steps of the method according to any one of claims 1 to 8.

Images