Self-adaptive control system and device for ventricular assist equipment

Abstract

The embodiment of the invention provides a self-adaptive control system and device for ventricular assist equipment, and relates to the technical field of medical instruments.The self-adaptive control device executes the following self-adaptive control method when controlling the ventricular assist equipment: obtaining the current pump blood flow of the ventricular assist equipment; estimating a fault state quantity of the ventricular assist device based on a flow deviation value of a current pump blood flow deviating from an expected pump blood flow, the expected pump blood flow representing a pump blood flow which is expected to be reached by the ventricular assist device at a current rotating speed; based on the fault state quantity, calculating a target rotating speed compensation quantity of the current rotating speed of the ventricular assist device; and compensating the current rotating speed according to the target rotating speed compensation amount, and controlling the ventricular assist equipment to operate according to the compensated rotating speed. By applying the scheme provided by the embodiment of the invention, stable operation of the ventricular auxiliary equipment can be realized.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and particularly to an adaptive control system and device for a ventricular assist device. Background Art

[0002] A ventricular assist device is a device that provides support or assistance functions for patients suffering from heart-related diseases, such as heart failure patients, and is used to assist the heart in pumping blood to other parts of the body. When the ventricular assist device operates in the heart, it is easily affected by various complex factors such as the blood environment and motor efficiency, resulting in unstable operation of the ventricular assist device. Summary of the Invention

[0003] The purpose of the embodiments of this application is to provide an adaptive control system and device for a ventricular assist device to achieve stable operation of the ventricular assist device. The specific technical solutions are as follows: In a first aspect, the embodiments of this application provide an adaptive control system for a ventricular assist device. The adaptive control system includes a ventricular assist device and an adaptive control device for the ventricular assist device. When the adaptive control device controls the ventricular assist device, it executes the following adaptive control method: Obtain the current pump blood flow of the ventricular assist device, and estimate the fault state quantity of the ventricular assist device based on the flow deviation value of the current pump blood flow deviating from the desired pump blood flow, where the desired pump blood flow represents the pump blood flow that the ventricular assist device is expected to achieve at the current rotational speed; Based on the fault state quantity, calculate the target rotational speed compensation quantity of the current rotational speed of the ventricular assist device; Compensate the current rotational speed according to the target rotational speed compensation quantity, and control the ventricular assist device to operate at the compensated rotational speed.

[0004] In a second aspect, the embodiments of this application provide an adaptive control device for a ventricular assist device. The device includes: A state estimation module, configured to obtain the current pump blood flow of the ventricular assist device, and estimate the fault state quantity of the ventricular assist device based on the flow deviation value of the current pump blood flow deviating from the desired pump blood flow, where the desired pump blood flow represents the pump blood flow that the ventricular assist device is expected to achieve at the current rotational speed; A compensation calculation module, configured to calculate the target rotational speed compensation quantity of the current rotational speed of the ventricular assist device based on the fault state quantity; A rotational speed control module, configured to compensate the current rotational speed according to the target rotational speed compensation quantity, and control the ventricular assist device to operate at the compensated rotational speed.

[0005] In a third aspect, an embodiment of the present application provides an electronic medical device, including a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete communication with each other through the communication bus; The memory is used to store a computer program; The processor is configured to implement the adaptive control method described in the first aspect above when executing the program stored on the memory.

[0006] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the adaptive control method described in the first aspect above is implemented.

[0007] As can be seen from the above, by applying the solution provided by the embodiment of the present application, according to the flow deviation value of the current pump blood flow of the ventricular assist device deviating from the desired pump blood flow, the fault state quantity is estimated, and then the target speed compensation quantity is calculated. The fault state quantity reflects the impact of the current fault of the ventricular assist device on the device operation from the perspective of pump blood flow. Compensating the current speed according to the target speed compensation quantity calculated according to the above fault state quantity takes into account the current real-time pump blood flow situation of the device, ensures the stable operation of the ventricular assist device, and realizes high-precision adaptive control.

[0008] Moreover, since the flow deviation value can reflect the current real-time operation state of the ventricular assist device, estimating the fault state quantity using the flow deviation value takes into account the real-time operation state of the device, so that the estimated fault state quantity can accurately represent the impact of the fault of the ventricular assist device on the device operation. Furthermore, based on the above fault state quantity, the target speed compensation quantity can be accurately calculated, thereby performing accurate speed compensation and further improving the accuracy of adaptive control.

[0009] Of course, implementing any product or method of the present application does not necessarily require achieving all the above advantages simultaneously. Description of the Drawings

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other embodiments can also be obtained based on these drawings.

[0011] Figure 1a It is a schematic structural diagram of an adaptive control system provided by an embodiment of the present application; Figure 1b It is a schematic structural diagram of a ventricular assist device provided by an embodiment of the present application; Figure 2Schematic flow diagram of the first adaptive control method provided by the embodiments of the present application; Figure 3 Schematic flow diagram of the second adaptive control method provided by the embodiments of the present application; Figure 4 Schematic flow diagram of the third adaptive control method provided by the embodiments of the present application; Figure 5 Schematic flow diagram of the fourth adaptive control method provided by the embodiments of the present application; Figure 6 Schematic structural diagram of the first adaptive control device for a ventricular assist device provided by the embodiments of the present application; Figure 7 Schematic structural diagram of the second adaptive control device for a ventricular assist device provided by the embodiments of the present application; Figure 8 Schematic structural diagram of the third adaptive control device for a ventricular assist device provided by the embodiments of the present application; Figure 9 Schematic structural diagram of the fourth adaptive control device for a ventricular assist device provided by the embodiments of the present application; Figure 10 Schematic structural diagram of an electronic medical device provided by the embodiments of the present application. Detailed implementation manners

[0012] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the scope of protection of the present application.

[0013] First, the adaptive control system provided by the present application will be described.

[0014] Figure 1a The system structural diagram of the adaptive control system is shown, including a ventricular assist device 11 and an adaptive control device 12 for the ventricular assist device.

[0015] The ventricular assist device is used to assist the patient's heart in pumping blood. The ventricular assist device can be a percutaneous interventional ventricular catheter pump (pVAD), such as a left ventricular catheter pump or a right ventricular catheter pump, or an implantable ventricular assist device (LVAD), such as a left ventricular assist device, a right ventricular assist device, a biventricular assist device, etc.

[0016] Taking the left ventricular catheter pump as an example of the ventricular assist device, in combination with Figure 1b for illustration.

[0017] The left ventricular catheter pump includes a motor 101, an impeller 102, a blood outlet 103, and a blood inlet 104. The high-speed rotation of the motor 101 drives the impeller 102 to rotate, generating suction to pump blood from the blood inlet 104 into the blood outlet 103. The blood inlet 104 is located in the patient's left ventricle, and the blood outlet 103 is located in the patient's aorta, achieving the assistance of the patient's heart in pumping blood.

[0018] The adaptive control device of the ventricular assist device controls the operation of the ventricular assist device while monitoring physiological parameters, device operation parameters, etc. The above-mentioned adaptive control device is integrated in an electronic medical device located outside the patient's body.

[0019] When the above-mentioned adaptive control device controls the ventricular assist device, it executes the following adaptive control scheme.

[0020] See Figure 2 , Figure 2 which is a schematic flowchart of the first adaptive control method provided by the embodiment of the present application. The above method includes the following steps S201 - S203.

[0021] Step S201: Obtain the current blood pump flow rate of the ventricular assist device, and estimate the fault state quantity of the ventricular assist device based on the flow deviation value of the current blood pump flow rate deviating from the desired blood pump flow rate.

[0022] The above-mentioned current blood pump flow rate represents the blood flow rate currently pumped by the ventricular assist device. The current blood pump flow rate can measure the current working performance of the ventricular assist device. The current blood pump flow rate can be obtained by converting the current actual current of the ventricular assist device according to the corresponding relationship between the current and the flow rate.

[0023] The desired blood pump flow rate represents the blood pump flow rate that is expected to be achieved by the ventricular assist device at the current rotation speed. The above-mentioned desired blood pump flow rate can determine the blood pump flow rate corresponding to the current rotation speed according to the preset corresponding relationship between the rotation speed and the blood pump flow rate, and use it as the desired blood pump flow rate.

[0024] The flow deviation value characterizes the difference between the current blood pump flow rate and the desired blood pump flow rate. The current blood pump flow rate characterizes the current real-time operating performance of the ventricular assist device, and the desired blood pump flow rate characterizes the ideal performance of the ventricular assist device. The difference between the two can more accurately reflect the current real-time operating state of the ventricular assist device.

[0025] The fault state quantity is used to characterize the degree of influence of the current fault of the ventricular assist device on the device operation. When the fault state quantity is higher, it means the influence degree is higher; when the fault state quantity is lower, it means the influence degree is lower.

[0026] The ventricular assist device operates inside the patient's heart and is affected by various complex factors such as the influence of blood, the patient's physiological state, and the operating time. Therefore, various faults are likely to occur in the ventricular assist device, including but not limited to a decrease in motor efficiency, impeller sticking or blockage, abnormal fluctuations in rotational speed, sensor drift or failure, etc. These faults have more or less impact on the operation of the device, and the fault state quantity is used to measure the above impacts.

[0027] Since the flow deviation value can reflect the current real-time operating state of the ventricular assist device, estimating the fault state quantity using the flow deviation value takes into account the real-time operating state of the device, making the estimated fault state quantity able to accurately characterize the impact of the fault of the ventricular assist device on the device operation.

[0028] The first implementation manner of estimating the fault state quantity is: according to the corresponding relationship set in advance, determine the fault state quantity corresponding to the flow deviation value, and the above corresponding relationship represents the corresponding relationship between the flow deviation and the fault state.

[0029] The second implementation manner of estimating the fault state quantity is: estimate the fault state quantity according to the following expression: Where, is the fault state quantity, is the current pump blood flow, is the desired pump blood flow, is the preset noise compensation value, are the preset adjustment parameters respectively, is expressed as the derivative of.

[0030] According to the above expression, using an adaptive estimation law method, such as the Kalman filter or the recursive least squares method, calculate the fault state quantity.

[0031] Step S202: Based on the fault state quantity, calculate the target speed compensation quantity of the current speed of the ventricular assist device.

[0032] One implementation manner of calculating the target speed compensation quantity is: determine the speed compensation quantity corresponding to the fault state quantity as the target speed compensation quantity.

[0033] Other implementation manners of calculating the target speed compensation quantity can be referred to the subsequent Figure 3 corresponding embodiments and will not be elaborated here.

[0034] Step S203: According to the target speed compensation quantity, compensate the current speed and control the ventricular assist device to operate at the compensated speed.

[0035] One implementation of compensating for the current rotational speed is as follows: calculate the sum value between the target rotational speed compensation amount and the current rotational speed, and determine the calculated value as the compensated rotational speed.

[0036] As can be seen from the above, by applying the solution provided in this embodiment, according to the flow deviation value of the current pump blood flow of the ventricular assist device deviating from the desired pump blood flow, the fault state quantity is estimated, and then the target rotational speed compensation amount is calculated. The fault state quantity reflects the impact of the current fault of the ventricular assist device on the device operation from the perspective of pump blood flow. Compensating the current rotational speed according to the target rotational speed compensation amount calculated according to the above-mentioned fault state quantity takes into account the current real-time pump blood flow situation of the device, ensures the stable flow output of the ventricular assist device, and realizes high-precision adaptive control.

[0037] Moreover, since the flow deviation value can reflect the current real-time operation state of the ventricular assist device, using the flow deviation value to estimate the fault state quantity takes into account the real-time operation state of the device, enables the estimated fault state quantity to accurately characterize the impact of the fault of the ventricular assist device on the device operation, and then based on the above-mentioned fault state quantity, the target rotational speed compensation amount can be accurately calculated, so as to perform accurate rotational speed compensation and further improve the accuracy of adaptive control.

[0038] The foregoing Figure 2 In the corresponding embodiment, before step S201, the following step S301 may further be included. Based on this, see Figure 3 , Figure 3 is the schematic flowchart of the second adaptive control method provided by the embodiment of the present application. The above method includes the following steps S301-S304.

[0039] Step S301: Obtain the current left ventricular pressure of the patient, and determine whether the current left ventricular pressure is within a preset abnormal pressure range. If so, execute step S302; if not, return to execute the step of obtaining the current left ventricular pressure of the patient described above.

[0040] The preset abnormal pressure range is preset, and the above preset abnormal pressure range includes the range data of the left ventricular abnormal pressure.

[0041] When the left ventricular pressure is within the abnormal pressure range, it indicates that the fault of the ventricular assist device affects the physiological state of the patient. In this case, to ensure the life, health and safety of the patient, it is necessary to perform adaptive compensation on the current rotational speed, that is, execute the subsequent steps S302-S304.

[0042] When the left ventricular pressure is not within the abnormal pressure range, it indicates that the failure of the ventricular assist device has not affected the patient's physiological state. In this case, to ensure the stable operation of the current ventricular assist device, control the ventricular assist device to continue operating at the current rotational speed, and iteratively execute obtaining the patient's current left ventricular pressure until the left ventricular pressure is within the preset abnormal pressure range.

[0043] Step S302: Obtain the current pump blood flow of the ventricular assist device, and estimate the failure state quantity of the ventricular assist device based on the flow deviation value of the current pump blood flow from the desired pump blood flow.

[0044] Among them, the above-mentioned desired pump blood flow represents the pump blood flow that the desired ventricular assist device can achieve at the current rotational speed.

[0045] Step S303: Calculate the target rotational speed compensation quantity of the current rotational speed of the ventricular assist device based on the failure state quantity.

[0046] Step S304: Compensate the current rotational speed according to the target rotational speed compensation quantity, and control the ventricular assist device to operate at the compensated rotational speed.

[0047] It can be seen that in this embodiment, by using the physiological feedback of the patient's left ventricular pressure, when the left ventricular pressure shows abnormality, the ventricular assist device is adaptively controlled, and when the left ventricular pressure does not show abnormality, the current stable operation of the ventricular assist device is ensured, improving the safety and stability of the ventricular assist device.

[0048] The foregoing Figure 2 In the corresponding embodiment, when calculating the target rotational speed compensation quantity in step S202, in addition to the implementation methods mentioned, it can also be implemented by the following steps S402 - S403. Based on this, see Figure 4 , Figure 4 FIG. is a schematic flowchart of a third adaptive control method provided by an embodiment of the present application. The above method includes the following steps S401 - S404.

[0049] Step S401: Obtain the current pump blood flow of the ventricular assist device, and estimate the failure state quantity of the ventricular assist device based on the flow deviation value of the current pump blood flow from the desired pump blood flow.

[0050] Among them, the desired pump blood flow represents the pump blood flow that the desired ventricular assist device can achieve at the current rotational speed.

[0051] Step S402: Determine the rotational speed compensation gain corresponding to the failure state quantity, and calculate the product between the rotational speed compensation gain and the failure state quantity as the first rotational speed compensation quantity.

[0052] The first implementation manner for determining the above rotational speed compensation gain is as follows: calculate the product of a first preset coefficient and a fault state quantity; determine the sum value obtained by adding the calculated product and the initial compensation gain as the rotational speed compensation gain.

[0053] The above first preset coefficient and initial compensation gain are both preset in advance.

[0054] The second implementation manner for determining the above rotational speed compensation gain is as follows: determine the compensation gain corresponding to the fault state quantity according to the corresponding relationship between the preset fault state and the compensation gain, and use it as the rotational speed compensation gain.

[0055] Since the rotational speed compensation gain corresponds to the fault state quantity, when the fault state quantity is larger, the rotational speed compensation gain is larger; when the fault state quantity is smaller, the rotational speed compensation gain is smaller. Therefore, the rotational speed compensation amount calculated using the above rotational speed compensation gain is more suitable for the current fault state quantity, thereby achieving accurate rotational speed compensation.

[0056] Step S403: Calculate the target rotational speed compensation amount of the current rotational speed of the ventricular assist device based on the first rotational speed compensation amount.

[0057] One implementation manner for calculating the target rotational speed compensation amount is as follows: calculate the sum value of the first rotational speed compensation amount and the preset rotational speed error, and determine the calculated sum value as the target rotational speed compensation amount.

[0058] For other implementation manners of calculating the target rotational speed compensation amount, reference can be made to the subsequent Figure 5 corresponding embodiments.

[0059] Step S404: Compensate the current rotational speed according to the target rotational speed compensation amount, and control the ventricular assist device to operate at the compensated rotational speed.

[0060] The foregoing Figure 4 In the corresponding embodiment, before step S403, the following step S503 may further be included. Based on this, reference is made to Figure 5 , Figure 5 FIG. is a schematic flowchart of a fourth adaptive control method provided by an embodiment of the present application. The above method includes the following steps S501 - S504.

[0061] Step S501: Obtain the current pump blood flow of the ventricular assist device, and estimate the fault state quantity of the ventricular assist device based on the flow deviation value of the current pump blood flow deviating from the desired pump blood flow.

[0062] Among them, the desired pump blood flow represents the pump blood flow that the ventricular assist device is expected to achieve at the current rotational speed.

[0063] Step S502: Determine the rotational speed compensation gain corresponding to the fault status quantity, and calculate the product between the rotational speed compensation gain and the fault status quantity as the first rotational speed compensation quantity.

[0064] Step S503: Calculate the pressure difference between the current left ventricular pressure of the patient and the preset pressure threshold, and determine the product between the pressure difference and the second preset coefficient as the second rotational speed compensation quantity.

[0065] The above preset pressure threshold and second preset coefficient are both preset in advance.

[0066] Step S504: Based on the first rotational speed compensation quantity and the second rotational speed compensation quantity, calculate the target rotational speed compensation quantity for the current rotational speed of the ventricular assist device.

[0067] One implementation of calculating the target rotational speed compensation quantity is: calculate the sum value between the first rotational speed compensation quantity and the second rotational speed compensation quantity as the target rotational speed compensation quantity.

[0068] It can be seen that the target rotational speed compensation quantity not only considers the pump blood flow of the ventricular assist device, but also considers the left ventricular pressure information. The calculated target rotational speed compensation quantity has higher accuracy, further improving the adaptive control accuracy of the ventricular assist device.

[0069] Step S505: Compensate the current rotational speed according to the target rotational speed compensation quantity, and control the ventricular assist device to operate at the compensated rotational speed.

[0070] Corresponding to the above heart adaptive control method, the embodiment of the present application further provides an adaptive control device for a ventricular assist device.

[0071] See Figure 6 , Figure 6 which is the structural schematic diagram of the first adaptive control device for a ventricular assist device provided by the embodiment of the present application. The above device includes the following 601-603.

[0072] The state estimation module 601 is configured to obtain the current pump blood flow of the ventricular assist device, and estimate the fault status quantity of the ventricular assist device based on the flow deviation value of the current pump blood flow deviating from the expected pump blood flow, where the expected pump blood flow represents the pump blood flow that the ventricular assist device is expected to achieve at the current rotational speed; The compensation calculation module 602 is configured to calculate the target rotational speed compensation quantity for the current rotational speed of the ventricular assist device based on the fault status quantity; The rotational speed control module 603 is configured to compensate the current rotational speed according to the target rotational speed compensation quantity, and control the ventricular assist device to operate at the compensated rotational speed.

[0073] As can be seen from the above, by applying the solution provided in this embodiment, according to the flow deviation value of the current pump blood flow of the ventricular assist device deviating from the desired pump blood flow, the fault state quantity is estimated, and then the target speed compensation quantity is calculated. The fault state quantity reflects the impact of the current fault of the ventricular assist device on the device operation from the perspective of pump blood flow. Compensating the current speed according to the target speed compensation quantity calculated according to the above-mentioned fault state quantity takes into account the current real-time pump blood flow situation of the device, ensures the stable flow output of the ventricular assist device, and realizes high-precision adaptive control.

[0074] Moreover, since the flow deviation value can reflect the current real-time operation state of the ventricular assist device, using the flow deviation value to estimate the fault state quantity takes into account the real-time operation state of the device, enabling the estimated fault state quantity to accurately characterize the impact of the fault of the ventricular assist device on the device operation. Furthermore, based on the above-mentioned fault state quantity, the target speed compensation quantity can be accurately calculated, thereby performing accurate speed compensation and further improving the accuracy of adaptive control.

[0075] See Figure 7 , Figure 7 which is a schematic structural diagram of the second adaptive control device for a ventricular assist device provided in an embodiment of the present application. The above-mentioned device includes the following 701-704.

[0076] A pressure judgment module 701, configured to obtain the current left ventricular pressure of the patient and judge whether the current left ventricular pressure is within a preset abnormal pressure range; if so, trigger the state estimation module, if not, iteratively trigger the pressure judgment module.

[0077] A state estimation module 702, configured to obtain the current pump blood flow of the ventricular assist device and estimate the fault state quantity of the ventricular assist device based on the flow deviation value of the current pump blood flow deviating from the desired pump blood flow, where the desired pump blood flow represents the pump blood flow that the ventricular assist device is expected to achieve at the current speed; A compensation calculation module 703, configured to calculate the target speed compensation quantity of the current speed of the ventricular assist device based on the fault state quantity; A speed control module 704, configured to compensate the current speed according to the target speed compensation quantity and control the ventricular assist device to operate at the compensated speed.

[0078] It can be seen that in this embodiment, by using the physiological feedback of the patient's left ventricular pressure, when the left ventricular pressure shows abnormality, the ventricular assist device is adaptively controlled, and when the left ventricular pressure does not show abnormality, the current stable operation of the ventricular assist device is ensured, improving the safety and stability of the ventricular assist device.

[0079] See Figure 8 , Figure 8Schematic structural diagram of the third adaptive control device for a ventricular assist device provided by an embodiment of the present application. The above device includes the following 801-804.

[0080] A state estimation module 801, configured to obtain the current pump blood flow rate of the ventricular assist device, and estimate a fault state quantity of the ventricular assist device based on a flow deviation value of the current pump blood flow rate deviating from a desired pump blood flow rate, where the desired pump blood flow rate represents the pump blood flow rate that the desired ventricular assist device can reach at the current rotational speed; A first compensation calculation sub-module 802, configured to determine a rotational speed compensation gain corresponding to the fault state quantity, and calculate a product between the rotational speed compensation gain and the fault state quantity as a first rotational speed compensation quantity; A second compensation calculation sub-module 803, configured to calculate a target rotational speed compensation quantity of the current rotational speed of the ventricular assist device based on the first rotational speed compensation quantity.

[0081] A rotational speed control module 804, configured to compensate the current rotational speed according to the target rotational speed compensation quantity, and control the ventricular assist device to operate at the compensated rotational speed.

[0082] Since the rotational speed compensation gain corresponds to the fault state quantity, when the fault state quantity is larger, the rotational speed compensation gain is larger, and when the fault state quantity is smaller, the rotational speed compensation gain is smaller. Then, the rotational speed compensation quantity calculated using the above rotational speed compensation gain is more adapted to the current fault state quantity, thereby achieving accurate rotational speed compensation.

[0083] In an embodiment of the present application, the above first compensation calculation sub-module is specifically configured to calculate a product between a first preset coefficient and the fault state quantity; and determine a sum value between the calculated product and an initial compensation gain as the rotational speed compensation gain.

[0084] See Figure 9 , Figure 9 Schematic structural diagram of the fourth adaptive control device for a ventricular assist device provided by an embodiment of the present application. The above device includes the following 901-905.

[0085] A state estimation module 901, configured to obtain the current pump blood flow rate of the ventricular assist device, and estimate a fault state quantity of the ventricular assist device based on a flow deviation value of the current pump blood flow rate deviating from a desired pump blood flow rate, where the desired pump blood flow rate represents the pump blood flow rate that the desired ventricular assist device can reach at the current rotational speed; A first compensation calculation sub-module 902, configured to determine a rotational speed compensation gain corresponding to the fault state quantity, and calculate a product between the rotational speed compensation gain and the fault state quantity as a first rotational speed compensation quantity; The third compensation calculation sub-module 903 is configured to calculate the pressure difference between the patient's current left ventricular pressure and a preset pressure threshold before the second compensation calculation sub-module, and determine the product of the pressure difference and a second preset coefficient as the second rotational speed compensation amount. The second compensation calculation sub-module 904 is specifically configured to calculate a target rotational speed compensation amount for the current rotational speed of the ventricular assist device based on the first rotational speed compensation amount and the second rotational speed compensation amount.

[0086] The rotational speed control module 905 is configured to compensate the current rotational speed according to the target rotational speed compensation amount, and control the ventricular assist device to operate at the compensated rotational speed.

[0087] It can be seen that the target rotational speed compensation amount takes into account not only the pump blood flow of the ventricular assist device, but also the left ventricular pressure information. The calculated target rotational speed compensation amount has higher accuracy, further improving the adaptive control accuracy of the ventricular assist device.

[0088] In an embodiment of the present application, the above state estimation module is specifically configured to estimate the fault state quantity according to the following expression: Where is the fault state quantity, is the current pump blood flow, is the desired pump blood flow, is a preset noise compensation value, are preset adjustment parameters respectively.

[0089] Corresponding to the above adaptive control method of the ventricular assist device, an embodiment of the present application provides an electronic medical device. Refer to Figure 10 Figure 10 FIG. is a schematic structural diagram of an electronic medical device provided by an embodiment of the present application. The above electronic medical device includes a processor 1001, a communication interface 1002, a memory 1003, and a communication bus 1004. Among them, the processor 1001, the communication interface 1002, and the memory 1003 communicate with each other through the communication bus 1004; The memory 1003 is used to store a computer program; When the processor 1001 is configured to execute the program stored on the memory 1003, it implements the steps of the above adaptive control method of the ventricular assist device.

[0090] ​The communication bus mentioned in the above controller may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, only a thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0091] The communication interface is used for communication between the above controller and other devices.

[0092] The memory may include a Random Access Memory (RAM), and may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0093] The above-mentioned processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0094] In another embodiment provided by the present application, there is also provided a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, it implements the above-mentioned adaptive control method of the ventricular assist device provided by the embodiments of the present application.

[0095] In another embodiment provided by the present application, there is also provided a computer program product containing instructions, which when running on a computer, causes the computer to implement the above-mentioned adaptive control method of the ventricular assist device provided by the embodiments of the present application when executed.

[0096] As can be seen from the above, by applying the solution provided in this embodiment, a fault state quantity is estimated according to the flow deviation value of the current pump blood flow of the ventricular assist device deviating from the desired pump blood flow, and then a target speed compensation quantity is calculated. The fault state quantity reflects the impact of the current fault of the ventricular assist device on the device operation from the perspective of pump blood flow. Compensating the current speed according to the target speed compensation quantity calculated according to the above-mentioned fault state quantity takes into account the current real-time pump blood flow condition of the device, ensures the stable flow output of the ventricular assist device, and realizes high-precision adaptive control.

[0097] Moreover, since the flow deviation value can reflect the current real-time operation state of the ventricular assist device, estimating the fault state quantity using the flow deviation value takes into account the real-time operation state of the device, enabling the estimated fault state quantity to accurately represent the impact of the fault of the ventricular assist device on the device operation. Furthermore, based on the above-mentioned fault state quantity, the target speed compensation quantity can be accurately calculated, thereby performing accurate speed compensation and further improving the accuracy of adaptive control.

[0098] In the above embodiment, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)).

[0099] It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0100] Each embodiment in this specification is described in a related manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the device, the electronic medical device, and the computer-readable storage medium, since they are basically similar to the method embodiments, the description is relatively simple, and reference can be made to the relevant parts of the method embodiments for the related content.

[0101] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. An adaptive control system for a ventricular assist device, characterized in that: The adaptive control system includes a ventricular assist device and an adaptive control device for the ventricular assist device, and the adaptive control device performs the following adaptive control method when controlling the ventricular assist device: Acquire a current blood pumping flow rate of the ventricular assist device, and estimate a fault state quantity of the ventricular assist device based on a flow deviation value of the current blood pumping flow rate from an expected blood pumping flow rate, wherein the expected blood pumping flow rate represents a blood pumping flow rate that the ventricular assist device is expected to achieve at a current rotation speed; Calculating a target speed compensation amount for a current speed of the ventricular assist device based on the fault state amount; The current rotational speed is compensated according to the target rotational speed compensation amount, and the ventricular assist device is controlled to operate at the compensated rotational speed.

2. The system according to claim 1, characterized in that Before obtaining the current blood pumping flow of the ventricular assist device, the method further includes: Acquiring the patient's current left ventricular pressure, and determining whether the current left ventricular pressure is within a preset abnormal pressure range; If yes, executing the step of obtaining the current blood pumping flow of the ventricular assist device; If not, return to execute the step of obtaining the patient's current left ventricular pressure.

3. The system according to claim 1, characterized in that The step of calculating the target speed compensation amount of the current speed of the ventricular assist device based on the fault state amount includes: Determine a rotation speed compensation gain corresponding to the fault state quantity, and calculate a product between the rotation speed compensation gain and the fault state quantity as a first rotation speed compensation quantity; Based on the first rotational speed compensation amount, a target rotational speed compensation amount for the current rotational speed of the ventricular assist device is calculated.

4. The system according to claim 3, characterized in that The determining of the speed compensation gain corresponding to the fault state quantity includes: Calculating the product between the first preset coefficient and the fault state quantity; The sum of the calculated product and the initial compensation gain is determined as the speed compensation gain.

5. The system according to claim 3 or 4, characterized in that: Before calculating the target speed compensation amount of the current speed of the ventricular assist device based on the first speed compensation amount, the method further includes: Calculating the pressure difference between the patient's current left ventricular pressure and a preset pressure threshold, and determining the product of the pressure difference and a second preset coefficient as a second rotation speed compensation amount; The step of calculating a target speed compensation amount for a current speed of the ventricular assist device based on the first speed compensation amount includes: A target speed compensation amount for the current speed of the ventricular assist device is calculated based on the first speed compensation amount and the second speed compensation amount.

6. The system according to any one of claims 1 to 4, characterized in that: The estimating the fault state quantity of the motor of the ventricular assist device based on the flow deviation value of the current pumping blood flow deviation from the expected pumping blood flow includes: The fault state quantity is estimated according to the following expression: in, is the fault state quantity, is the current blood flow rate, is the expected pump blood flow rate, is the preset noise compensation value, They are respectively preset adjustment parameters.

7. An adaptive control device for a ventricular assist device, characterized in that: The device comprises: a state estimation module, configured to obtain a current blood pumping flow rate of the ventricular assist device, and estimate a fault state quantity of the ventricular assist device based on a flow deviation value of the current blood pumping flow rate from an expected blood pumping flow rate, wherein the expected blood pumping flow rate represents a blood pumping flow rate that the ventricular assist device is expected to achieve at a current rotation speed; a compensation calculation module, configured to calculate a target speed compensation amount of a current speed of the ventricular assist device based on the fault state amount; The speed control module is used to compensate the current speed according to the target speed compensation amount, and control the ventricular assist device to operate at the compensated speed.

8. The device according to claim 7, characterized in that The device also includes A pressure judgment module, used for obtaining the patient's current left ventricular pressure before the state estimation module, and judging whether the current left ventricular pressure is within a preset abnormal pressure range; If yes, the state estimation module is triggered; if no, the pressure judgment module is iteratively triggered.

9. The device according to claim 7, characterized in that The compensation calculation module comprises: A first compensation calculation submodule, used for determining a rotation speed compensation gain corresponding to the fault state quantity, and calculating a product between the rotation speed compensation gain and the fault state quantity as a first rotation speed compensation quantity; The second compensation calculation submodule is used to calculate a target speed compensation amount for a current speed of the ventricular assist device based on the first speed compensation amount.

10. An electronic medical device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, for implementing the adaptive control method according to any one of claims 1 to 6 when executing a program stored in a memory.

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