Dual-gear-pump in-vitro blood flow simulation device, method and system based on closed-loop feedback

Abstract

Disclosed in the present invention are a dual-gear-pump in-vitro blood flow simulation device, method and system based on closed-loop feedback. The device comprises a liquid source, a flow generator, a flow sensor, a simulated blood vessel and a controller, wherein an outlet of the liquid source is in communication with an inlet of the flow generator, an outlet of the flow generator is in communication with an inlet of the simulated blood vessel via the flow sensor, and an outlet of the simulated blood vessel is in communication with an inlet of the liquid source; and an input end of the controller is connected to an output end of the flow sensor, an output end of the controller is connected to a control end of the flow generator, and the controller performs step-by-step control on the flow generator in a closed-loop feedback control manner on the basis of the flow measured by the flow sensor. The device, method and system can match the output flow of a pump with a target flow waveform, and also have the characteristics of shorter time consumption and simple operation.

Description

Dual-gear pump extracorporeal blood flow simulation device, method and system based on closed-loop feedback Technical Field

[0001] The present invention belongs to the field of medical devices and relates to a double-gear pump extracorporeal blood flow simulation device, method and system based on closed-loop feedback. Background Art

[0002] To generate physiological pulsatile flow consistent with the human body's real-world conditions within the circulatory tubing of extracorporeal blood flow simulation devices, programmable control valves, programmable piston-cylinder systems, and programmable servo motor-gear pump systems have emerged since the 1990s. Compared to other control schemes, computer-controlled gear pumps with integrated servo motors operate continuously without any additional equipment, accurately replicating physiological waveforms. Furthermore, reversing the motor allows for easy re-enactment of the reflux process, making them ideal for simulating physiological pulsatile flow within extracorporeal circulation tubing.

[0003] Due to factors such as the pump's actual output flow rate range and accuracy, and pipeline flow resistance, the actual flow rate generated in the circulation pipeline often differs from the designed target flow rate. The traditional method involves continuous manual adjustment of the gear pump control signal, but this adjustment has significant limitations in both directionality and accuracy. The process is cumbersome, time-consuming, and the ultimate effect is difficult to guarantee. Furthermore, due to the large output per tooth of traditional single-gear pumps, the ability to reduce the error from the target flow rate during flow feedback adjustment is limited. Even after multiple iterations of the feedback adjustment process, it is still difficult to accurately reproduce the target flow waveform. Technical issues

[0004] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a dual-gear pump extracorporeal blood flow simulation device, method and system based on closed-loop feedback. The device, method and system can match the output flow of the pump with the target flow waveform, and at the same time have the characteristics of high accuracy, short time consumption and simple operation. Technical Solutions

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] In one aspect, the present invention provides an in vitro blood flow simulation device with a dual gear pump based on closed-loop feedback, comprising a liquid source, a flow generator, a flow sensor, a simulated blood vessel, and a controller;

[0007] The outlet of the liquid source is connected to the inlet of the flow generator, the outlet of the flow generator is connected to the inlet of the simulated blood vessel via the flow sensor, and the outlet of the simulated blood vessel is connected to the inlet of the liquid source;

[0008] The input end of the controller is connected to the output end of the flow sensor, and the output end of the controller is connected to the control end of the flow generator. The controller controls the flow generator step by step based on the closed-loop feedback control method according to the flow measured by the flow sensor.

[0009] The invention further improves the double gear pump extracorporeal blood flow simulation device based on closed-loop feedback in that:

[0010] The flow generator includes a main gear pump, a sub-gear pump, a first servo motor, a second servo motor, a first servo driver and a second servo driver, wherein the outlet of the liquid source is connected to the inlet of the simulated blood vessel via the main gear pump, the sub-gear pump and the flow sensor, the main gear pump and the sub-gear pump are connected in parallel, the output end of the first servo driver is connected to the control end of the first servo motor, the first servo motor is connected to the main gear pump, the output end of the second servo driver is connected to the control end of the second servo motor, the second servo motor is connected to the sub-gear pump, the output end of the controller is connected to the control end of the first servo motor and the control end of the second servo driver, and the first servo driver and the second servo driver are connected to the controller.

[0011] The liquid source includes a liquid storage tank, a one-way water pump and a stable liquid level water tank, wherein the outlet of the simulated blood vessel is connected to the inlet of the liquid storage tank, the outlet of the liquid storage tank is connected to the inlet of the stable liquid level water tank via the one-way water pump, and the outlet of the stable liquid level water tank is connected to the inlet of the main gear pump and the inlet of the auxiliary gear pump.

[0012] A detection device is provided between the simulated blood vessel and the liquid source.

[0013] The detection device includes a pressure gauge and simulated peripheral vascular impedance.

[0014] A plurality of throttle valves are arranged between the simulated blood vessel and the liquid source.

[0015] It also includes a mounting bracket, on which the liquid source, flow generator, flow sensor and simulated blood vessel are all mounted.

[0016] In a second aspect, the present invention provides a method for simulating blood flow in vitro using a dual-gear pump based on closed-loop feedback, comprising:

[0017] receiving an output flow of the flow generator detected by a flow sensor;

[0018] According to the output flow rate of the flow generator, the flow generator is controlled step by step based on a closed-loop feedback control method, wherein the liquid output by the flow generator enters the simulated blood vessel.

[0019] The method for simulating blood flow in vitro using a dual gear pump based on closed-loop feedback is further improved in the following aspects:

[0020] The process of controlling the flow generator step by step based on the closed-loop feedback control method according to the output flow of the flow generator is as follows:

[0021] calculating an average flow waveform of the flow output by the flow generator in a plurality of flow cycles, and calculating a residual error between the average flow waveform and a target flow waveform;

[0022] generating a control signal according to the residual;

[0023] The flow generator is controlled according to the control signal so that the root mean square error between each sampling point on the average flow waveform and each corresponding target flow on the target flow waveform is within a preset range.

[0024] The process of controlling the flow generator according to the control signal so that the root mean square error between each sampling point on the average flow waveform and each corresponding target flow on the target flow waveform is within a preset range is as follows:

[0025] Calculating the root mean square error between each sampling point on the average flow waveform and each corresponding target flow on the target flow waveform;

[0026] When the calculated root mean square error is greater than the first set value A, the main gear pump is controlled so that the root mean square error calculated in the next control cycle is less than the first preset value A;

[0027] When the calculated root mean square error is less than or equal to the first preset value A and greater than or equal to the second preset value B, the auxiliary gear pump is controlled so that the root mean square error calculated in the next control cycle is less than or equal to the first preset value A and less than the second preset value B;

[0028] When the calculated root mean square error is less than or equal to the first preset value A and less than the second preset value B, the operating state of the main gear pump and the auxiliary gear pump is maintained.

[0029] In a third aspect, the present invention provides an in vitro blood flow simulation system with a dual gear pump based on closed-loop feedback, comprising:

[0030] A receiving module, configured to receive the output flow of the flow generator detected by the flow sensor;

[0031] The control module is used to control the flow generator step by step based on the closed-loop feedback control method according to the output flow of the flow generator, wherein the liquid output by the flow generator enters the simulated blood vessel. Beneficial effects

[0032] The present invention has the following beneficial effects:

[0033] During the specific operation of the dual-gear pump extracorporeal blood flow simulation device, method and system based on closed-loop feedback described in the present invention, the liquid output by the liquid source is driven by the flow generator to enter the simulated blood vessel, and the controller detects the outlet flow of the flow generator through the flow sensor, and then controls the flow generator step by step based on the closed-loop feedback control method to adjust the outlet flow of the flow generator so that the output flow of the flow generator matches the target flow waveform. It should be noted that the present invention adopts a step-by-step control method to control the flow generator, which has high control accuracy, short time consumption and simple operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0035] FIG1 is a structural diagram of the device of the present invention;

[0036] FIG2 is a flow chart of the method of the present invention;

[0037] FIG3 is a system structure diagram of the present invention.

[0038] Among them, 1 is a stable liquid level tank, 2.1 is a main gear pump, 2.2 is a sub-gear pump, 3 is a flow sensor, 4 is a simulated blood vessel, 5 is a pressure gauge, 6 is a simulated peripheral vascular impedance, 7 is a throttle valve, 8 is a liquid storage tank, 9 is a one-way water pump, 10.1 is the first servo motor, 10.2 is the second servo motor, 11.1 is the first servo drive, 11.2 is the second servo drive, 12 is a controller, 121 is a receiving module, 122 is a control module, 1221 is a calculation module, 1222 is a generation module, and 1223 is an adjustment module. Modes for Carrying Out the Invention

[0039] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0040] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0041] The present invention is described in further detail below with reference to the accompanying drawings:

[0042] Example 1

[0043] Referring to Figure 1, the present invention discloses an extracorporeal blood flow simulation device with a dual-gear pump based on closed-loop feedback, including a liquid source, a flow generator, a flow sensor 3, a simulated blood vessel 4 and a controller 12; the outlet of the liquid source is connected to the inlet of the flow generator, the outlet of the flow generator is connected to the inlet of the simulated blood vessel 4 via the flow sensor 3, and the outlet of the simulated blood vessel 4 is connected to the inlet of the liquid source; the input end of the controller 12 is connected to the output end of the flow sensor 3, and the output end of the controller 12 is connected to the control end of the flow generator. The controller 12 controls the flow generator step by step using a closed-loop feedback control method according to the flow measured by the flow sensor 3.

[0044] During operation, the liquid output by the liquid source enters the simulated blood vessel 4 through the flow generator and the flow sensor 3. The flow sensor 3 includes a front flow sensor and a rear flow sensor. The liquid output by the simulated blood vessel 4 flows back into the flow generator. During this process, the controller 12 detects the output flow of the flow generator through the flow sensor 3, and then controls the flow generator step by step based on the output flow of the flow generator in a closed-loop feedback control manner, so that the output flow of the flow generator matches the target flow waveform, so as to improve the accuracy of the flow output and improve the test efficiency.

[0045] As a preferred embodiment of the present invention, the flow generator includes a main gear pump 2.1, a sub-gear pump 2.2, a first servo motor 10.1, a second servo motor 10.2, a first servo driver 11.1, and a second servo driver 11.2, wherein the outlet of the liquid source is connected to the inlet of the simulated blood vessel 4 via the main gear pump 2.1, the sub-gear pump 2.2, and the flow sensor 3; the main gear pump 2.1 and the sub-gear pump 2.2 are connected in parallel; the output end of the first servo driver 11.1 is connected to the control end of the first servo motor 10.1; the first servo motor 10.1 is connected to the main gear pump 2.1; the output end of the second servo driver 11.2 is connected to the control end of the second servo motor 10.2; the second servo motor 10.2 is connected to the sub-gear pump 2.2; the output end of the controller 12 is connected to the control end of the first servo motor 10.1 and the control end of the second servo driver 11.2; and the first servo driver 11.1 and the second servo driver 11.2 are connected to the controller 12.

[0046] During operation, the main gear pump 2.1 and the auxiliary gear pump 2.2 are used to extract liquid from the liquid source and deliver it to the simulated blood vessel 4 after passing through the flow sensor 3. During this process, the controller 12 controls the first servo motor 10.1 through the first servo driver 11.1 and the second servo motor 10.2 through the second servo driver 11.2 based on a closed-loop reaction control method. The first servo motor 10.1 and the second servo motor 10.2 drive the main gear pump 2.1 and the auxiliary gear pump 2.2 to adjust the output flow of the main gear pump 2.1 and the auxiliary gear pump 2.2. The combination of the main gear pump 2.1, the auxiliary gear pump 2.2, the first servo motor 10.1, the second servo motor 10.2, the first servo driver 11.1 and the second servo driver 11.2 has the characteristics of low cost and high adjustment efficiency, and can quickly adjust the output flow of the pump.

[0047] As a preferred solution of this embodiment, the liquid source includes a liquid storage tank 8, a one-way water pump 9 and a stable liquid level water tank 1, wherein the outlet of the simulated blood vessel 4 is connected to the inlet of the liquid storage tank 8, the outlet of the liquid storage tank 8 is connected to the inlet of the stable liquid level water tank 1 via the one-way water pump 9, and the outlet of the stable liquid level water tank 1 is connected to the inlet of the main gear pump 2.1 and the inlet of the auxiliary gear pump 2.2.

[0048] During operation, the liquid output from the simulated blood vessel 4 enters the liquid storage tank 8, the liquid output from the liquid storage tank 8 enters the stable liquid level water tank 1 through the one-way water pump 9, and the liquid output from the stable liquid level water tank 1 enters the main gear pump 2.1 and the auxiliary gear pump 2.2.

[0049] As a preferred solution of this embodiment, a detection device and several throttle valves 7 are provided between the simulated blood vessel 4 and the liquid source. Specifically, the detection device includes a pressure gauge 5 and a simulated peripheral blood vessel impedance 6.

[0050] During operation, the liquid output by the simulated blood vessel 4 enters the liquid storage tank 8 through the pressure gauge 5, the simulated peripheral blood vessel impedance 6 and a plurality of throttle valves 7.

[0051] As a preferred solution of this embodiment, this embodiment further includes a mounting bracket, and the liquid source, flow generator, flow sensor 3 and simulated blood vessel 4 are all mounted on the mounting bracket.

[0052] Specifically, the mounting bracket includes a support frame and a mounting platform arranged on the top of the support frame. The throttle valve 7, one-way water pump 9, liquid storage tank 8, servo motor 10 and servo driver 11 are located in the support frame, and the stable liquid level water tank 1, main gear pump 2.1, auxiliary gear pump 2.2, flow sensor 3, simulated blood vessel 4, pressure gauge 5 and simulated peripheral vascular impedance 6 are arranged on the mounting platform.

[0053] Correspondingly, referring to FIG2 , the present invention further discloses a method for simulating blood flow in vitro using a dual-gear pump based on closed-loop feedback. The method is implemented by the controller 12 and includes:

[0054] 1) receiving the output flow of the flow generator detected by the flow sensor 3;

[0055] Specifically, the flow sensor 3 detects the output flow of the flow generator and sends the output flow of the flow generator to the controller 12 .

[0056] 2) According to the output flow rate of the flow generator, the flow generator is controlled step by step based on a closed-loop feedback control method, wherein the liquid output by the flow generator enters the simulated blood vessel 4.

[0057] The operation process of step 2) is:

[0058] 21) calculating an average flow waveform of the flow output by the flow generator over a plurality of flow cycles, and calculating a residual error between the average flow waveform and a target flow waveform;

[0059] 22) generating a control signal according to the residual;

[0060] 23) Controlling the flow generator by means of the control signal so that the root mean square error between each sampling point of the average flow waveform and each corresponding target flow on the target flow waveform is within a preset range.

[0061] Specifically, when the calculated root mean square error is greater than the first set value A, the control signal of the main gear pump 2.1 is adjusted so that the root mean square error between each sampling point of the average flow waveform and each corresponding target flow on the target flow waveform is less than the first preset value A;

[0062] When the calculated root mean square error is less than or equal to the first preset value A and greater than or equal to the second preset value B, the control signal of the main gear pump 2.2 is adjusted so that the root mean square error between each sampling point of the average flow waveform and each corresponding target flow on the target flow waveform is less than or equal to the first preset value A and less than the second preset value B;

[0063] When the root mean square error between each sampling point of the average flow waveform and each corresponding target flow on the target flow waveform is less than or equal to the first preset value A and less than the second preset value B, the operation state of the main gear pump 2.1 and the auxiliary gear pump 2.2 is maintained.

[0064] Specifically, the controller 12 controls the first servo motor 10.1 through the first servo driver 11.1 according to the control signal to adjust the speed of the first servo motor 10.1. The controller 12 controls the second servo motor 10.2 through the second servo driver 11.2 according to the control signal to adjust the speed of the second servo motor 10.2 and then adjust the output flow of the main gear pump 2.1 and the auxiliary gear pump 2.2. In this process, through multiple iterations, the output flow of the flow generator is finally made close to the target flow waveform, so as to obtain a flow curve that is closer to the target flow waveform, and the simulation efficiency and accuracy are higher.

[0065] Correspondingly, referring to FIG3 , the present invention further discloses a double-gear pump in vitro blood flow simulation system based on closed-loop feedback, comprising:

[0066] The receiving module 121 is used to receive the output flow of the flow generator detected by the flow sensor 3;

[0067] The control module 122 is configured to control the flow generator step by step based on a closed-loop feedback control method according to the output flow of the flow generator, wherein the liquid output by the flow generator enters the simulated blood vessel 4 .

[0068] Specifically, the control module 122 includes:

[0069] A calculation module 1221 is configured to calculate an average flow waveform of the flow output by the flow generator in a plurality of flow cycles, and calculate a residual between the average flow waveform and a target flow waveform;

[0070] A generating module 1222, configured to generate a control signal according to the residual;

[0071] The adjustment module 1223 is configured to control the flow generator through the control signal so that the root mean square error between each sampling point of the average flow waveform and each corresponding target flow on the target flow waveform is within a preset range.

[0072] Example 2

[0073] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the closed-loop feedback-based dual-gear pump extracorporeal blood flow simulation method are implemented. The memory may include internal memory, such as high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device. The processor, network interface, and memory are interconnected via an internal bus. The internal bus may be an industrial standard architecture bus, a peripheral component interconnect standard bus, an extended industrial standard architecture bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory is used to store programs. Specifically, the program may include program code, and the program code includes computer operating instructions. The memory may include internal memory and non-volatile memory, and provides instructions and data to the processor.

[0074] Example 3

[0075] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the closed-loop feedback-based dual-gear pump extracorporeal blood flow simulation method. Specifically, the computer-readable storage medium includes, but is not limited to, volatile memory and / or non-volatile memory. The volatile memory may include random access memory (RAM) and / or cache memory. The non-volatile memory may include read-only memory (ROM), a hard disk, flash memory, an optical disk, a magnetic disk, etc.

[0076] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0077] This application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate a device for implementing the functions specified in one or more processes in the flowchart and / or one or more blocks in the block diagram.

[0078] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0079] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. An in vitro blood flow simulation device based on closed-loop feedback with a double gear pump, characterized in that, it includes a liquid source, a flow generator, a flow sensor (3), a simulated blood vessel (4) and a controller (12); The outlet of the liquid source is connected to the inlet of the flow generator, the outlet of the flow generator is connected to the inlet of the simulated blood vessel (4) via the flow sensor (3), and the outlet of the simulated blood vessel (4) is connected to the inlet of the liquid source; The input end of the controller (12) is connected to the output end of the flow sensor (3), the output end of the controller (12) is connected to the control end of the flow generator, and the controller (12) controls the flow generator step by step based on the closed-loop feedback control according to the flow measured by the flow sensor (3).

2. The in vitro blood flow simulation device based on closed-loop feedback with a double gear pump according to claim 1, characterized in that, the flow generator includes a main gear pump (2.1), a sub-gear pump (2.2), a first servo motor (10.1), a second servo motor (10.2), a first servo driver (11.1) and a second servo driver (11.2). Among them, the outlet of the liquid source is connected to the inlet of the simulated blood vessel (4) via the main gear pump (2.1), the sub-gear pump (2.2) and the flow sensor (3). The main gear pump (2.1) and the sub-gear pump (2.2) are connected in parallel. The output end of the first servo driver (11.1) is connected to the control end of the first servo motor (10.1), the first servo motor (10.1) is connected to the main gear pump (2.1), the output end of the second servo driver (11.2) is connected to the control end of the second servo motor (10.2), the second servo motor (10.2) is connected to the sub-gear pump (2.2), the output end of the controller (12) is connected to the control end of the first servo motor (10.1) and the control end of the second servo driver (11.2), and the first servo driver (11.1) and the second servo driver (11.2) are connected to the controller (12).

3. The in vitro blood flow simulation device based on closed-loop feedback with a double gear pump according to claim 2, characterized in that, the liquid source includes a liquid storage tank (8), a one-way water pump (9) and a stable liquid level water tank (1). Among them, the outlet of the simulated blood vessel (4) is connected to the inlet of the liquid storage tank (8), the outlet of the liquid storage tank (8) is connected to the inlet of the stable liquid level water tank (1) via the one-way water pump (9), and the outlet of the stable liquid level water tank (1) is connected to the inlets of the main gear pump (2.1) and the sub-gear pump (2.2).

4. The in vitro blood flow simulation device based on closed-loop feedback with a double gear pump according to claim 1, characterized in that, a detection device is provided between the simulated blood vessel (4) and the liquid source.

5. The in vitro blood flow simulation device based on closed-loop feedback with a double gear pump according to claim 4, characterized in that, the detection device includes a pressure gauge (5) and a simulated peripheral vascular impedance (6); a number of throttle valves (7) are provided between the simulated blood vessel (4) and the liquid source.

6. The extracorporeal blood flow simulation device based on closed-loop feedback according to claim 1, characterized in that, it further includes a mounting bracket, and the liquid source, the flow generator, the flow sensor (3) and the simulated blood vessel (4) are all mounted on the mounting bracket.

7. An extracorporeal blood flow simulation method based on closed-loop feedback, characterized in that, it includes: receiving the output flow rate of the flow generator detected by the flow sensor (3); controlling the flow generator step by step based on the output flow rate of the flow generator in a closed-loop feedback control manner, wherein the liquid output by the flow generator enters the simulated blood vessel (4).

8. The extracorporeal blood flow simulation method based on closed-loop feedback according to claim 7, characterized in that, the process of controlling the flow generator step by step based on the output flow rate of the flow generator in a closed-loop feedback control manner is: calculating the average flow rate waveform of the output flow rate of the flow generator in a plurality of flow cycles, and calculating the residual between the average flow rate waveform and the target flow rate waveform; generating a control signal according to the residual; controlling the flow generator according to the control signal, so that the root mean square error between each sampling point on the average flow rate waveform and each corresponding target flow rate on the target flow rate waveform is within a preset range.

9. The extracorporeal blood flow simulation method based on closed-loop feedback according to claim 7, characterized in that, the process of controlling the flow generator according to the control signal, so that the root mean square error between each sampling point on the average flow rate waveform and each corresponding target flow rate on the target flow rate waveform is within a preset range is: calculating the root mean square error between each sampling point on the average flow rate waveform and each corresponding target flow rate on the target flow rate waveform; when the calculated root mean square error is greater than the first set value A, controlling the main gear pump (2.1) so that the root mean square error calculated in the next control cycle is less than the first preset value A; when the calculated root mean square error is less than or equal to the first preset value A and greater than or equal to the second preset value B, controlling the auxiliary gear pump (2.2) so that the root mean square error calculated in the next control cycle is less than or equal to the first preset value A and less than the second preset value B; when the calculated root mean square error is less than or equal to the first preset value A and less than the second preset value B, maintaining the operating states of the main gear pump (2.1) and the auxiliary gear pump (2.2).

10. An extracorporeal blood flow simulation system based on closed-loop feedback, characterized in that, it includes: a receiving module (121) for receiving the output flow rate of the flow generator detected by the flow sensor (3); a control module (122) for controlling the flow generator step by step based on the output flow rate of the flow generator in a closed-loop feedback control manner, wherein the liquid output by the flow generator enters the simulated blood vessel (4).

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