Control method, device, and system for ventricular assist system

Abstract

Disclosed in the present application are a control method, device, and system for a ventricular assist system. The present application relates to the technical field of medical devices. The method comprises: acquiring a first pressure difference between two ends of a catheter assembly and a first motor parameter of a blood pumping motor under the condition of a preset blood pumping flow rate; determining an actual blood pumping flow rate of the blood pumping motor on the basis of the first pressure difference and the preset blood pumping flow rate; correcting the preset blood pumping flow rate according to the actual blood pumping flow rate and a cardiac blood pumping flow rate of a target subject to obtain a target blood pumping flow rate; adjusting the first motor parameter according to the target blood pumping flow rate to obtain a target motor parameter; and controlling a blood pumping assembly to operate according to the target motor parameter.

Description

Control methods, devices and systems for ventricular assist systems

[0001] Cross-referencing

[0002] This application claims priority to Chinese Patent Application No. 202411217153.1, filed on August 30, 2024, entitled “Control method, apparatus and system for pump ventricular assist system”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application belongs to the technical field of medical devices, and in particular relates to a control method, device and system for a ventricular assist system. Background Technology

[0004] Currently, the prevalence of heart disease is increasing, and severe cases can lead to heart failure, affecting cardiac output and threatening the patient's life. For these patients, ventricular assist systems are typically used to help improve cardiac output.

[0005] In related technologies, a ventricular assist system includes a data acquisition device, a control device, and a blood pump motor. The data acquisition device is configured to acquire the current and speed of the blood pump motor and transmit them to the control device. The control device then controls the operation of the blood pump motor to accelerate blood flow between the ventricle and the aorta, thereby improving the heart's cardiac output capacity.

[0006] However, in the aforementioned technologies, the ventricular assist system operates in a complex environment with numerous interfering factors, such as the fluctuating load of the pump motor caused by changes in systolic and diastolic blood pressure, and electromagnetic interference from electric shocks during emergency resuscitation and high-frequency electrosurgical units during surgery. These interferences can all affect the robustness of the ventricular assist system. Traditional motor control methods, such as controlling the pump motor by setting a current value, are difficult to meet the complex environment of the human body, making the pump motor and its transmission device prone to backflow or other risks, which threaten the patient's life. Summary of the Invention

[0007] This application provides a control method, device, and system for a ventricular assist system, which can adjust the operating parameters of the pumping motor in real time according to the pumping capacity to improve the response speed, stability, and robustness of the pumping motor, thereby reducing the threat of the pumping motor to the patient's life.

[0008] On one hand, embodiments of this application provide a control method for a ventricular assist system. The ventricular assist system includes a pumping assembly, a catheter assembly, and a data acquisition assembly disposed on the catheter assembly. The catheter assembly is configured to be disposed in the aorta and the heart. The pumping assembly includes a pumping motor. Both the data acquisition assembly and the pumping motor are communicatively connected to the control device of the ventricular assist system.

[0009] The method includes:

[0010] Obtain the first pressure difference between the two ends of the catheter assembly and the first motor parameters of the blood pumping motor under a preset blood pumping flow rate;

[0011] The actual blood flow rate of the blood pumping motor is determined based on the first pressure difference and the preset blood flow rate.

[0012] The preset blood flow rate is corrected based on the actual blood flow rate and the target object's cardiac blood flow rate to obtain the target blood flow rate;

[0013] The parameters of the first motor are adjusted according to the target pump blood flow rate to obtain the target motor parameters;

[0014] The blood pumping assembly is controlled to operate according to the target motor parameters.

[0015] Optionally, the ventricular assist system further includes a data acquisition component, which is communicatively connected to the control device of the ventricular assist system. The method includes: before correcting the preset pumping flow rate based on the actual pumping flow rate and the target object's cardiac pumping flow rate to obtain the target pumping flow rate, the method further includes:

[0016] The acquisition component collects the overall pumping blood flow at the end of the catheter assembly closest to the aorta.

[0017] The cardiac pumping flow rate is determined based on the overall pumping flow rate and the actual pumping flow rate.

[0018] Optionally, before correcting the preset pumping flow rate based on the actual pumping flow rate and the target object's cardiac pumping flow rate to obtain the target pumping flow rate, the method further includes: acquiring a first pressure difference at multiple time points and the heart's pulsation cycle; determining a comprehensive pumping flow rate based on the first pressure difference at multiple time points and the pulsation cycle; and determining the cardiac pumping flow rate based on the comprehensive pumping flow rate and the actual pumping flow rate.

[0019] Optionally, determining the cardiac pumping flow based on the overall pumping flow and the actual pumping flow includes: determining the cardiac pumping flow based on the difference between the overall pumping flow and the actual pumping flow.

[0020] Optionally, the first motor parameters include the first phase current, the second phase current, and the third phase current;

[0021] Obtaining the parameters of the first motor includes:

[0022] Obtain the first phase current and the second phase current of any two phases of the blood pump motor;

[0023] The third phase current is calculated based on the first and second phase currents according to Kirchhoff's laws.

[0024] Optionally, adjusting the parameters of the first motor according to the target pump blood flow to obtain the target motor parameters includes:

[0025] The first rotational speed and the second motor parameters are determined based on the target pump blood flow rate;

[0026] The first motor parameters are adjusted based on the second motor parameters to obtain the first desired parameters;

[0027] The second rotational speed is determined based on the first desired parameter;

[0028] The first desired parameter is adjusted based on the first rotational speed and the second rotational speed to obtain the second desired parameter;

[0029] The first desired parameter is adjusted according to the second desired parameter to obtain the target motor parameters.

[0030] Optionally, adjusting the first motor parameters based on the second motor parameters to obtain the first desired parameters includes:

[0031] The first rotor angle and the second rotor angle of the blood pumping motor are obtained. The first rotor angle is the rotor angle of the blood pumping motor when it is running with the first motor parameters, and the second rotor angle is the rotor angle of the blood pumping motor when it is running with the second motor parameters.

[0032] Based on the first rotor angle, the first motor parameters are transformed to obtain the first transformation parameters in the two-phase rotating coordinate system;

[0033] Based on the second rotor angle, the second motor parameters are transformed by coordinate transformation to obtain the second transformation parameters;

[0034] The conversion error parameter is determined based on the first conversion parameter and the second conversion parameter;

[0035] The first desired parameter is obtained by adjusting the preset adjustment controller according to the conversion error parameter.

[0036] Optionally, before adjusting the first desired parameter based on the first rotational speed and the second rotational speed to obtain the second desired parameter, the method further includes:

[0037] The third rotor angle is calculated based on the first desired parameter using a preset rotor position estimator.

[0038] The coordinate transformation of the first motor parameters based on the first rotor angle to obtain the first transformation parameters in the two-phase rotating coordinate system includes:

[0039] Based on the third rotor angle, the first motor parameters are transformed to obtain the first transformation parameters in the two-phase rotating coordinate system.

[0040] Optionally, adjusting the first desired parameter based on the first rotational speed and the second rotational speed to obtain the second desired parameter includes:

[0041] The speed error is determined based on the first speed and the second speed.

[0042] The second preset adjustment controller can determine the adjustment parameters based on the speed error;

[0043] The first desired parameter is adjusted based on the adjustment parameters to obtain the second desired parameter.

[0044] Optionally, controlling the blood pump assembly to operate according to the target motor parameters includes:

[0045] The target motor parameters are pulse-width modulated based on a preset modulation algorithm to obtain the driving parameters of the blood pump motor;

[0046] The operation of the blood pump motor is controlled based on the driving parameters of the blood pump motor.

[0047] On the other hand, embodiments of this application provide a control device for a ventricular assist system. The ventricular assist system includes a pumping assembly and a catheter assembly. The catheter assembly is configured to be disposed in the aorta and the heart. The pumping assembly includes a pumping motor, which is communicatively connected to the control device of the ventricular assist system. The device includes:

[0048] The acquisition module is configured to acquire the first pressure difference between the two ends of the catheter assembly and the first motor parameters of the blood pumping motor in the blood pumping assembly under a preset blood pumping flow rate.

[0049] The determining module is configured to determine the actual pumping flow rate of the pumping motor based on the first pressure difference and the preset pumping flow rate;

[0050] The correction module is configured to correct the preset blood flow rate based on the actual blood flow rate and the heart blood flow rate of the target object to obtain the target blood flow rate;

[0051] The adjustment module is configured to adjust the parameters of the first motor according to the target pump blood flow to obtain the target motor parameters;

[0052] The control module is configured to control the blood pumping assembly to operate according to the target motor parameters.

[0053] In another aspect, embodiments of this application provide a ventricular assist system, including a data acquisition component, a blood pumping component, a catheter component, and a control device; the control device is configured to perform the method described in the first aspect.

[0054] This application discloses a control method, apparatus, and system for a ventricular assist system. By acquiring a first pressure difference across the catheter assembly and a preset pumping flow rate, the actual pumping flow rate of the pumping motor can be determined. This is the actual pumping flow rate output by the pumping motor under the first motor parameters. Then, a target pumping flow rate is obtained by combining the actual pumping flow rate and the cardiac pumping flow rate. Under this target pumping flow rate setting, the first motor parameters are adjusted to obtain the target motor parameters, which are then used to control the operation of the pumping motor. During this control process, the cardiac pumping flow rate reflects the patient's internal cardiac state in real time. Based on this cardiac pumping flow rate, the preset pumping flow rate is adjusted promptly. Controlling the pumping motor operation according to the target pumping flow rate adapts to the patient's cardiac pumping capacity, adjusting the pumping motor's operating parameters in real time to improve the pumping motor's response speed, stability, and robustness, adapting to the complex internal environment of the human body and reducing the threat to the patient's life posed by the pumping motor. Attached Figure Description

[0055] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 is a system structure diagram of a ventricular assist system provided in an embodiment of this application;

[0057] Figure 2 is a schematic diagram of the connection between a catheter assembly and the heart according to an embodiment of this application;

[0058] Figure 3 is a flowchart illustrating a control method for a ventricular assist system according to an embodiment of this application;

[0059] Figure 4 is a schematic diagram of the process for obtaining the first motor parameters according to an embodiment of this application;

[0060] Figure 5 is a schematic diagram of the process for determining cardiac pump blood flow according to an embodiment of this application;

[0061] Figure 6 is a schematic diagram of the process for determining the target motor parameters provided in one embodiment of this application;

[0062] Figure 7 is a schematic diagram of the process for determining the first desired parameter provided in an embodiment of this application;

[0063] Figure 8 is a schematic diagram of waveform changes before and after a 3x2 transformation according to an embodiment of this application;

[0064] Figure 9 is a schematic diagram of the waveforms before and after the Parker transformation provided in the embodiments of this application;

[0065] Figure 10 is a schematic diagram of the process for determining the second desired parameter provided in one embodiment of this application;

[0066] Figure 11 is a schematic diagram of the process for determining the first conversion parameter according to an embodiment of this application;

[0067] Figure 12 is a schematic diagram of the control flow of a blood pump motor provided in an embodiment of this application;

[0068] Figure 13 is a schematic diagram of the structure of the control device of the ventricular assist system provided in another embodiment of this application;

[0069] Figure 14 is a schematic diagram of the structure of an electronic device provided in another embodiment of this application.

[0070] Explanation of reference numerals in the attached diagram: 11. Inlet tube; 12. Inhalation channel; 13. Transvalvular tubing; 14. Outflow channel; 15. Catheter sheath; 2. Acquisition assembly; 21. First fiber optic sensor; 22. Flow sensor; 23. Second fiber optic sensor; 3. Blood pump assembly; 31. Blood pump motor; 32. Electrical parameter sensor; 4. Control device; 5. Heart; 6. Aorta. Detailed Implementation

[0071] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0072] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0073] Before introducing the technical solutions of the embodiments of this application, let's first introduce the background technology of the embodiments of this application:

[0074] Due to the complexity of the human body's internal environment, the interference to the ventricular assist system comes not only from the system's own operational interference but also from the interference of the body's internal environment. For example, the contraction and relaxation of the heart can also cause unstable load fluctuations in the pump motor of the ventricular assist system, affecting the operation of the pump motor and threatening the patient's life.

[0075] Therefore, the complex internal environment of the human body places higher demands on the control of the ventricular assist system. The current control method of the ventricular assist system generally collects the speed and current of the pump motor through a feedback mechanism, and performs fuzzy adjustment on the collected current and the pre-set constant current through proportional, integral and derivative methods to achieve the control of the pump motor.

[0076] However, in the process of controlling the blood pump motor, the influence of the internal environment of the human body on the control of the blood pump motor was not taken into account. Therefore, in the operation and control of the ventricular assist system, the blood pump motor and its transmission device are prone to backflow or other risks, which threaten the patient's life.

[0077] To address the problems of existing technologies, this application provides a control method, device, and system for a ventricular assist system. By acquiring the first pressure difference across the catheter assembly and a preset pumping flow rate, the actual pumping flow rate of the pumping motor can be determined; that is, the actual pumping flow rate output by the pumping motor under the first motor parameters. Then, the target pumping flow rate is obtained by combining the actual pumping flow rate and the cardiac pumping flow rate. Under this target pumping flow rate setting, the first motor parameters are adjusted to obtain the target motor parameters, which are then used to control the operation of the pumping motor. During this control process, the cardiac pumping flow rate reflects the patient's internal cardiac state in real time. Based on this cardiac pumping flow rate, the preset pumping flow rate is adjusted promptly, and the pumping motor is controlled according to the target pumping flow rate. This adapts to the patient's cardiac pumping capacity, adjusts the pumping motor's operating parameters in real time, improves the pumping motor's response speed, stability, and robustness, adapts to the complex internal environment of the human body, and reduces the threat posed by the pumping motor to the patient's life.

[0078] To gain a clearer understanding of the control method of the ventricular assist system provided in the embodiments of this application, the control system of the ventricular assist system provided in the embodiments of this application will be introduced first.

[0079] Figure 1 shows a system structure block diagram of the control system of a ventricular assist system according to an embodiment of this application. As shown in Figures 1 and 2, the control system of the ventricular assist system may include:

[0080] The catheter assembly positioned between the heart 5 and the aorta 6 is configured to allow blood flow;

[0081] The acquisition components 2, located at both ends of the catheter assembly, are configured to acquire the pressure at the aorta 6, the pressure at the heart 5, and the blood flow at the aorta 6.

[0082] The blood pumping component 3, connected to the catheter assembly, is configured to increase the blood pumping flow rate. As an example, it can be installed inside the body or outside the body.

[0083] The control device 4, the acquisition component 2, and the blood pumping component 3 are all connected to the control device and are configured to acquire the pressure at the aorta 6, the pressure at the heart 5, and the blood pumping flow at the aorta 6 collected by the acquisition component 2, and control the operation of the blood pumping component 3 to assist the heart 5 in pumping blood and increase the blood pumping flow.

[0084] Referring to Figure 2, in some embodiments, taking the auxiliary pumping of blood to the left ventricle of the heart 5 as an example, the catheter assembly may include: an inlet tube 11 disposed in the left ventricle, one end of the inlet tube 11 being connected to an aspiration channel 12, and the end of the aspiration channel 12 away from the inlet tube 11 being connected to a transvalvular flexible tube 13, wherein the transvalvular flexible tube 13 passes through the aortic valve span 51 and is connected to an outflow channel 14 and an impeller (not shown in the figure), the end of the outflow channel 14 away from the transvalvular flexible tube being connected to a catheter sheath 15, the catheter sheath 15 being disposed in the aorta 6, and the impeller being connected to the pumping assembly 3.

[0085] In some embodiments, the acquisition component 2 may include a first fiber optic sensor 21 disposed in the inhalation channel 12, a flow sensor 22 disposed in the outflow channel 14, and a second fiber optic sensor 23 disposed in the outflow channel 14. The first fiber optic sensor 21, the flow sensor 22, and the second fiber optic sensor 23 are all electrically connected to the control device 4.

[0086] The first fiber optic sensor 21 is configured to detect the pressure at the heart 5, the second fiber optic sensor 23 is configured to detect the pressure at the inlet of the aorta 6, and the flow sensor 22 is configured to detect the pumping blood flow at the inlet of the aorta 6.

[0087] In some embodiments, the blood pumping assembly 3 may include a blood pumping motor 31 and an electrical parameter sensor 32 configured to collect parameters of the blood pumping motor. The blood pumping motor 31 is fixedly connected to the impeller, and the blood pumping motor 31 and the electrical parameter sensor 32 are electrically connected to the control device 4.

[0088] In this embodiment, as an example, the blood pump motor 31 can be placed inside or outside the patient's body; no limitation is made here. The electrical parameter sensor 32 can be a current sensor, a sampling resistor, or a voltage sensor; no limitation is made here.

[0089] During the operation of the ventricular assist system, the control device 4 can determine the actual pumping flow rate of the pumping motor 31 by acquiring the first pressure difference between the two ends of the catheter assembly and the preset pumping flow rate. That is, the actual pumping flow rate output by the pumping motor 31 under the first motor parameters. Then, the target pumping flow rate is obtained by the actual pumping flow rate and the cardiac pumping flow rate. Under the setting of the target pumping flow rate, the first motor parameters are adjusted to obtain the target motor parameters, so as to control the operation of the pumping motor 31. In this control process, the cardiac pumping flow rate can reflect the patient's internal cardiac state in real time. Then, the preset pumping flow rate is adjusted in a timely manner according to the cardiac pumping flow rate. The operation of the pumping motor 31 is controlled according to the target pumping flow rate, which can adapt to the patient's cardiac pumping capacity and adjust the operating parameters of the pumping motor 31 in real time to improve the response speed, stability and robustness of the pumping motor 31, adapt to the complex internal environment of the human body, and reduce the threat of the pumping motor 31 to the patient's life.

[0090] The control method of the ventricular assist system provided in this application embodiment will be described in detail below with reference to Figure 3, through specific application embodiments and application scenarios.

[0091] Figure 3 shows a flowchart illustrating a control method for a ventricular assist system according to an embodiment of this application. As shown in Figure 3, the control method for a ventricular assist system provided in this embodiment may include steps S301-S305:

[0092] S301, obtain the first pressure difference between the two ends of the catheter assembly and the first motor parameters of the blood pumping motor under the preset blood pumping flow rate.

[0093] In some embodiments, when a first pressure difference is obtained between the two ends of the catheter assembly, a first pressure at the heart is obtained by a first fiber optic sensor, a second pressure at the aorta is obtained by a second fiber optic sensor, and the difference between the second pressure and the first pressure is used to obtain the first pressure difference.

[0094] In some other embodiments, obtaining the first motor parameters of the blood pump motor under a preset blood pumping flow rate may include:

[0095] Obtain the first-phase current and the second-phase current of any two phases of the blood pump motor.

[0096] The third phase current is calculated based on the first and second phase currents according to Kirchhoff's laws.

[0097] In this embodiment, the first motor parameter can be current, voltage, or power; current will be used as an example for explanation.

[0098] In this embodiment, the blood pump motor is a three-phase motor as an example. The first motor parameters may include the first phase current, the second phase current, and the third phase current. When obtaining the first motor parameters, since the internal environment of the human body is complex, placing related devices inside the heart may affect the heart's function. Considering this reason, during the operation of the ventricular assist system, if the blood pump motor is placed inside the human body, when obtaining the first motor parameters, the first phase current and the second phase current of any two phases of the blood pump motor can be obtained, and then the third phase current can be calculated using Kirchhoff's laws.

[0099] Specifically, as shown in the flowchart of the first motor parameter acquisition in Figure 4, when acquiring the first phase current and the second phase current of any two phases, the sampling resistor can be used to measure the first phase current and the second phase current of any two phases of the pump motor. That is, the sum of the first phase current, the second phase current and the third phase current is zero, and the third phase current can be calculated based on the first phase current and the second phase current.

[0100] It is worth noting that calculating the third-phase current based on the first and second-phase currents using Kirchhoff's laws has the following advantages:

[0101] 1. It can simplify hardware design. Compared with configuring current sensors for all three phases, using sampling resistors to measure the current of only two phases can significantly reduce the number of hardware components required, thereby reducing costs and complexity. In addition, for blood pump motors installed inside the human body, it can reduce the number of related devices installed inside the body, reducing the risk of threats to the human body due to the devices being installed inside the body.

[0102] 2. Improved system reliability: The reduced number of current sensors reduces potential failure points. For ventricular assist systems installed inside the human body, the failure modes of the sampling resistor are relatively simple and easy to detect and judge, thus facilitating fault detection in ventricular assist systems.

[0103] 3. Using a sampling resistor for sampling can reflect changes in current in real time, meeting the requirements of the ventricular assist system for rapid response.

[0104] 4. Facilitates current protection. By monitoring the first and second phase currents of any two phases in real time, overcurrent or short circuits in the blood pump motor can be detected and prevented in a timely manner, thereby protecting the blood pump motor and the ventricular assist system, which is crucial for the ventricular assist system installed in the human body.

[0105] 5. Improve the flexibility of the ventricular assist system, that is, the measurement method of the sampling resistor does not depend on the specific structure or type of the pump motor. By adjusting the resistance value and position of the sampling resistor, it can flexibly adapt to different current measurement needs and control strategies.

[0106] S302, the actual blood flow rate of the blood pumping motor is determined based on the first pressure difference and the preset blood flow rate.

[0107] In this embodiment, in order to take into account the internal environment of the human body and to control the blood pump motor more accurately, the blood pump motor is controlled based on the actual blood pumping flow rate. Therefore, the actual blood pumping flow rate needs to be determined according to the preset blood pumping flow rate and the first pressure difference. The preset blood pumping flow rate can be determined by the preset speed of the blood pump motor.

[0108] In some embodiments, in the flowchart for determining cardiac pumping flow rate shown in FIG5, the difference between the first pressure collected by the first fiber optic sensor and the second pressure collected by the second fiber optic sensor can be calculated to obtain the first pressure difference; the first pressure difference and the preset pumping flow rate determined by the preset rotational speed of the pumping motor are input into the Poiseuille equation to obtain the actual pumping flow rate.

[0109] S303, the preset pumping flow rate is corrected based on the actual pumping flow rate and the target patient's cardiac pumping flow rate to obtain the target pumping flow rate. The target patient can be the patient.

[0110] In step S303, before correcting the preset blood flow rate based on the actual blood flow rate and the target object's cardiac blood flow rate to obtain the target blood flow rate, it is also necessary to obtain the cardiac blood flow rate.

[0111] In some embodiments, the control device can acquire cardiac pumping flow through a data acquisition component. Specifically, the control device acquires the overall pumping flow at the end of the catheter assembly near the aorta using the data acquisition component; and determines the cardiac pumping flow based on the overall pumping flow and the actual pumping flow.

[0112] In the above embodiments, the overall pump blood flow can be collected by a flow sensor in the acquisition component.

[0113] In this embodiment, when acquiring the heart pumping blood flow, since the internal environment of the human body is complex and the heart is an important organ, placing a sensor at the heart may cause unnecessary damage to the human body. Therefore, a comprehensive pumping blood flow at the aorta can be collected by a flow sensor placed at the aorta. That is, the comprehensive pumping blood flow is the pumping blood flow counted when the human heart and the pumping motor are working simultaneously.

[0114] After obtaining the comprehensive blood flow rate, the cardiac blood flow rate is obtained by calculating the actual blood flow rate of the blood pumping motor based on the first pressure difference and the first motor parameters.

[0115] In other embodiments, the control device can obtain the cardiac pumping blood flow through calculation. Specifically, the control device acquires a first pressure difference at multiple time points and the heart's beat cycle; however, based on the first pressure difference at the multiple time points and the beat cycle, a comprehensive pumping blood flow is determined; then, the cardiac pumping blood flow is determined based on the comprehensive pumping blood flow and the actual pumping blood flow.

[0116] In the above embodiments, the heart pumping blood flow is determined by data statistics and data calculation, thereby reducing the number of sensors installed at the heart and thus reducing the damage to the human body that would result from installing sensors at the heart.

[0117] After determining the overall pump blood flow rate, as shown in Figure 5, the control device can determine the cardiac pump blood flow rate based on the difference between the overall pump blood flow rate and the actual pump blood flow rate, that is, the cardiac pump blood flow rate is the difference between the overall pump blood flow rate and the actual pump blood flow rate.

[0118] In some embodiments, in order to adapt to changes occurring inside the human body in real time, the preset pumping flow rate needs to be corrected based on the actual pumping flow rate and the heart's pumping flow rate, so that the obtained target pumping flow rate can adapt to changes occurring inside the human body, provide pumping assistance function for patients, reduce the burden on the patient's heart and promote healing, and help patients recover their cardiac function.

[0119] In other words, cardiac blood flow represents the state of the patient's heart's pumping capacity and fluctuation rate, reflecting the current state of the patient's heart function. Therefore, the preset blood flow of the pumping motor can be corrected according to the real-time changes in cardiac blood flow to achieve the purpose of conforming to the body's own function.

[0120] S304, adjust the parameters of the first motor according to the target pump blood flow to obtain the target motor parameters.

[0121] In some embodiments, as shown in the flowchart for determining the target motor parameters in FIG6, S304 may include:

[0122] The first rotational speed and the parameters of the second motor are determined based on the target pump blood flow rate;

[0123] The parameters of the first motor are adjusted based on the parameters of the second motor to obtain the first desired parameters;

[0124] The second rotational speed is determined based on the first desired parameter;

[0125] The first desired parameter is adjusted based on the first speed and the second speed to obtain the second desired parameter;

[0126] The first desired parameter is adjusted based on the second desired parameter to obtain the target motor parameters.

[0127] In the above embodiments, the first rotational speed and the second motor parameters are the rotational speed and motor parameters of the blood pumping motor under the target blood pumping flow rate.

[0128] In some embodiments, to achieve the target blood flow rate, the number of strokes of the blood pumping motor needs to be set so that the actual blood flow rate of the blood pumping motor reaches the target blood flow rate. In this embodiment, the first motor parameter, the second motor parameter, and the first desired parameter can all be current, that is, controlling the operating current of the blood pumping motor to reach the first desired current, thereby controlling the speed of the blood pumping motor, so that the actual blood flow rate of the blood pumping motor is consistent with the target blood flow rate.

[0129] Specifically, as one feasible approach, as shown in the flowchart of determining the first desired parameter in Figure 7, adjusting the first motor parameters based on the second motor parameters to obtain the first desired parameter can include:

[0130] Obtain the first rotor angle and the second rotor angle of the blood pump motor;

[0131] Based on the first rotor angle, the first motor parameters are transformed to obtain the first transformation parameters in the two-phase rotating coordinate system;

[0132] Based on the second rotor angle, coordinate transformation is performed on the second motor parameters to obtain the second transformation parameters in the two-phase rotating coordinate system;

[0133] The conversion error parameter is determined based on the first conversion parameter and the second conversion parameter;

[0134] The first desired parameter is obtained by adjusting the preset adjustment controller according to the conversion error parameter.

[0135] In some embodiments, the first rotor angle is the rotor angle of the blood pump motor when the first motor parameters are used, and the second rotor angle is the rotor angle of the blood pump motor when the second motor parameters are used.

[0136] Specifically, in order to improve the response speed of the ventricular assist system and adjust the pumping motor in real time according to the heart's blood flow, the pumping motor can be controlled in real time using magnetic field orientation control to achieve dual-loop control of the pumping motor's current and speed, enabling real-time and more precise control of the pumping motor.

[0137] In some embodiments, during the process of using magnetic field-oriented control of the blood pumping motor, the first motor parameters and the second motor parameters can be converted into corresponding torque parameters and magnetic flux parameters in a two-phase rotating coordinate system, respectively. Then, the current of the blood pumping motor is corrected by the torque parameters, and the speed of the blood pumping motor is adjusted by the magnetic flux parameters. The first desired parameters for controlling the blood pumping motor are obtained by inverse transformation of the corrected current and the adjusted speed, and the blood pumping motor is controlled in real time.

[0138] The current loop control will be explained below:

[0139] In some embodiments, taking the example where both the first motor parameter and the second motor parameter are current, when performing field-oriented control on the blood pumping motor, the first motor current and the second motor current in the sinusoidal coordinate system are first transformed to obtain the first transformed current and the second transformed current in the two-phase rotating coordinate system. Then, the difference between the first transformed current and the second transformed current is used to obtain the transformation error current. Then, the transformation error current is adjusted using a proportional-integral-derivative control controller to obtain the first desired current. The blood pumping motor can be controlled based on the first desired current to match the patient's cardiac blood pumping flow.

[0140] It is worth noting that when transforming the first motor current in the sinusoidal coordinate system to obtain the first transformed current in the two-phase rotating coordinate system, the first motor current is first transformed into the two-phase stationary coordinate system (α-β coordinate system) using the 3-2 transformation (clack transformation), and the current values ​​on the α axis and the β axis are obtained respectively. Then, the current values ​​on the α axis and the β axis in the two-phase stationary coordinate system are rotated synchronously with the rotor to perform the Park transformation to obtain the first transformation parameters in the two-phase rotating coordinate system (dq coordinate system).

[0141] Referring to Figure 8, Figure 8 shows a schematic diagram of the waveform changes before and after the 3x2 transformation.

[0142] In this embodiment, the current values ​​on the α-axis and β-axis can be calculated using the following formulas (1) and (2): Iα= ia-ibsin30°- ic cos60° (1) Iβ=cos30°ib- cos30°ic (2)

[0143] Where ia is the first phase current, ib is the second phase current, ic is the third phase current, Iα is the current value on the α axis, and Iβ is the current value on the β axis.

[0144] Referring to Figure 9, which shows a schematic diagram of the waveforms before and after the Parker transformation.

[0145] In this embodiment, the current values ​​on the α-axis and β-axis can be mapped to the d-axis and q-axis respectively using the following formulas (3) and (4): id= Iαcosθ+ Iβsinθ (3) iq=-Iαsinθ+ Iβcosθ (4)

[0146] Where θ is the current rotor angle, Id is the current value on the d-axis, and Iq is the current value on the q-axis.

[0147] After obtaining the first conversion current and the second conversion current in the two-phase rotating coordinate system, the conversion error current is determined based on the first conversion current and the second conversion current. That is, the conversion error current represents the current value that needs to be adjusted. Then, the preset adjustment controller is used to adjust the current according to the conversion error current.

[0148] As an example, the preset control controller can be a proportional-integral-derivative controller (PID controller), a proportional-integral controller (PI controller), or a fuzzy control controller, as long as it is an algorithm capable of adjustment, and there are no restrictions here.

[0149] In other embodiments, although the pumping motor can be controlled according to the heart's blood flow rate through current loop control, in order to control the pumping motor more accurately, it is also necessary to adjust the first desired parameter according to the rotation speed to obtain the target motor parameter, so as to realize dual-loop control with the inner loop being the current feedback loop and the outer loop being the speed feedback loop, which can control the operation of the pumping motor more accurately.

[0150] Furthermore, based on the first rotational speed and the second rotational speed, the first desired parameter is adjusted to obtain the second desired parameter, including:

[0151] The speed error is determined based on the first speed and the second speed.

[0152] The second preset control controller can determine the adjustment parameters based on the speed error;

[0153] The first desired parameter is adjusted based on the adjustment parameters to obtain the second desired parameter.

[0154] In this embodiment, as shown in Figure 10, when controlling the blood pumping motor using a speed feedback loop, the first rotational speed determined based on the target blood pumping flow rate can be used as the set rotational speed of the blood pumping motor. Then, during the operation of the blood pumping motor according to the first desired current, the second rotational speed is determined. The rotational speed error is then determined by the set rotational speed and the second rotational speed. Finally, the adjustment parameters are determined by the second preset adjustment controller. The first desired parameter is adjusted according to the adjustment parameters to obtain the second desired parameter.

[0155] In some embodiments, the adjustment parameter may be the current parameter output by the second preset regulating controller, and then the current parameter and the first desired parameter are used as inputs to the first preset regulating controller so that the first preset regulating controller outputs the second desired parameter, thereby achieving precise control of the blood pump motor.

[0156] In addition, the second speed determined above can be configured to support the ventricular assist system for functions such as state switching, loop switching, and stall protection of the blood pumping motor. While precisely controlling the blood pumping motor, it can also monitor the operating status of the blood pumping motor, reducing the possibility of blood pumping motor failure.

[0157] In some other embodiments, as shown in FIG11, before adjusting the first desired parameter based on the first rotational speed and the second rotational speed to obtain the second desired parameter, the method further includes:

[0158] The third rotor angle is calculated based on the first desired parameter using a preset rotor position estimator.

[0159] Based on the first rotor angle, coordinate transformation is performed on the parameters of the first motor to obtain the first transformation parameters in the two-phase rotating coordinate system, including:

[0160] Based on the third rotor angle, the first motor parameters are transformed to obtain the first transformation parameters in the two-phase rotating coordinate system.

[0161] Specifically, the preset rotor position estimator is a software algorithm based on a specific algorithm and sensor signal processing. It can calculate the rotor position and speed of the pump motor in real time according to the operating status of the pump motor. That is, it can estimate the rotor position and speed based on the change of the first expected parameter. The specific estimation method is an existing means and will not be elaborated here.

[0162] It is worth noting that before adjusting the first desired parameter according to the adjustment parameters, not only can the adjustment parameters be adjusted according to the speed error, but also the third rotor angle of the rotor at the next moment can be calculated by the preset rotor position estimator according to the first desired parameter. The Parker transformation of the first motor current and the second motor current can be realized by the third rotor angle. That is, when performing the Parker transformation, the first desired parameter at the next moment can be estimated in advance by the estimated third rotor angle, so as to realize the real-time, fast and accurate adjustment of the pump motor.

[0163] S305 controls the blood pump assembly to operate according to the target motor parameters.

[0164] In some embodiments, as shown in FIG12, S305 may include:

[0165] The target motor parameters are pulse-width modulated based on a preset modulation algorithm to obtain the driving parameters of the blood pump motor;

[0166] The operation of the blood pump motor is controlled based on the driving parameters of the blood pump motor.

[0167] In this embodiment, after obtaining the target motor parameters, the target motor parameters can be converted into the two-phase stationary coordinate system of the stator through the inverse Parker transform to obtain the stator's operating voltage or current at the next moment. Then, based on the preset modulation algorithm, the sector position of the vector synthesized from the stator's operating voltage or current at the next moment is determined. The driving parameters of the blood pumping motor are calculated and determined through the sector position to drive the blood pumping motor and achieve the target blood flow rate. Considering the internal environment of the human body and the actual blood pumping capacity of the heart, the dynamic control of the blood pumping motor is finally realized, improving the response speed, stability and robustness of the ventricular assist system.

[0168] As an example, the preset modulation algorithm can be a space vector pulse width modulation algorithm, and the specific algorithm for synthesizing the sector position is an existing method, which will not be elaborated here.

[0169] It is worth noting that the drive parameters can include at least the state transition and conduction time of the switching transistors to output the three-phase voltage required by the blood pump motor.

[0170] Referring to Figure 13, this application embodiment provides a control device 1300 for a ventricular assist system. The ventricular assist system includes a pumping assembly and a catheter assembly. The catheter assembly is configured to be disposed in the aorta and the heart. The pumping assembly includes a pumping motor, which is communicatively connected to the control device of the ventricular assist system. The control device 1300 for the ventricular assist system may include:

[0171] The acquisition module 1301 is configured to acquire the first pressure difference between the two ends of the catheter assembly and the first motor parameters of the blood pumping motor in the blood pumping assembly under a preset blood pumping flow rate.

[0172] The determination module 1302 is configured to determine the actual blood flow rate of the blood pumping motor based on the first pressure difference and the preset blood flow rate.

[0173] The correction module 1303 is configured to correct the preset pumping flow rate based on the actual pumping flow rate and the heart pumping flow rate of the target object to obtain the target pumping flow rate;

[0174] The adjustment module 1304 is configured to adjust the parameters of the first motor according to the target pump blood flow to obtain the target motor parameters;

[0175] Control module 1305 is configured to control the blood pump assembly to operate according to the target motor parameters.

[0176] As an optional implementation, the ventricular assist system also includes a data acquisition component, which is communicatively connected to the control device of the ventricular assist system. The acquisition module 1301 is specifically configured to:

[0177] Before obtaining the target pumping flow rate by correcting the preset pumping flow rate based on the actual pumping flow rate and the target object's cardiac pumping flow rate, the comprehensive pumping flow rate of the catheter assembly near the aorta is collected by the acquisition component.

[0178] Cardiac pumping flow is determined based on the overall pumping flow and the actual pumping flow.

[0179] As an optional implementation, the acquisition module 1301 is specifically configured to: acquire the first pressure difference and the heart's pulsation cycle at multiple time points; determine the comprehensive pumping blood flow based on the first pressure difference and pulsation cycle at multiple time points; and determine the cardiac pumping blood flow based on the comprehensive pumping blood flow and the actual pumping blood flow.

[0180] As an optional implementation, the acquisition module 1301 is specifically configured to determine the cardiac pumping flow based on the difference between the overall pumping flow and the actual pumping flow.

[0181] As an optional implementation, the first motor parameters include the first phase current, the second phase current, and the third phase current; the acquisition module 1301 is further specifically configured to:

[0182] Obtaining the parameters of the first motor includes:

[0183] Obtain the first-phase current and the second-phase current of any two phases of the blood pump motor.

[0184] The third phase current is calculated based on the first and second phase currents according to Kirchhoff's laws.

[0185] As an optional implementation, the adjustment module 1304 is further configured to:

[0186] The first rotational speed and the parameters of the second motor are determined based on the target pump blood flow rate;

[0187] The parameters of the first motor are adjusted based on the parameters of the second motor to obtain the first desired parameters;

[0188] The second rotational speed is determined based on the first desired parameter;

[0189] The first desired parameter is adjusted based on the first speed and the second speed to obtain the second desired parameter;

[0190] The first desired parameter is adjusted based on the second desired parameter to obtain the target motor parameters.

[0191] As an optional implementation, the adjustment module 1304 is further configured to:

[0192] Obtain the first rotor angle and the second rotor angle of the blood pump motor. The first rotor angle is the rotor angle of the blood pump motor under the first motor parameter operation, and the second rotor angle is the rotor angle of the blood pump motor under the second motor parameter operation.

[0193] Based on the first rotor angle, the first motor parameters are transformed to obtain the first transformation parameters in the two-phase rotating coordinate system;

[0194] Based on the second rotor angle, the second motor parameters are transformed using coordinate transformation to obtain the second transformation parameters;

[0195] The conversion error parameter is determined based on the first conversion parameter and the second conversion parameter;

[0196] The first desired parameter is obtained by adjusting the preset adjustment controller according to the conversion error parameter.

[0197] As an optional implementation, the adjustment module 1304 is further configured to:

[0198] The third rotor angle is calculated based on the first desired parameter using a preset rotor position estimator.

[0199] Based on the first rotor angle, coordinate transformation is performed on the parameters of the first motor to obtain the first transformation parameters in the two-phase rotating coordinate system, including:

[0200] Based on the third rotor angle, the first motor parameters are transformed to obtain the first transformation parameters in the two-phase rotating coordinate system.

[0201] As an optional implementation, the adjustment module 1304 is further configured to:

[0202] The speed error is determined based on the first speed and the second speed.

[0203] The second preset control controller can determine the adjustment parameters based on the speed error;

[0204] The first desired parameter is adjusted based on the adjustment parameters to obtain the second desired parameter.

[0205] As an optional implementation, the control module 1305 is further configured to:

[0206] The target motor parameters are pulse-width modulated based on a preset modulation algorithm to obtain the driving parameters of the blood pump motor;

[0207] The operation of the blood pump motor is controlled based on the driving parameters of the blood pump motor.

[0208] Figure 14 shows a schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application.

[0209] An electronic device may include a processor 1401 and a memory 1402 storing computer program instructions.

[0210] Specifically, the processor 1401 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0211] Memory 1402 may include mass storage for data or instructions. For example, and not limitingly, memory 1402 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. In one instance, memory 1402 may include removable or non-removable (or fixed) media, or memory 1402 may be non-volatile solid-state memory. Memory 1402 may be internal or external to the integrated gateway disaster recovery device.

[0212] In one instance, memory 1402 may be read-only memory (ROM). In one instance, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0213] Memory 1402 may include read-only memory (ROM), random access memory (RAM), disk storage media device, optical storage media device, flash memory device, electrical, optical, or other physical / tangible memory storage device. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the control method of a ventricular assist system according to the first aspect of this disclosure.

[0214] The processor 1401 reads and executes computer program instructions stored in the memory 1402 to implement a control method for a ventricular assist system in the embodiment shown in FIG3.

[0215] In one example, the electronic device may also include a communication interface 1403 and a bus 1404. As shown in Figure 14, the processor 1401, memory 1402, and communication interface 1403 are connected via bus 1404 and communicate with each other.

[0216] The communication interface 1403 is mainly configured to enable communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0217] Bus 1404 includes hardware, software, or both, that couples components of an electronic device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 1404 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, this application contemplates any suitable bus or interconnect.

[0218] The electronic device can execute the video query method in the embodiments of this application, thereby realizing the control method and apparatus of the ventricular assist system described in conjunction with Figures 3 and 13.

[0219] Furthermore, in conjunction with the control methods of the ventricular assist system in the above embodiments, this application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the control methods of the ventricular assist system in the above embodiments.

[0220] In an optional embodiment, in conjunction with the control method of the ventricular assist system in the above embodiments, this application embodiment can provide a computer program product to implement it. The instructions in the computer program product are executed by the processor of the electronic device, enabling the electronic device to implement any of the control methods of the ventricular assist system in the above embodiments.

[0221] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0222] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments configured to perform desired tasks. The programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0223] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0224] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, 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, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0225] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A control method for a ventricular assist system, the ventricular assist system comprising a pumping assembly and a catheter assembly, the catheter assembly being configured to be disposed in the aorta and the heart, the pumping assembly comprising a pumping motor, the pumping motor being communicatively connected to a control device of the ventricular assist system, the method comprising: Obtain the first pressure difference between the two ends of the catheter assembly and the first motor parameters of the blood pumping motor under a preset blood pumping flow rate; The actual blood flow rate of the blood pumping motor is determined based on the first pressure difference and the preset blood flow rate. The preset blood flow rate is corrected based on the actual blood flow rate and the target object's cardiac blood flow rate to obtain the target blood flow rate; The parameters of the first motor are adjusted according to the target pump blood flow rate to obtain the target motor parameters; The blood pumping assembly is controlled to operate according to the target motor parameters.

2. The method according to claim 1, wherein, The ventricular assist system further includes a data acquisition component, which is communicatively connected to the control device of the ventricular assist system. Before correcting the preset blood flow rate based on the actual blood flow rate and the target heart blood flow rate to obtain the target blood flow rate, the method further includes: The acquisition component collects the overall pumping blood flow at the end of the catheter assembly closest to the aorta. The cardiac pumping flow rate is determined based on the overall pumping flow rate and the actual pumping flow rate.

3. The method according to claim 1, wherein, Before correcting the preset pumping flow rate based on the actual pumping flow rate and the target object's cardiac pumping flow rate to obtain the target pumping flow rate, the method further includes: Acquire the first pressure difference and the heart's pulsation cycle at multiple time points; The overall pump blood flow rate is determined based on the first pressure difference at the multiple time points and the pulsation cycle; The cardiac pumping flow rate is determined based on the overall pumping flow rate and the actual pumping flow rate.

4. The method according to claim 2 or 3, wherein, Determining the cardiac pumping flow rate based on the overall pumping flow rate and the actual pumping flow rate includes: The cardiac pumping flow rate is determined based on the difference between the overall pumping flow rate and the actual pumping flow rate.

5. The method according to claim 1, wherein, The parameters of the first motor include the first phase current, the second phase current, and the third phase current; Obtaining the parameters of the first motor includes: Obtain the first phase current and the second phase current of any two phases of the blood pump motor; The third phase current is calculated based on the first and second phase currents according to Kirchhoff's laws.

6. The method according to claim 1, wherein, The step of adjusting the parameters of the first motor according to the target pump blood flow to obtain the target motor parameters includes: The first rotational speed and the second motor parameters are determined based on the target pump blood flow rate; The first motor parameters are adjusted based on the second motor parameters to obtain the first desired parameters; The second rotational speed is determined based on the first desired parameter; The first desired parameter is adjusted based on the first rotational speed and the second rotational speed to obtain the second desired parameter; The first desired parameter is adjusted according to the second desired parameter to obtain the target motor parameters.

7. The method according to claim 6, wherein, The step of adjusting the first motor parameters based on the second motor parameters to obtain the first desired parameters includes: The first rotor angle and the second rotor angle of the blood pumping motor are obtained. The first rotor angle is the rotor angle of the blood pumping motor when it is running with the first motor parameters, and the second rotor angle is the rotor angle of the blood pumping motor when it is running with the second motor parameters. Based on the first rotor angle, the first motor parameters are transformed to obtain the first transformation parameters in the two-phase rotating coordinate system; Based on the second rotor angle, the second motor parameters are transformed by coordinate transformation to obtain the second transformation parameters; The conversion error parameter is determined based on the first conversion parameter and the second conversion parameter; The first desired parameter is obtained by adjusting the preset adjustment controller according to the conversion error parameter.

8. The method according to claim 7, wherein, Before adjusting the first desired parameter based on the first rotational speed and the second rotational speed to obtain the second desired parameter, the method further includes: The third rotor angle is calculated based on the first desired parameter using a preset rotor position estimator. The coordinate transformation of the first motor parameters based on the first rotor angle to obtain the first transformation parameters in the two-phase rotating coordinate system includes: Based on the third rotor angle, the first motor parameters are transformed to obtain the first transformation parameters in the two-phase rotating coordinate system.

9. The method according to claim 6 or 7, wherein, The step of adjusting the first desired parameter based on the first rotational speed and the second rotational speed to obtain the second desired parameter includes: The speed error is determined based on the first speed and the second speed. The second preset adjustment controller can determine the adjustment parameters based on the speed error; The first desired parameter is adjusted based on the adjustment parameters to obtain the second desired parameter.

10. The method according to claim 1, wherein, The control of the blood pumping assembly to operate according to the target motor parameters includes: The target motor parameters are pulse-width modulated based on a preset modulation algorithm to obtain the driving parameters of the blood pump motor; The operation of the blood pump motor is controlled based on the driving parameters of the blood pump motor.

11. A control device for a ventricular assist system, the ventricular assist system comprising a pumping assembly and a catheter assembly, the catheter assembly being configured to be disposed in the aorta and the heart, the pumping assembly comprising a pumping motor, the pumping motor being communicatively connected to a control device of the ventricular assist system, the device comprising: The acquisition module is configured to acquire the first pressure difference between the two ends of the catheter assembly and the first motor parameters of the blood pumping motor in the blood pumping assembly under a preset blood pumping flow rate. The determining module is configured to determine the actual pumping flow rate of the pumping motor based on the first pressure difference and the preset pumping flow rate; The correction module is configured to correct the preset blood flow rate based on the actual blood flow rate and the heart blood flow rate of the target object to obtain the target blood flow rate; The adjustment module is configured to adjust the parameters of the first motor according to the target pump blood flow to obtain the target motor parameters; The control module is configured to control the blood pumping assembly to operate according to the target motor parameters.

12. A ventricular assist system, wherein, It includes a blood collection component, a blood pumping component, a catheter component, and a control device; the control device is configured to perform the method as described in any one of claims 1-10.

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