技术领域Technical Field
本申请涉及医疗器械及对医疗器械控制领域，具体而言，涉及一种基于心室辅助装置的控制装置、方法和心室辅助系统。The present application relates to the field of medical devices and medical device control, and in particular, to a control device, method and ventricular assist system based on a ventricular assist device.
背景技术Background Art
心力衰竭(Heart Failure)简称心衰，心脏病发展的终末期阶段，具体表现在由于心脏功能发生障碍，不能将静脉回心血量充分排出心脏，导致静脉系统血液淤积，动脉系统血液灌注不足，从而引起心脏循环障碍。由于心脏供体短缺，心室辅助装置(VAD)已经成为终末期心力衰竭患者的重要治疗手段之一；因此，左心室辅助装置的控制策略的研究能够提升装置的利用效果。Heart failure is the terminal stage of heart disease. It is manifested in the inability to fully discharge venous blood from the heart due to heart dysfunction, which leads to blood congestion in the venous system and insufficient blood perfusion in the arterial system, thus causing cardiac circulation disorders. Due to the shortage of heart donors, ventricular assist devices (VADs) have become one of the important treatments for patients with end-stage heart failure; therefore, the study of control strategies for left ventricular assist devices can improve the utilization of the device.
目前，对心室辅助装置控制策略为保持对心室辅助装置电机的转速稳定；但该控制策略无法适用于特殊的心内环境，无法保持心输出量的稳定。Currently, the control strategy for ventricular assist devices is to maintain a stable speed of the ventricular assist device motor; however, this control strategy cannot be applied to special intracardiac environments and cannot maintain a stable cardiac output.
发明内容Summary of the invention
本申请实施例的目的在于提供一种基于心室辅助装置的控制装置、方法和心室辅助系统，通过综合心率和压差两方面，调整心室辅助装置泵的转速，能够控制心室辅助装置的流量，随着人体生理活动变换，维持心输出量的稳定性。The purpose of the embodiments of the present application is to provide a control device, method and ventricular assist system based on a ventricular assist device, which can adjust the speed of the ventricular assist device pump by comprehensively considering the heart rate and pressure difference, thereby controlling the flow of the ventricular assist device and maintaining the stability of cardiac output as the physiological activities of the human body change.
第一方面，本申请实施例提供一种基于心室辅助装置的控制装置，控制装置包括：压差获取模块、目标转速计算模块和转速控制模块；压差获取模块用于获取心室辅助装置的泵两端的压差；目标转速计算模块用于根据当前心率、静息心率、心室辅助装置的流量预设值和微调系数，确定目标流量；其中，微调系数与心输出量相关；目标转速计算模块还用于根据压差和目标流量，计算心室辅助装置的电机的目标转速；转速控制模块用于基于电机的当前转速和目标转速，调节电机的转速。In a first aspect, an embodiment of the present application provides a control device based on a ventricular assist device, the control device comprising: a pressure difference acquisition module, a target speed calculation module and a speed control module; the pressure difference acquisition module is used to acquire the pressure difference across the pump of the ventricular assist device; the target speed calculation module is used to determine the target flow rate based on the current heart rate, resting heart rate, flow preset value and fine-tuning coefficient of the ventricular assist device; wherein the fine-tuning coefficient is related to the cardiac output; the target speed calculation module is also used to calculate the target speed of the motor of the ventricular assist device based on the pressure difference and the target flow rate; the speed control module is used to adjust the speed of the motor based on the current speed and the target speed of the motor.
在上述实现过程中，本申请提供基于心室辅助装置的控制装置，为了通过调节电机转速，来维持心输出量的稳定；控制装置的目标转速计算模块根据用户的当前心率、静息心率、心室辅助装置的流量预设值和微调系数，确定目标流量；进一步地，确定目标流量之后，转速控制模块根据目标流量、电机当前转速和电机目标转速来控制电机的转速。由此可知，该基于心室辅助装置的控制装置，将用户的生理信息，如心率、泵两端(左心室和主动脉之间、右心室和肺动脉之间)的压差，作为计算心室辅助装置电机的目标转速的基础数据；能够极大程度避免当人体生理活动变化时，心室辅助装置的输出流量仍然维持不变，导致人体心输出量不稳定。In the above implementation process, the present application provides a control device based on a ventricular assist device, in order to maintain the stability of cardiac output by adjusting the motor speed; the target speed calculation module of the control device determines the target flow rate according to the user's current heart rate, resting heart rate, the flow preset value of the ventricular assist device and the fine-tuning coefficient; further, after determining the target flow rate, the speed control module controls the speed of the motor according to the target flow rate, the current speed of the motor and the target speed of the motor. It can be seen that the control device based on the ventricular assist device uses the user's physiological information, such as heart rate, and the pressure difference between the two ends of the pump (between the left ventricle and the aorta, and between the right ventricle and the pulmonary artery) as the basic data for calculating the target speed of the ventricular assist device motor; it can greatly avoid the situation that when the physiological activities of the human body change, the output flow of the ventricular assist device remains unchanged, resulting in unstable cardiac output of the human body.
可选地，在本申请实施例中，目标转速计算模块包括心率差计算单元、流量调整量确定单元和目标流量确定单元；在根据当前心率、静息心率、心室辅助装置的流量预设值和微调系数，确定目标流量的过程中：心率差计算单元用于计算当前心率和静息心率的心率差值；流量调整量确定单元用于基于微调系数和心率差值，获得流量调整量；其中，流量调整量与心率的变化相关；目标流量确定单元用于将流量调整量与流量预设值叠加，以获得目标流量。Optionally, in an embodiment of the present application, the target speed calculation module includes a heart rate difference calculation unit, a flow adjustment amount determination unit and a target flow determination unit; in the process of determining the target flow according to the current heart rate, resting heart rate, flow preset value and fine-tuning coefficient of the ventricular assist device: the heart rate difference calculation unit is used to calculate the heart rate difference between the current heart rate and the resting heart rate; the flow adjustment amount determination unit is used to obtain the flow adjustment amount based on the fine-tuning coefficient and the heart rate difference; wherein the flow adjustment amount is related to the change in heart rate; the target flow determination unit is used to superimpose the flow adjustment amount with the flow preset value to obtain the target flow.
在上述实现过程中，本申请实施例提供了目标转速计算模块确定目标流量的过程，是结合了当前心率、静息心率、心室辅助装置的流量预设值和与心输出量相关的微调系数的。目标转速计算模块得到的目标流量是在流量预设值的基础上，叠加一个流量调整量；该流量调整量是考虑了人体心率变化的量，能够有效的将人体生理变化情况与心室辅助装置的目标流量相结合，使目标流量能够随生理变化而变化。In the above implementation process, the embodiment of the present application provides a process for the target speed calculation module to determine the target flow rate, which is a combination of the current heart rate, resting heart rate, the flow preset value of the ventricular assist device and the fine-tuning coefficient related to the cardiac output. The target flow rate obtained by the target speed calculation module is based on the flow preset value, and a flow adjustment amount is superimposed; the flow adjustment amount is an amount that takes into account the changes in human heart rate, and can effectively combine the physiological changes of the human body with the target flow rate of the ventricular assist device, so that the target flow rate can change with physiological changes.
可选地，在本申请实施例中，在根据压差和目标流量，计算心室辅助装置的电机的目标转速的过程中：转速控制模块具体用于根据压差和目标流量，计算包括目标转速的流量变化率；以及调整流量变化率为零，并以流量变化率为零的情况下的转速为目标转速。Optionally, in an embodiment of the present application, in the process of calculating the target speed of the motor of the ventricular assist device based on the pressure difference and the target flow: the speed control module is specifically used to calculate the flow change rate including the target speed based on the pressure difference and the target flow; and adjust the flow change rate to zero, and use the speed when the flow change rate is zero as the target speed.
在上述实现过程中，根据压差和目标流量计算出流量变化率，流量变化率是一个包括目标转速的函数；进一步地，为了求取维持心输出量稳定的目标转速，将该流量变化率赋值为0，从而得到所求的目标转速。由此可知，基于压差和目标流量得到的目标转速中，包含了关于心率和压差的信息，本申请实施例提供的基于心室辅助装置的控制装置能够充分考虑生理变化，控制心输出量稳定。In the above implementation process, the flow rate change rate is calculated based on the pressure difference and the target flow rate, and the flow rate change rate is a function including the target speed; further, in order to obtain the target speed to maintain the stability of cardiac output, the flow rate change rate is assigned to 0, thereby obtaining the desired target speed. It can be seen that the target speed obtained based on the pressure difference and the target flow rate includes information about the heart rate and the pressure difference. The control device based on the ventricular assist device provided in the embodiment of the present application can fully consider physiological changes and control the stability of cardiac output.
可选地，在本申请实施例中，在获取心室辅助装置的泵两端的压差的过程中：压差获取模块具体用于基于心室辅助装置的泵的压头和心输出量之间的关系，获得泵两端的压差；其中，泵的压头和心输出量之间的关系包括由扬程-流量曲线量化的关系。Optionally, in an embodiment of the present application, in the process of obtaining the pressure difference across the pump of a ventricular assist device: the pressure difference acquisition module is specifically used to obtain the pressure difference across the pump based on the relationship between the pressure head and cardiac output of the pump of the ventricular assist device; wherein the relationship between the pressure head and cardiac output of the pump includes the relationship quantified by the head-flow curve.
在上述实现过程中，通过压差的获取方式之一是由压差获取模块根据压头和心输出量之间的关系来获取泵两端的压差。将压差纳入计算目标转速的参数之一，能够最大程度考虑实际情况，维持心输出量的稳定：基于左心室辅助装置的泵的压头和心输出量之间的关系。In the above implementation process, one of the ways to obtain the pressure difference is that the pressure difference acquisition module obtains the pressure difference at both ends of the pump according to the relationship between the pressure head and the cardiac output. Including the pressure difference as one of the parameters for calculating the target speed can take into account the actual situation to the greatest extent and maintain the stability of the cardiac output: based on the relationship between the pressure head and the cardiac output of the pump of the left ventricular assist device.
可选地，在本申请实施例中，在获取心室辅助装置的泵两端的压差的过程中：压差获取模块具体用于根据心室辅助装置电机的当前转速和当前电流，确定泵两端的压差。Optionally, in an embodiment of the present application, in the process of obtaining the pressure difference across the pump of a ventricular assist device: the pressure difference acquisition module is specifically used to determine the pressure difference across the pump based on the current speed and current current of the ventricular assist device motor.
在上述实现过程中，获取压差的另一张方式是，压差获取模块根据左心室辅助装置电机的当前转速和左心室辅助装置电机的当前电流，估计出泵两端的压差。将压差纳入计算目标转速的参数之一，能够最大程度考虑实际情况，维持心输出量的稳定。In the above implementation process, another way to obtain the pressure difference is that the pressure difference acquisition module estimates the pressure difference across the pump according to the current speed of the left ventricular assist device motor and the current current of the left ventricular assist device motor. Including the pressure difference as one of the parameters for calculating the target speed can take into account the actual situation to the greatest extent and maintain the stability of cardiac output.
可选地，在本申请实施例中，转速控制模块包括转速差计算单元和PID控制单元；在基于电机的当前转速和目标转速，调节电机的转速的过程中：转速差计算单元用于将当前转速和目标转速作差，以获得转速差；PID控制单元用于将转速差输入PID控制器，以调节电机的转速。Optionally, in an embodiment of the present application, the speed control module includes a speed difference calculation unit and a PID control unit; in the process of adjusting the speed of the motor based on the current speed and the target speed of the motor: the speed difference calculation unit is used to difference the current speed and the target speed to obtain the speed difference; the PID control unit is used to input the speed difference into the PID controller to adjust the speed of the motor.
在上述实现过程中，转速差计算单元根据心室辅助装置电机的当前转速和目标转速，计算转速差；PID控制单元将转速差输入PID控制器，控制该左心室辅助装置电机的转速，从而控制心输出量的稳定；使用PID控制原理简单，使用方便，且适应性强、鲁棒性强，有利于精确控制左心室辅助装置电机的转速，从而保持心输出量的稳定性。In the above implementation process, the speed difference calculation unit calculates the speed difference according to the current speed and target speed of the ventricular assist device motor; the PID control unit inputs the speed difference into the PID controller to control the speed of the left ventricular assist device motor, thereby controlling the stability of cardiac output; the PID control principle is simple, easy to use, and has strong adaptability and robustness, which is conducive to accurately controlling the speed of the left ventricular assist device motor, thereby maintaining the stability of cardiac output.
第二方面，本申请实施例提供一种心室辅助系统，心输出量控制系统包括：心室辅助装置、检测模块和本申请第一方面的控制装置。检测模块用于获取目标用户的当前心率、电机的当前转速和电机的当前电流；控制装置用于根据目标用户的心率、电机的当前转速和电机的当前电流，控制电机的转速。In a second aspect, an embodiment of the present application provides a ventricular assist system, wherein the cardiac output control system comprises: a ventricular assist device, a detection module, and a control device of the first aspect of the present application. The detection module is used to obtain the current heart rate of the target user, the current speed of the motor, and the current current of the motor; the control device is used to control the speed of the motor according to the heart rate of the target user, the current speed of the motor, and the current current of the motor.
第三方面，本申请实施例提供一种基于心室辅助装置的控制方法，方法包括：获取心室辅助装置的泵两端的压差；根据当前心率、静息心率、心室辅助装置的流量预设值和微调系数，确定目标流量；其中，微调系数与心输出量相关；根据压差和目标流量，计算心室辅助装置的电机的目标转速；基于电机的当前转速和目标转速，调节电机的转速。In a third aspect, an embodiment of the present application provides a control method based on a ventricular assist device, the method comprising: obtaining the pressure difference across the pump of the ventricular assist device; determining the target flow rate based on the current heart rate, resting heart rate, the preset flow value of the ventricular assist device and the fine-tuning coefficient; wherein the fine-tuning coefficient is related to the cardiac output; calculating the target speed of the motor of the ventricular assist device based on the pressure difference and the target flow rate; and adjusting the speed of the motor based on the current speed and the target speed of the motor.
第四方面，本申请实施例提供一种电子设备，所述电子设备包括存储器和处理器，所述存储器中存储有程序指令，所述处理器读取并运行所述程序指令时，执行上述任一实现方式中的步骤。In a fourth aspect, an embodiment of the present application provides an electronic device, comprising a memory and a processor, wherein the memory stores program instructions, and when the processor reads and runs the program instructions, it executes the steps in any of the above implementation methods.
第五方面，本申请实施例还提供一种计算机可读存储介质，所述可读取存储介质中存储有计算机程序指令，所述计算机程序指令被一处理器读取并运行时，执行上述任一实现方式中的步骤。In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer program instructions are stored in the computer-readable storage medium, and when the computer program instructions are read and executed by a processor, the steps in any of the above-mentioned implementation methods are executed.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
图1为本申请实施例提供的基于心室辅助装置的控制装置的模块第一示意图；FIG1 is a first schematic diagram of a module of a control device based on a ventricular assist device provided in an embodiment of the present application;
图2为本申请实施例提供的基于心室辅助装置的控制装置的模块第二示意图；FIG2 is a second schematic diagram of a module of a control device based on a ventricular assist device provided in an embodiment of the present application;
图3为本申请实施例提供的PID控制流程图；FIG3 is a PID control flow chart provided in an embodiment of the present application;
图4为本申请实施例提供的基于心室辅助装置的控制装置的系统架构示意图；FIG4 is a schematic diagram of a system architecture of a control device based on a ventricular assist device provided in an embodiment of the present application;
图5为使用固定转速的心输出量控制效果图；FIG5 is a diagram showing the effect of cardiac output control using a fixed speed;
图6为本申请实施例提供的结合生理规律控制心输出量的波动效果图；FIG6 is a diagram showing the effect of controlling the fluctuation of cardiac output in combination with physiological laws provided in an embodiment of the present application;
图7为本申请实施例提供的流量随心率变化控制结果图；FIG7 is a flow rate control result diagram according to an embodiment of the present application;
图8为本申请实施例提供的心室辅助系统的示意图；FIG8 is a schematic diagram of a ventricular assist system provided in an embodiment of the present application;
图9为本申请实施例提供的基于心室辅助装置的控制方法的流程图；FIG9 is a flow chart of a control method based on a ventricular assist device provided in an embodiment of the present application;
图10为本申请实施例提供的电子设备的结构示意图。FIG. 10 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.
具体实施方式DETAILED DESCRIPTION
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述。例如，附图中的流程图和框图显示了根据本发明的多个实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现方式中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。另外，在本发明各个实施例中的各功能模块可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或两个以上模块集成形成一个独立的部分。The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings in the embodiments of the present application. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram may represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and/or the flowchart, and the combination of boxes in the block diagram and/or the flowchart, can be implemented by a dedicated hardware-based system that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.
申请人在研究过程中发现，目前对于心室辅助装置的流量控制，往往是对心室辅助装置电机的转速进行控制，使电机的转速达到稳定，从而达到心室辅助装置的流量相对稳定。The applicant discovered during the research process that the current flow control of the ventricular assist device is often to control the speed of the motor of the ventricular assist device to stabilize the speed of the motor, thereby achieving a relatively stable flow of the ventricular assist device.
但时，考虑到心内环境的特殊性；当心脏处于收缩期时，主动脉瓣打开，左心室往主动脉供血，此时左心室压力较高；而心脏处于舒张期时，左心室压力较低，主动脉瓣闭合。因此，心脏在不同的时间段，对于心室辅助装置的泵来说，两端的压力存在周期性变化，从而引起流量周期性变化，心脏处于舒张期时流量小，心脏处于收缩期时流量会变大；若始终维持电机转速稳定，将会导致心脏的心输出量不稳定，需要适应性调整左心室辅助装置的流量，以维持心输出量的稳定。However, considering the particularity of the intracardiac environment; when the heart is in systole, the aortic valve opens, and the left ventricle supplies blood to the aorta. At this time, the left ventricular pressure is high; when the heart is in diastole, the left ventricular pressure is low and the aortic valve is closed. Therefore, at different time periods, for the pump of the ventricular assist device, the pressure at both ends changes periodically, causing the flow to change periodically. When the heart is in diastole, the flow is small, and when the heart is in systole, the flow will increase. If the motor speed is always kept stable, the cardiac output of the heart will be unstable, and the flow of the left ventricular assist device needs to be adaptively adjusted to maintain the stability of the cardiac output.
基于此，本申请提供基于心室辅助装置的控制装置、方法和心室辅助系统；该基于心室辅助装置的控制装置基于心室辅助装置的预设档位，在左心室辅助装置的预设档位之上，将人体生理信息考虑在内，对心室辅助装置的流量进行适应性调整；从而使心室辅助装置的流量跟随心率自适应变化，更有利于临床使用。Based on this, the present application provides a control device, method and ventricular assist system based on a ventricular assist device; the control device based on the ventricular assist device is based on the preset gear of the ventricular assist device, and on top of the preset gear of the left ventricular assist device, takes human physiological information into consideration and adaptively adjusts the flow of the ventricular assist device; thereby enabling the flow of the ventricular assist device to adaptively change with the heart rate, which is more conducive to clinical use.
在介绍本申请的具体内容之前，先对心室辅助装置进行简单介绍，心室辅助装置包括左心室辅助装置(LVAD)和右心室辅助装置(RVAD)，也常被称为人工心脏；其中，左心室辅助装置，是在左心室不能满足系统灌注需要时，给循环提供支持的心脏机械性辅助装置。右心室辅助装置通常仅用于LVAD手术或其他心脏手术后对右心室的短期支持。右心室辅助装置帮助右心室将血液泵送到肺动脉(PULL-mun-ary)，将血液输送到肺部以吸收氧气的动脉。Before introducing the specific content of this application, a brief introduction to ventricular assist devices is first given. Ventricular assist devices include left ventricular assist devices (LVAD) and right ventricular assist devices (RVAD), which are also often referred to as artificial hearts; among them, the left ventricular assist device is a mechanical cardiac assist device that provides circulation support when the left ventricle cannot meet the system perfusion needs. The right ventricular assist device is usually only used for short-term support of the right ventricle after LVAD surgery or other heart surgery. The right ventricular assist device helps the right ventricle pump blood to the pulmonary artery (PULL-mun-ary), the artery that transports blood to the lungs to absorb oxygen.
心力衰竭是心脏病发展的终末期阶段，具体表现在由于心脏功能发生障碍，不能将静脉回心血量充分排出心脏，导致静脉系统血液淤积，动脉系统血液灌注不足，从而引起心脏循环障碍。由于心脏供体短缺，心室辅助装置已经成为终末期心力衰竭患者的重要治疗手段之一。心室辅助装置是一个可提供动力的血泵，其效能较主动脉内球囊反博高6-8倍，能有效代替心脏工作能力的80％以上；因此，对心室辅助装置的控制问题值得研究。Heart failure is the terminal stage of heart disease development. It is manifested in the inability to fully discharge venous blood from the heart due to heart dysfunction, resulting in blood congestion in the venous system and insufficient blood perfusion in the arterial system, which in turn causes cardiac circulation disorders. Due to the shortage of heart donors, ventricular assist devices have become one of the important treatments for patients with end-stage heart failure. The ventricular assist device is a powered blood pump that is 6-8 times more efficient than an intra-aortic balloon pump and can effectively replace more than 80% of the heart's working capacity; therefore, the control of the ventricular assist device is worth studying.
请参看图1，图1为本申请实施例提供的基于心室辅助装置的控制装置的模块第一示意图；该控制装置100包括压差获取模块110、目标转速计算模块120和转速控制模块130。Please refer to Figure 1, which is a first schematic diagram of the modules of a control device based on a ventricular assist device provided in an embodiment of the present application; the control device 100 includes a pressure difference acquisition module 110, a target speed calculation module 120 and a speed control module 130.
压差获取模块110用于获取心室辅助装置的泵两端的压差。The pressure difference acquisition module 110 is used to acquire the pressure difference between the two ends of the pump of the ventricular assist device.
心室辅助装置常常被称作人工心脏，相当于是一个血泵；其中，左心室辅助装置在安装时，装置的前半段在左心室，后半段在主动脉，安装好后能够将左心室的血液抽到主动脉中；也就是说，正常情况下血泵的左侧和右侧是存在压差的；为了更大程度上地与人体生理状态相适应，本申请实施例对泵两侧的压差进行获取。A ventricular assist device is often referred to as an artificial heart, which is equivalent to a blood pump. When the left ventricular assist device is installed, the front half of the device is in the left ventricle and the back half is in the aorta. After installation, it can pump blood from the left ventricle into the aorta. In other words, under normal circumstances, there is a pressure difference between the left and right sides of the blood pump. In order to adapt to the physiological state of the human body to a greater extent, the embodiment of the present application obtains the pressure difference on both sides of the pump.
目标转速计算模块120用于根据当前心率、静息心率、心室辅助装置的流量预设值和微调系数，确定目标流量。The target speed calculation module 120 is used to determine the target flow rate according to the current heart rate, the resting heart rate, the flow preset value of the ventricular assist device and the fine-tuning coefficient.
在上述过程中，目标转速计算模块120根据当前心率、静息心率、左心室辅助装置的流量预设值和微调系数确定目标流量；需要说明的是，心室辅助装置的流量预设值有若干档位，每一个档位划分的输出流量有明显差距，用于适应不同的心流量心输出量需求。例如，1档流量预设值为0.5L/min，2档流量预设值为1.5L/min，3档流量预设值为2.5L/min等等。静息心率又称为安静心率，是指在安静的、不活动、清醒的状态下的心率；一般来说，静息心率能在50～65次能反映心脏较为健康。微调系数，是与心输出量相关的数值。In the above process, the target speed calculation module 120 determines the target flow rate according to the current heart rate, resting heart rate, flow preset value of the left ventricular assist device and the fine-tuning coefficient; it should be noted that the flow preset value of the ventricular assist device has several gears, and the output flow divided by each gear has a significant difference, which is used to adapt to different cardiac flow and cardiac output requirements. For example, the flow preset value of gear 1 is 0.5L/min, the flow preset value of gear 2 is 1.5L/min, the flow preset value of gear 3 is 2.5L/min, and so on. The resting heart rate is also called the quiet heart rate, which refers to the heart rate in a quiet, inactive, and awake state; generally speaking, a resting heart rate of 50 to 65 times can reflect a relatively healthy heart. The fine-tuning coefficient is a value related to cardiac output.
可以理解的是，在心室辅助装置的流量预设值的基础上，基于当前心率、静息心率和微调系数得到目标流量；也就是说，目标流量是在档位需求量的基础上，基于人体不同的生理情况，进行微调得到的。It can be understood that, based on the preset flow value of the ventricular assist device, the target flow is obtained based on the current heart rate, resting heart rate and fine-tuning coefficient; that is, the target flow is obtained by fine-tuning based on the gear demand and the different physiological conditions of the human body.
目标转速计算模块120还用于根据压差和目标流量，计算心室辅助装置的电机的目标转速。转速控制模块130用于基于电机的当前转速和目标转速，调节电机的转速。The target speed calculation module 120 is also used to calculate the target speed of the motor of the ventricular assist device according to the pressure difference and the target flow rate. The speed control module 130 is used to adjust the speed of the motor based on the current speed of the motor and the target speed.
在上述过程中，目标转速计算模块120根据泵两端的压差和目标流量计算心室辅助装置电机的目标转速；计算出心室辅助装置电机的目标转速之后，转速控制模块130根据心室辅助装置电机的当前转速和目标转速，控制该心室辅助装置的电机转速。In the above process, the target speed calculation module 120 calculates the target speed of the ventricular assist device motor based on the pressure difference at both ends of the pump and the target flow rate; after calculating the target speed of the ventricular assist device motor, the speed control module 130 controls the speed of the ventricular assist device motor based on the current speed of the ventricular assist device motor and the target speed.
通过图1可知，本申请提供基于心室辅助装置的控制装置，为了通过调节电机转速，来维持心输出量的稳定；控制装置的目标转速计算模块根据用户的当前心率、静息心率、心室辅助装置的流量预设值和微调系数，确定目标流量；进一步地，确定目标流量之后，转速控制模块根据目标流量、电机当前转速和电机目标转速来控制电机的转速。由此可知，该基于心室辅助装置的控制装置，将用户的生理信息，如心率、泵两端(左心室和主动脉之间、右心室和肺动脉之间)的压差，作为计算心室辅助装置电机的目标转速的基础数据；能够极大程度避免当人体生理活动变化时，心室辅助装置的输出流量仍然维持不变，导致人体心输出量不稳定。As shown in Figure 1, the present application provides a control device based on a ventricular assist device, in order to maintain the stability of cardiac output by adjusting the motor speed; the target speed calculation module of the control device determines the target flow rate according to the user's current heart rate, resting heart rate, the flow preset value of the ventricular assist device and the fine-tuning coefficient; further, after determining the target flow rate, the speed control module controls the speed of the motor according to the target flow rate, the current speed of the motor and the target speed of the motor. It can be seen that the control device based on the ventricular assist device uses the user's physiological information, such as heart rate, and the pressure difference between the two ends of the pump (between the left ventricle and the aorta, and between the right ventricle and the pulmonary artery) as the basic data for calculating the target speed of the ventricular assist device motor; it can greatly avoid the situation that when the physiological activities of the human body change, the output flow of the ventricular assist device remains unchanged, resulting in unstable cardiac output of the human body.
请参看图2，图2为本申请实施例提供的基于心室辅助装置的控制装置的模块第二示意图；目标转速计算模块包括心率差计算单元、流量调整量确定单元和目标流量确定单元。Please refer to Figure 2, which is a second schematic diagram of the module of the control device based on the ventricular assist device provided in an embodiment of the present application; the target speed calculation module includes a heart rate difference calculation unit, a flow adjustment amount determination unit and a target flow determination unit.
在根据当前心率、静息心率、心室辅助装置的流量预设值和微调系数，确定目标流量的过程中：In the process of determining the target flow based on the current heart rate, resting heart rate, the flow preset value of the ventricular assist device and the fine-tuning factor:
心率差计算单元用于计算当前心率和静息心率的心率差值。The heart rate difference calculation unit is used to calculate the heart rate difference between the current heart rate and the resting heart rate.
在获取用户的当前心率后，要实现对目标流量的计算，要计算目标流量，需要先将当前心率和静息心率作差，获得心率差值；示例性地，若当前心率为bt，静息心率为btset；那么，心率差值为Δbt＝bt-btset。After obtaining the user's current heart rate, in order to calculate the target flow, it is necessary to first subtract the current heart rate from the resting heart rate to obtain the heart rate difference; for example, if the current heart rate is bt and the resting heart rate is btset; then, the heart rate difference is Δbt=bt-btset.
进一步地，流量调整量确定单元用于基于微调系数和心率差值，获得流量调整量。Further, the flow adjustment amount determination unit is used to obtain the flow adjustment amount based on the fine-tuning coefficient and the heart rate difference.
流量调整量确定单元将得到的心率差值以微调系数进行调整，得到调整后的流量调整量。承接上文，该微调系数为与心输出量相关的系数。The flow adjustment amount determination unit adjusts the obtained heart rate difference value with a fine adjustment coefficient to obtain an adjusted flow adjustment amount. Continuing from the above, the fine adjustment coefficient is a coefficient related to cardiac output.
在此提供一种该微调系数获取的方法，若流量预设值Fset为1L/min，静息心率btset为60次/分钟；需要的目标流量Ftarget为2L/min；当前心率bt变为80次/分钟时，需要的目标流量Ftarget为3，则根据公式Ftarget＝Fset+k(bt-btset)可知，k(80-60)＝2-1，k＝1/20。Here is a method for obtaining the fine-tuning coefficient. If the preset flow value Fset is 1 L/min, the resting heart rate btset is 60 beats/minute, and the required target flow Ftarget is 2 L/min, when the current heart rate bt becomes 80 beats/minute, the required target flow Ftarget is 3. According to the formula Ftarget = Fset + k(bt-btset ), k(80-60) = 2-1, k = 1/20.
应当理解的是，k恒大于零，当人体运动时，心率增加，因此心输出量也要增加以适应人体需求；当人静息时，心率减少，因此心输出量也要减少防止抽吸。在k被确定后，是一个不变的值；k的确定过程可以被理解为一个建模过程，求取过程中涉及到心率对应的需要的目标流量，目标流量是可以根据实验获取的；其过程为对一个非心衰的正常人建立模型，得到不同心率bt时的Ftarget。It should be understood that k is always greater than zero. When the human body is exercising, the heart rate increases, so the cardiac output also increases to adapt to the needs of the human body; when the human body is at rest, the heart rate decreases, so the cardiac output also decreases to prevent suction. After k is determined, it is a constant value; the process of determining k can be understood as a modeling process, and the process involves the required target flow corresponding to the heart rate. The target flow can be obtained based on experiments; the process is to build a model for a normal person without heart failure and obtain Ftarget at different heart rates bt.
最后，目标流量确定单元用于将流量调整量与流量预设值叠加，以获得目标流量。Finally, the target flow determination unit is used to superimpose the flow adjustment amount and the preset flow value to obtain the target flow.
目标流量确定单元将流量调整值和流量预设值叠加，从而获得目标流量；示例性地，目标流量Ftarget＝Fset+kΔbt，其中k为定值。The target flow determination unit superimposes the flow adjustment value and the flow preset value to obtain a target flow; illustratively, the target flow Ftarget =Fset +kΔbt, where k is a constant value.
通过图2可知，本申请实施例提供了目标转速计算模块确定目标流量的过程，是结合了当前心率、静息心率、心室辅助装置的流量预设值和与心输出量相关的微调系数的。目标转速计算模块得到的目标流量是在流量预设值的基础上，叠加一个流量调整量；该流量调整量是考虑了人体心率变化的量，能够有效的将人体生理变化情况与心室辅助装置的目标流量相结合，使目标流量能够随生理变化而变化。As can be seen from Figure 2, the embodiment of the present application provides a process for the target speed calculation module to determine the target flow rate, which combines the current heart rate, resting heart rate, the flow preset value of the ventricular assist device, and the fine-tuning coefficient related to cardiac output. The target flow rate obtained by the target speed calculation module is based on the flow preset value, and a flow adjustment amount is superimposed; the flow adjustment amount is an amount that takes into account the changes in human heart rate, and can effectively combine the physiological changes of the human body with the target flow rate of the ventricular assist device, so that the target flow rate can change with physiological changes.
请继续参看图2，在本申请实施例的可选实施方式中，在转速控制模块根据压差和目标流量，计算心室辅助装置的电机的目标转速的过程中：转速控制模块具体用于根据压差和目标流量，计算包括目标转速的流量变化率；以及调整流量变化率为零，并以流量变化率为零的情况下的转速为目标转速。Please continue to refer to Figure 2. In an optional implementation of an embodiment of the present application, in the process where the speed control module calculates the target speed of the motor of the ventricular assist device based on the pressure difference and the target flow: the speed control module is specifically used to calculate the flow change rate including the target speed based on the pressure difference and the target flow; and adjust the flow change rate to zero, and use the speed when the flow change rate is zero as the target speed.
在转速控制模块具体用于根据压差和目标流量，计算包括目标转速的流量变化率的过程中，依据心室辅助装置安装的位置可知，心室辅助装置泵的两端存在压差，在计算出目标流量之后，在目标流量的基础上，将泵两端的压差也考虑在内，计算流量变化率；其中，流量变化率是一个关于目标转速、目标流量和压差的函数。In the process where the speed control module is specifically used to calculate the flow change rate including the target speed based on the pressure difference and the target flow, it can be known from the installation position of the ventricular assist device that there is a pressure difference at both ends of the ventricular assist device pump. After calculating the target flow, the pressure difference at both ends of the pump is also taken into account on the basis of the target flow to calculate the flow change rate; wherein the flow change rate is a function of the target speed, target flow and pressure difference.
示例性地，考虑到泵的水利特性，基于以下特性方程：Exemplarily, taking into account the hydraulic characteristics of the pump, based on the following characteristic equation:
其中，wtarget为心室辅助装置的目标转速，b0、b1和b2为未知参数；本领域技术人员可以理解的是，b0、b1和b2可以通过HQ曲线拟合，HQ曲线也称为扬程-流量曲线；该曲线表示泵的压头与流量的关系，离心泵的压头一般是随流量的增大而降低的。Wherein, wtarget is the target speed of the ventricular assist device, b0 , b1 and b2 are unknown parameters; those skilled in the art can understand that b0 , b1 and b2 can be fitted by an HQ curve, which is also called a head-flow curve; this curve represents the relationship between the pressure head and flow rate of the pump, and the pressure head of a centrifugal pump generally decreases with the increase of flow rate.
在转速控制模块调整流量变化率为零，并以流量变化率为零的情况下的转速为目标转速的过程中，根据方程可知，方程的左侧就是流量的变化率，本申请提供的控制装置的目的就是通过控制电机的转速，让心输出量保持稳定；那么，将方程的左侧调整为0，即可以根据此式计算其中的目标转速Wtarget。In the process of adjusting the flow rate change rate to zero by the speed control module and taking the speed under the condition of zero flow rate change rate as the target speed, according to equation It can be seen that the left side of the equation is the rate of change of the flow rate. The purpose of the control device provided in this application is to keep the cardiac output stable by controlling the speed of the motor; then, adjust the left side of the equation to 0, that is The target speed Wtarget can be calculated according to this formula.
通过图2可知，根据压差和目标流量计算出流量变化率，流量变化率是一个包括目标转速的函数；进一步地，为了求取维持心输出量稳定的目标转速，将该流量变化率赋值为0，从而得到所求的目标转速。由此可知，基于压差和目标流量得到的目标转速中，包含了关于心率和压差的信息，本申请实施例提供的基于心室辅助装置的控制装置能够充分考虑生理变化，控制心输出量稳定。As shown in FIG2 , the flow rate change rate is calculated based on the pressure difference and the target flow rate, and the flow rate change rate is a function including the target speed; further, in order to obtain the target speed to maintain a stable cardiac output, the flow rate change rate is assigned a value of 0, thereby obtaining the desired target speed. It can be seen that the target speed obtained based on the pressure difference and the target flow rate includes information about the heart rate and the pressure difference, and the control device based on the ventricular assist device provided in the embodiment of the present application can fully consider physiological changes and control the stability of cardiac output.
在一可选地实施方式中，在本申请实施例的可选实施方式中，在获取心室辅助装置的泵两端的压差的过程中：压差获取模块具体用于基于心室辅助装置的泵的压头和心输出量之间的关系，获得泵两端的压差。In an optional embodiment, in an optional embodiment of the present application, in the process of obtaining the pressure difference across the pump of a ventricular assist device: the pressure difference acquisition module is specifically used to obtain the pressure difference across the pump based on the relationship between the pressure head and cardiac output of the pump of the ventricular assist device.
对于一个心室辅助装置，具有特定的压头和心输出量之间的关系，根据压头和心输出量之间的关系来获取泵两端的压差；本领域技术人员可以理解的是，泵的压头和心输出量之间的关系可以通过扬程-流量曲线来量化。For a ventricular assist device, there is a specific relationship between the pressure head and the cardiac output, and the pressure difference across the pump is obtained based on the relationship between the pressure head and the cardiac output; technicians in this field can understand that the relationship between the pressure head and the cardiac output of the pump can be quantified by the head-flow curve.
泵在不同的流量时，泵的出口具有不同的扬程，将泵在不同流量时对应扬程的各点连接起来，就成为泵的流量扬程特性曲线。泵的流量扬程特性曲线在转速一定时，只与泵的叶轮特性有关，而与管道阻力无关。泵由调速电机、液力耦合器或变频电动机拖动，当泵的转速变化时，泵的特性曲线也发生变化，通常制造厂给出的是额定转速下泵的流量扬程特性曲线。The pump outlet has different heads at different flow rates. Connecting the points corresponding to the heads at different flow rates will form the flow-head characteristic curve of the pump. When the speed is constant, the flow-head characteristic curve of the pump is only related to the impeller characteristics of the pump, and has nothing to do with the pipeline resistance. The pump is driven by a speed-regulating motor, a hydraulic coupling or a variable-frequency motor. When the speed of the pump changes, the pump characteristic curve also changes. Usually, the manufacturer provides the flow-head characteristic curve of the pump at the rated speed.
由此可知，通过压差的获取方式之一是由压差获取模块根据压头和心输出量之间的关系来获取泵两端的压差。将压差纳入计算目标转速的参数之一，能够最大程度考虑实际情况，维持心输出量的稳定。It can be seen that one way to obtain the pressure difference is to use the pressure difference acquisition module to obtain the pressure difference at both ends of the pump based on the relationship between the pressure head and the cardiac output. Including the pressure difference as one of the parameters for calculating the target speed can take into account the actual situation to the greatest extent and maintain the stability of the cardiac output.
在一可选地实施方式中，在获取心室辅助装置的泵两端的压差的过程中：压差获取模块具体用于根据心室辅助装置电机的当前转速和当前电流，确定泵两端的压差。In an optional embodiment, in the process of acquiring the pressure difference across the pump of the ventricular assist device: the pressure difference acquisition module is specifically used to determine the pressure difference across the pump according to the current speed and current current of the motor of the ventricular assist device.
由此可知，获取压差的另一张方式是，压差获取模块根据左心室辅助装置电机的当前转速和左心室辅助装置电机的当前电流，估计出泵两端的压差。将压差纳入计算目标转速的参数之一，能够最大程度考虑实际情况，维持心输出量的稳定。It can be seen that another way to obtain the pressure difference is that the pressure difference acquisition module estimates the pressure difference at both ends of the pump according to the current speed of the left ventricular assist device motor and the current current of the left ventricular assist device motor. Including the pressure difference as one of the parameters for calculating the target speed can take into account the actual situation to the greatest extent and maintain the stability of cardiac output.
在一可选地实施例中，获取心室辅助装置的泵两端的压差；其中，压差的获取的另一种方式为：通过设置压力传感器，通过压力传感器测量左心室辅助装置的泵两端的压差。In an optional embodiment, the pressure difference across the pump of the ventricular assist device is obtained; wherein another way of obtaining the pressure difference is: by setting up a pressure sensor, the pressure difference across the pump of the left ventricular assist device is measured by the pressure sensor.
请继续参看图2，转速控制模块包括转速差计算单元和PID控制单元。Please continue to refer to FIG. 2 , the speed control module includes a speed difference calculation unit and a PID control unit.
在基于电机的当前转速和目标转速，调节电机的转速的过程中：转速差计算单元用于将当前转速和目标转速作差，以获得转速差；PID控制单元用于将转速差输入PID控制器，以调节电机的转速。In the process of adjusting the speed of the motor based on the current speed and the target speed of the motor: the speed difference calculation unit is used to subtract the current speed from the target speed to obtain the speed difference; the PID control unit is used to input the speed difference into the PID controller to adjust the speed of the motor.
在转速差计算单元用于将当前转速和目标转速作差，以获得转速差的过程中，转速差计算单元接收左心室辅助装置电机的当前转速，将当前转速和目标转速作差，得到转速差；示例性地，目标转速dtarget，当前转速dt，转速差dn＝dt-dtarget。In the process where the speed difference calculation unit is used to subtract the current speed from the target speed to obtain the speed difference, the speed difference calculation unit receives the current speed of the left ventricular assist device motor, subtracts the current speed from the target speed to obtain the speed difference; illustratively, the target speed dtarget , the current speed dt , and the speed difference dn =dt -dtarget .
由此可知，转速差计算单元根据心室辅助装置电机的当前转速和目标转速，计算转速差；PID控制单元将转速差输入PID控制器，控制该左心室辅助装置电机的转速，从而控制心输出量的稳定；使用PID控制原理简单，使用方便，且适应性强、鲁棒性强，有利于精确控制左心室辅助装置电机的转速，从而保持心输出量的稳定性。It can be seen that the speed difference calculation unit calculates the speed difference based on the current speed and target speed of the ventricular assist device motor; the PID control unit inputs the speed difference into the PID controller to control the speed of the left ventricular assist device motor, thereby controlling the stability of cardiac output; the PID control principle is simple, easy to use, and has strong adaptability and robustness, which is conducive to accurately controlling the speed of the left ventricular assist device motor, thereby maintaining the stability of cardiac output.
请参看图3，图3为本申请实施例提供的PID控制流程图；PID即：Proportional(比例)、Integral(积分)、Differential(微分)的缩写，PID控制算法是结合比例、积分和微分三种环节于一体的控制算法，它是连续系统中技术最为成熟、应用最为广泛的一种控制算法。在本申请实施例的可选实施方式中，将转速差输入PID控制器，控制心室辅助装置电机的转速，包括以下步骤：Please refer to Figure 3, which is a PID control flow chart provided in the embodiment of the present application; PID is the abbreviation of Proportional, Integral, and Differential. The PID control algorithm is a control algorithm that combines the three links of proportional, integral, and differential. It is the most mature and widely used control algorithm in continuous systems. In an optional implementation of the embodiment of the present application, the speed difference is input into the PID controller to control the speed of the ventricular assist device motor, including the following steps:
步骤S100：PID控制单元基于第一控制系数控制转速差，以获得比例控制量。Step S100: The PID control unit controls the speed difference based on the first control coefficient to obtain a proportional control amount.
在上述步骤S100中，基于第一控制系数控制转速差，从而获得比例控制量；示例性地，第一控制系数Kp、转速差dn，比例控制量为Kpdn。In the above step S100, the speed difference is controlled based on the first control coefficient, so as to obtain a proportional control amount; illustratively, the first control coefficientKp , the speed differencedn , and the proportional control amount areKpdn.
本领域技术人员可以理解的是，比例环节的作用是对偏差瞬间作出反应。偏差一旦产生控制器立即产生控制作用，使控制量向减少偏差的方向变化。控制作用的强弱取决于比例系数Kp，比例系数Kp越大，控制作用越强，则过渡过程越快，控制过程的静态偏差也就越小；是Kp越大，也越容易产生振荡，破坏系统的稳定性。故而，比例系数Kp选择必须恰当，才能过渡时间少，静差小而又稳定的效果。It can be understood by those skilled in the art that the role of the proportional link is to respond to the deviation instantly. Once the deviation occurs, the controller immediately produces a control action, so that the control amount changes in the direction of reducing the deviation. The strength of the control action depends on the proportional coefficient Kp. The larger the proportional coefficient Kp, the stronger the control action, the faster the transition process, and the smaller the static deviation of the control process; the larger the Kp, the easier it is to produce oscillation, which destroys the stability of the system. Therefore, the proportional coefficient Kp must be selected appropriately to achieve a short transition time, a small static error and a stable effect.
步骤S101：PID控制单元根据第二控制系数对转速差积分，以获得比例积分控制量。Step S101: The PID control unit integrates the speed difference according to the second control coefficient to obtain a proportional-integral control amount.
在上述步骤S101中，根据第二控制系数对转速差进行积分，从而获得比例积分控制量。示例性地，第二控制系数Ki、转速差dn，比例积分控制量需要说明的是，积分环节的调节作用能够消除静态误差。In the above step S101, the speed difference is integrated according to the second control coefficient to obtain the proportional-integral control amount. For example, the second control coefficientKi , the speed differencedn , the proportional-integral control amount It should be noted that the regulating effect of the integral link can eliminate static errors.
步骤S102：PID控制单元基于第三控制系数计算转速差的微分，以获得比例微分控制量。Step S102: The PID control unit calculates the differential of the rotation speed difference based on the third control coefficient to obtain a proportional differential control amount.
在上述步骤S102中，根据第三控制系数计算转速差的微分，从而获得比例微分控制量。示例性地，第三控制系数Kd、转速差dn，比例微分控制量In the above step S102, the differential of the speed difference is calculated according to the third control coefficient, so as to obtain the proportional differential control amount. For example, the third control coefficient Kd , the speed difference dn , the proportional differential control amount
可以理解的是，实际的控制系统除了希望消除静态误差外，还要求加快调节过程。在偏差出现的瞬间，或在偏差变化的瞬间，不但要对偏差量做出立即响应(比例环节的作用)，而且要根据偏差的变化趋势预先给出适当的纠正。为了实现这一作用，加入了微分环节。It is understandable that in addition to eliminating static errors, actual control systems also require speeding up the adjustment process. At the moment when the deviation occurs or changes, not only should an immediate response be made to the deviation (the role of the proportional link), but also appropriate corrections should be given in advance according to the trend of the deviation change. In order to achieve this role, a differential link is added.
微分环节的作用使阻止偏差的变化。它是根据偏差的变化趋势(变化速度)进行控制。偏差变化的越快，微分控制器的输出就越大，并能在偏差值变大之前进行修正。微分作用的引入，将有助于减小超调量，克服振荡，使系统趋于稳定，特别对高阶的系统非常有利，它加快了系统的跟踪速度。The role of the differential link is to prevent the change of the deviation. It is controlled according to the change trend (speed of change) of the deviation. The faster the deviation changes, the greater the output of the differential controller, and it can be corrected before the deviation value becomes larger. The introduction of the differential action will help reduce overshoot, overcome oscillation, and make the system stable. It is especially beneficial for high-order systems, and it speeds up the tracking speed of the system.
步骤S103：PID控制单元以比例控制量、比例积分控制量和比例微分控制量之和控制心输出量。Step S103: The PID control unit controls the cardiac output with the sum of the proportional control amount, the proportional integral control amount and the proportional differential control amount.
在上述步骤S103中，PID控制单元在计算出比例控制量为Kpdn、比例积分控制量和比例微分控制量之后，计算比例控制量、比例积分控制量和比例微分控制量之和，即根据调节量之和实现对心室辅助装置电机转速的控制。In the above step S103, the PID control unit calculates the proportional control amount as Kp dn and the proportional integral control amount as and proportional differential control After that, the sum of the proportional control amount, the proportional integral control amount and the proportional differential control amount is calculated, that is, The speed of the ventricular assist device motor is controlled according to the sum of the adjustment quantities.
通过图3可知，在转速差计算单元计算出转速差之后，PID控制单元以第一控制系数、第二控制系数和第三控制系数分别求取比例控制量、比例积分控制量和比例微分控制量；基于比例控制量、比例积分控制量和比例微分控制量之和控制心输出量。使用PID控制处理转速，适应性好，有较强的鲁棒性，能够获取确定度较高的转速控制量。As shown in Figure 3, after the speed difference calculation unit calculates the speed difference, the PID control unit uses the first control coefficient, the second control coefficient and the third control coefficient to respectively obtain the proportional control amount, the proportional integral control amount and the proportional differential control amount; the cardiac output is controlled based on the sum of the proportional control amount, the proportional integral control amount and the proportional differential control amount. Using PID control to process the speed has good adaptability and strong robustness, and can obtain a speed control amount with a high degree of certainty.
请参看图4，图4为本申请实施例提供的基于心室辅助装置的控制装置的系统架构示意图；在图4中，u1为压差获取模块、u2为目标转速计算模块、u3为转速控制模块。u1、u2、u3相互作用，在档位的基础上，u2获取了压差和心率，输出一个目标转速值，该目标转速值是将人体生理活动考虑在内的值；结合心室辅助装置的当前转速和从u2获取的目标转速，计算出转速差，将转速输入u3；u1获取心室辅助装置电机的当前电流和当前的转速，从而实现对压差的估计。Please refer to FIG4, which is a schematic diagram of the system architecture of the control device based on the ventricular assist device provided by the embodiment of the present application; in FIG4,u1 is a pressure difference acquisition module,u2 is a target speed calculation module, andu3 is a speed control module.u1 ,u2 , andu3 interact with each other. Based on the gear position,u2 acquires the pressure difference and the heart rate, and outputs a target speed value, which is a value that takes the physiological activity of the human body into consideration; the speed difference is calculated by combining the current speed of the ventricular assist device and the target speed acquired fromu2 , and the speed is input intou3 ;u1 acquires the current current and the current speed of the motor of the ventricular assist device, thereby realizing the estimation of the pressure difference.
在流量控制的过程中，不仅仅是设置一个转速目标值，然后用当前转速进行反馈控制；而是首先考虑心率变化，在档位预设流量值的基础上，改变目标流量，再根据压差变化，将转速目标值设定为目标流量、当前压差的函数，该函数为一个时变函数，由档位流量预设值、心率、当前压差共同决定。In the process of flow control, it is not just about setting a speed target value and then using the current speed for feedback control; instead, the heart rate change is first considered, and the target flow is changed based on the gear preset flow value. Then, according to the pressure difference change, the speed target value is set as a function of the target flow and the current pressure difference. This function is a time-varying function, which is jointly determined by the gear flow preset value, heart rate, and current pressure difference.
使用本申请实施例提供的基于心室辅助装置的控制装置前后的心输出量控制效果如图5和图6所示；图5为使用固定转速的心输出量控制效果图；图6为本申请实施例提供的结合生理规律控制心输出量的波动效果图。The cardiac output control effect before and after using the control device based on the ventricular assist device provided in the embodiment of the present application is shown in Figures 5 and 6; Figure 5 is a diagram of the cardiac output control effect using a fixed speed; Figure 6 is a diagram of the fluctuation effect of controlling the cardiac output in combination with physiological laws provided in the embodiment of the present application.
图5和图6中，横坐标Time(secs)为测量时间，单位为秒；纵坐标Flow rate(ml/sec)为心率，单位为毫升/秒。在档位流量预设值的基础上，流量波动很小，基本不随心脏收缩期和舒张期压差变化而变化，流量输出更为稳定。如图5和图6对比所示，采用同样的PID控制器参数，明显使用本申请实施例提供的控制装置后流量波动更小。In Figures 5 and 6, the horizontal axis Time (secs) is the measurement time in seconds; the vertical axis Flow rate (ml/sec) is the heart rate in milliliters per second. Based on the preset value of the gear flow rate, the flow rate fluctuation is very small, and basically does not change with the change of the pressure difference between the systolic and diastolic periods of the heart, and the flow output is more stable. As shown in the comparison between Figures 5 and 6, using the same PID controller parameters, it is obvious that the flow rate fluctuation is smaller after using the control device provided in the embodiment of the present application.
请参看图7，图7为本申请实施例提供的流量随心率变化控制结果图；图7中，横坐标Time(secs)为测量时间，单位为秒；纵坐标Flow rate(ml/sec)为心率，单位为毫升/秒。在档位基础上，流量如图7所示，前1/3段心率0.75s，中间的1/3到2/3段心率0.85s，最后的1/3段心率0.65s，流量随心率变化而变化；达到了改善流量输出的稳定性，使流量跟随心率自适应变化的目的。Please refer to Figure 7, which is a flow rate control result diagram provided by the embodiment of the present application according to the change of heart rate; in Figure 7, the horizontal axis Time (secs) is the measurement time, the unit is seconds; the vertical axis Flow rate (ml/sec) is the heart rate, the unit is milliliters/second. Based on the gear position, the flow rate is shown in Figure 7, the heart rate of the first 1/3 segment is 0.75s, the heart rate of the middle 1/3 to 2/3 segment is 0.85s, and the heart rate of the last 1/3 segment is 0.65s. The flow rate changes with the heart rate; the purpose of improving the stability of the flow output and making the flow rate change adaptively with the heart rate is achieved.
请参看图8，图8为本申请实施例提供的心室辅助系统的示意图；该心输出量控制系统包括：心室辅助装置、检测模块和本申请第一方面提供的控制装置。Please refer to Figure 8, which is a schematic diagram of a ventricular assist system provided in an embodiment of the present application; the cardiac output control system includes: a ventricular assist device, a detection module and the control device provided in the first aspect of the present application.
检测模块用于获取目标用户的当前心率、心室辅助装置电机的当前转速和心室辅助装置电机的当前电流。示例性地，检测模块可以包括检测当前心率的传感器、检测心室辅助装置电机当前转速的检测装置以及检测心室辅助装置电机的当前电流的检测装置。需要说明的是，检测心室辅助装置电机的当前转速的方法可以使用测速发电机测速、光电数字测速、磁电转速传感器测速、漏磁转速测量法测速和振动测速等方法。The detection module is used to obtain the current heart rate of the target user, the current speed of the ventricular assist device motor, and the current current of the ventricular assist device motor. Exemplarily, the detection module may include a sensor for detecting the current heart rate, a detection device for detecting the current speed of the ventricular assist device motor, and a detection device for detecting the current current of the ventricular assist device motor. It should be noted that the method for detecting the current speed of the ventricular assist device motor may use methods such as tachometer generator speed measurement, photoelectric digital speed measurement, magnetoelectric speed sensor speed measurement, leakage magnetic speed measurement method speed measurement, and vibration speed measurement.
控制装置用于根据目标用户的心率、心室辅助装置电机的当前转速和心室辅助装置电机的当前电流，控制心室辅助装置的电机的转速，从而达到控制心室辅助装置流量的目的。The control device is used to control the speed of the motor of the ventricular assist device according to the heart rate of the target user, the current speed of the motor of the ventricular assist device and the current current of the motor of the ventricular assist device, so as to achieve the purpose of controlling the flow of the ventricular assist device.
请参看图9，图9为本申请实施例提供的基于心室辅助装置的控制方法的流程图；该控制方法包括：Please refer to FIG. 9 , which is a flow chart of a control method based on a ventricular assist device provided in an embodiment of the present application; the control method includes:
步骤S200：获取心室辅助装置的泵两端的压差。Step S200: Obtain the pressure difference across the pump of the ventricular assist device.
步骤S201：根据当前心率、静息心率、心室辅助装置的流量预设值和微调系数，确定目标流量。Step S201: Determine the target flow rate according to the current heart rate, resting heart rate, flow preset value of the ventricular assist device and fine-tuning coefficient.
在上述步骤S200-S201中，获取心室辅助装置的泵两端的压差；再根据当前心率、静息心率、心室辅助装置的流量预设值和微调系数确定目标流量；其中，微调系数是与心输出量相关的系数。In the above steps S200-S201, the pressure difference across the pump of the ventricular assist device is obtained; then the target flow is determined based on the current heart rate, resting heart rate, flow preset value of the ventricular assist device and the fine-tuning coefficient; wherein the fine-tuning coefficient is a coefficient related to cardiac output.
步骤S202：根据压差和目标流量，计算电机的目标转速。Step S202: Calculate the target speed of the motor according to the pressure difference and the target flow rate.
步骤S203：基于电机的当前转速和目标转速，调节电机的转速。Step S203: adjusting the speed of the motor based on the current speed of the motor and the target speed.
在上述步骤S202-S203：辅助装置泵两端的压差和目标流量之后，根据泵两端的压差和目标流量计算得到电机的目标转速；进一步地，基于电机的目标转速和电机的当前转速调节心室辅助装置电机的转速。In the above steps S202-S203: after the pressure difference and target flow at both ends of the assist device pump, the target speed of the motor is calculated according to the pressure difference and target flow at both ends of the pump; further, the speed of the ventricular assist device motor is adjusted based on the target speed of the motor and the current speed of the motor.
通过图9可知，基于该控制方法，将用户的生理信息，如心率、泵两端的压差，作为计算左心室辅助装置电机的目标转速的基础数据；能够极大程度避免当人体生理活动变化时，心室辅助装置的输出流量仍然维持不变，导致人体心输出量不稳定。As can be seen from Figure 9, based on this control method, the user's physiological information, such as heart rate and pressure difference across the pump, is used as basic data for calculating the target speed of the left ventricular assist device motor; this can greatly avoid the situation where the output flow of the ventricular assist device remains unchanged when the physiological activities of the human body change, resulting in unstable cardiac output of the human body.
请参见图10，图10为本申请实施例提供的电子设备的结构示意图。本申请实施例提供的一种电子设备300，包括：处理器301和存储器302，存储器302存储有处理器301可执行的机器可读指令，机器可读指令被处理器301执行时执行如上的方法。Please refer to Figure 10, which is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. An electronic device 300 provided in an embodiment of the present application includes: a processor 301 and a memory 302, wherein the memory 302 stores machine-readable instructions executable by the processor 301, and when the machine-readable instructions are executed by the processor 301, the above method is executed.
基于同一发明构思，本申请实施例还提供一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序指令，所述计算机程序指令被一处理器读取并运行时，执行上述任一实现方式中的步骤。Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer program instructions, and when the computer program instructions are read and executed by a processor, the steps in any of the above implementation methods are executed.
所述计算机可读存储介质可以是随机存取存储器(Random Access Memory，RAM)，只读存储器(Read Only Memory，ROM)，可编程只读存储器(Programmable Read-OnlyMemory，PROM)，可擦除只读存储器(Erasable Programmable Read-Only Memory，EPROM)，电可擦除只读存储器(Electric Erasable Programmable Read-Only Memory，EEPROM)等各种可以存储程序代码的介质。其中，存储介质用于存储程序，所述处理器在接收到执行指令后，执行所述程序，本发明实施例任一实施例揭示的过程定义的电子终端所执行的方法可以应用于处理器中，或者由处理器实现。The computer-readable storage medium may be a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or any other medium that can store program codes. The storage medium is used to store the program, and the processor executes the program after receiving the execution instruction. The method executed by the electronic terminal of the process definition disclosed in any embodiment of the present invention can be applied to the processor or implemented by the processor.
在本申请所提供的实施例中，应该理解到，所揭露装置和方法，可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，又例如，多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些通信接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
另外，作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
再者，在本申请各个实施例中的各功能模块可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或两个以上模块集成形成一个独立的部分。Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
可以替换的，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本发明实施例所述的流程或功能。Alternatively, the present invention may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, the present invention may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part.
所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means.
在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。In this article, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.
以上所述仅为本申请的实施例而已，并不用于限制本申请的保护范围，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310253876.6ACN118662775A (en) | 2023-03-14 | 2023-03-14 | Control device, method and ventricular assist system based on ventricular assist device |
| PCT/CN2024/079413WO2024188066A1 (en) | 2023-03-14 | 2024-02-29 | Control device based on ventricular assist device, method, and ventricular assist system |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310253876.6ACN118662775A (en) | 2023-03-14 | 2023-03-14 | Control device, method and ventricular assist system based on ventricular assist device |
| Publication Number | Publication Date |
|---|---|
| CN118662775Atrue CN118662775A (en) | 2024-09-20 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310253876.6APendingCN118662775A (en) | 2023-03-14 | 2023-03-14 | Control device, method and ventricular assist system based on ventricular assist device |
| Country | Link |
|---|---|
| CN (1) | CN118662775A (en) |
| WO (1) | WO2024188066A1 (en) |
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