CN104043153A - A device and control method for artificial heart pressure and flow control - Google Patents

A device and control method for artificial heart pressure and flow control Download PDF

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CN104043153A
CN104043153A CN201410274559.3A CN201410274559A CN104043153A CN 104043153 A CN104043153 A CN 104043153A CN 201410274559 A CN201410274559 A CN 201410274559A CN 104043153 A CN104043153 A CN 104043153A
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冯森铭
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
    • A61M60/50—Details relating to control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A61M2205/3331—Pressure; Flow
    • A61M2205/3334—Measuring or controlling the flow rate

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  • Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Engineering & Computer Science (AREA)
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Abstract

本发明公开了一种用于人工心脏压力与流量控制的装置与控制方法，通过检测机体所处运动状态下的血压与流量数据，以半自动按键控制或全自动软件控制输出调节信号，然后进驱动电路输出电压信号作用于电机定子绕组，建立新的电磁场，从而改变转子的转矩和转速，达到调节血泵中血液的血压和流速的目的。

The present invention discloses a device and a control method for artificial heart pressure and flow control. By detecting the blood pressure and flow data of a body in a motion state, a regulating signal is output by semi-automatic key control or fully automatic software control. Then, a driving circuit outputs a voltage signal to act on the stator winding of a motor to establish a new electromagnetic field, thereby changing the torque and speed of the rotor, thereby achieving the purpose of regulating the blood pressure and flow rate of blood in a blood pump.

Description

一种用于人工心脏压力与流量控制的装置与控制方法A device and control method for artificial heart pressure and flow control

技术领域 technical field

本发明涉及生物医学工程技术领域的人工心脏，尤其是一种用于人工心脏压力与流量控制的装置与控制方法。 The invention relates to an artificial heart in the technical field of biomedical engineering, in particular to a device and a control method for artificial heart pressure and flow control.

背景技术 Background technique

世界卫生组织统计显示，心血管疾病一直是威胁人类健康的第一杀手，占全球总死亡人数的30％左右，治疗终末期心衰的有效途径是心脏移植或采用植入式辅助人工心脏。 Statistics from the World Health Organization show that cardiovascular disease has always been the number one killer threatening human health, accounting for about 30% of the total global deaths. The effective way to treat end-stage heart failure is heart transplantation or implanted auxiliary artificial heart.

人工心脏的核心部分是血泵，由血泵提供压力将血液经血管传输至身体各器官与组织，在此，由于血泵不等同于真实的心脏，没有自调节功能，在不同运动状态下（如静止、行走、跑步等）机体就需要相应的血压与流量，因此，有必要发明一种控制血泵工作的控制器与控制方法，以适应现实存在的不同运动状态血压与流量需求。 The core part of the artificial heart is the blood pump, which provides pressure to transmit blood to various organs and tissues of the body through blood vessels. Here, since the blood pump is not equivalent to the real heart, it has no self-regulating function. Such as standing still, walking, running, etc.) the body needs corresponding blood pressure and flow. Therefore, it is necessary to invent a controller and control method for controlling the work of the blood pump to adapt to the actual blood pressure and flow requirements of different exercise states.

发明内容 Contents of the invention

为解决上述技术问题，本发明的目的是提供一种用于人工心脏压力与流量控制的装置与控制方法。 In order to solve the above technical problems, the object of the present invention is to provide a device and control method for artificial heart pressure and flow control.

本发明采用的技术方案是： The technical scheme adopted in the present invention is:

一种用于人工心脏压力与流量控制的装置，作用于人工心脏的血泵，血泵由电机驱动，其特征在于：包括一信号采集器、一控制芯片和一驱动电路，该信号采集器用于采集血泵中血液的血压和流量数据并将采集到的数据传输给控制芯片；该控制芯片以所述血压和流量数据以及机体所处运动状态作为判断依据，输出控制信号给驱动电路，该驱动电路用于驱动所述电机的转矩和转速以调节血泵中血液的血压和流量。 A device for artificial heart pressure and flow control, which acts on the blood pump of the artificial heart, the blood pump is driven by a motor, and is characterized in that it includes a signal collector, a control chip and a drive circuit, and the signal collector is used for Collect the blood pressure and flow data of the blood in the blood pump and transmit the collected data to the control chip; the control chip uses the blood pressure and flow data and the movement state of the body as the basis for judgment, and outputs control signals to the drive circuit. The circuit is used to drive the torque and rotational speed of the motor to adjust the blood pressure and flow in the blood pump.

进一步的，所述信号采集器具有两个实施例，第一实施例为压力传感器和流速传感器；  Further, the signal collector has two embodiments, the first embodiment is a pressure sensor and a flow rate sensor;

所述信号采集器第二实施例则为电机自带的编码器，该编码器将电机的转矩和转速反馈给控制芯片，所述电机的转矩和转速与血泵中血液的血压和流速呈对应函数的关系，控制芯片根据电机的转矩和转速计算出血泵中血液的血压和流速。 The second embodiment of the signal collector is an encoder attached to the motor. The encoder feeds back the torque and speed of the motor to the control chip. The torque and speed of the motor are related to the blood pressure and flow rate of the blood in the blood pump. In the relationship of a corresponding function, the control chip calculates the blood pressure and flow rate of the blood in the blood pump according to the torque and rotational speed of the motor.

具体的，所述控制芯片输出控制信号经驱动电路转化为电压信号，驱动电路输出该电压信号给电机的定子绕组以调节电机转子的转矩和转速。 Specifically, the control signal output by the control chip is converted into a voltage signal by the drive circuit, and the drive circuit outputs the voltage signal to the stator winding of the motor to adjust the torque and rotational speed of the rotor of the motor.

基于同一个发明构思，本发明还保护一种应用于上述装置的控制方法，其特征在于：包括以下步骤：S1、采集血泵中血液的血压与流量数据；S2、控制芯片以机体所处运动状态为基础，针对血压与流量数据进行分析判断，当血压和与流量数据与所处运动状态不匹配时，输出该运动状态下控制电机相应工作数据的指令给驱动电路；S3、驱动电路将所述指令转化为电压信号，然后输出给电机的定子绕组；S4、定子绕组根据所述电压信号建立新的电磁场，电机的转子随所述电磁场的改变而改变转矩与转速；S5、血泵中血液的血压与流量变化到所述运动状态下的设定值。 Based on the same inventive concept, the present invention also protects a control method applied to the above-mentioned device, which is characterized in that it includes the following steps: S1, collecting blood pressure and flow data in the blood pump; S2, controlling the chip based on the movement of the body Based on the state, the blood pressure and flow data are analyzed and judged. When the blood pressure and flow data do not match the motion state, the command to control the corresponding working data of the motor in this motion state is output to the drive circuit; S3. The above command is converted into a voltage signal, and then output to the stator winding of the motor; S4, the stator winding establishes a new electromagnetic field according to the voltage signal, and the rotor of the motor changes the torque and speed with the change of the electromagnetic field; S5, in the blood pump The blood pressure and flow rate are changed to the set values in the exercise state.

所述步骤S1中血压与流量数据的采集具有两种方式，其一是通过压力传感器和流速传感器设置于血泵内腔检测所得；其二，所述步骤S1中血压与流量数据的采集是通过电机自带的编码器获取，该编码器将电机的转矩和转速反馈给控制芯片，所述电机的转矩和转速与血泵中血液的血压和流速呈对应函数的关系，控制芯片根据电机的转矩和转速计算出血泵中血液的血压和流速。 There are two ways to collect the blood pressure and flow data in the step S1, one is to detect the blood pressure sensor and the flow rate sensor installed in the inner cavity of the blood pump; the other is to collect the blood pressure and flow data in the step S1 through The motor comes with an encoder, and the encoder feeds back the torque and speed of the motor to the control chip. The torque and speed of the motor are in a corresponding function relationship with the blood pressure and flow rate of the blood in the blood pump. The control chip is based on the motor Calculate the blood pressure and flow rate of the blood in the blood pump using the torque and rotational speed.

类似的，所述步骤S2中处理过程也具有两种实施方式，其一为半自动处理，当S1中血压和流速数据传输至控制芯片后，该数据通过显示装置显示出来，再由用户根据该数据和机体所处运动状态进行手动按键调节，输出相应的电机控制信号给驱动电路。 Similarly, the processing process in step S2 also has two implementation modes, one of which is semi-automatic processing. After the blood pressure and flow rate data in S1 are transmitted to the control chip, the data will be displayed on the display device, and then the user will automatically process the data according to the data. Carry out manual button adjustment according to the motion state of the body, and output the corresponding motor control signal to the drive circuit.

其二，所述步骤S2中处理过程为全自动处理，由振动传感器检测机体所处运动状态，当S1中血压和流速数据传输至控制芯片后，控制芯片将该数据与存储器数据库中所述运动状态下的数据对比分析，若二者不相同或不相近似，则找出与该运动状态相匹配的控制指令，然后输出该控制指令给驱动电路；若二者相同或相近似，则不输出控制指令。 Second, the processing in step S2 is a fully automatic process. The vibration sensor detects the state of motion of the body. After the blood pressure and flow rate data in S1 are transmitted to the control chip, the control chip compares the data with the motion described in the memory database. If the two are not the same or similar, then find out the control command that matches the motion state, and then output the control command to the drive circuit; if the two are the same or similar, then do not output Control instruction.

如上所述，所述数据库中预存有不同运动状态下的血压和流速数据以及与之相对应的电机控制指令。 As mentioned above, blood pressure and flow rate data under different exercise states and corresponding motor control instructions are pre-stored in the database.

本发明的有益效果： Beneficial effects of the present invention:

本发明用于人工心脏压力与流量控制的装置与控制方法，通过检测机体所处运动状态下的血压与流量数据，以半自动按键控制或全自动软件控制输出调节信号，然后进驱动电路输出电压信号作用于电机定子绕组，建立新的电磁场，从而改变转子的转矩和转速，达到调节血泵中血液的血压和流速的目的。 The device and control method for artificial heart pressure and flow control of the present invention detect the blood pressure and flow data in the state of motion of the body, output adjustment signals with semi-automatic button control or fully automatic software control, and then enter the drive circuit to output voltage signals It acts on the stator winding of the motor to establish a new electromagnetic field, thereby changing the torque and speed of the rotor, and achieving the purpose of regulating the blood pressure and flow rate of the blood in the blood pump.

附图说明 Description of drawings

下面结合附图对本发明的具体实施方式做进一步的说明。 The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

图1是本发明控制装置及血泵作用时的第一实施例原理框图； Fig. 1 is a functional block diagram of the first embodiment of the present invention when the control device and the blood pump are in action;

图2是本发明控制装置及血泵作用时的第二实施例原理框图； Fig. 2 is a schematic block diagram of the second embodiment of the present invention when the control device and the blood pump are in action;

图3是本发明控制方法的流程图。 Fig. 3 is a flowchart of the control method of the present invention.

具体实施方式 Detailed ways

如图1-图2所示，为一种用于人工心脏压力与流量控制的装置，作用于人工心脏的血泵10，血泵10由电机驱动，包括一信号采集器20、一控制芯片30和一驱动电路40，该信号采集器20用于采集血泵10中血液的血压和流量数据并将采集到的数据传输给控制芯片30；该控制芯片30以所述血压和流量数据以及机体所处运动状态作为判断依据，输出控制信号给驱动电路40，该驱动电路40用于驱动所述电机的转矩和转速以调节血泵10中血液的血压和流量。 As shown in Figures 1-2, it is a device for artificial heart pressure and flow control, which acts on the blood pump 10 of the artificial heart. The blood pump 10 is driven by a motor and includes a signal collector 20 and a control chip 30. and a drive circuit 40, the signal collector 20 is used to collect blood pressure and flow data in the blood pump 10 and transmit the collected data to the control chip 30; the control chip 30 uses the blood pressure and flow data and the data of the body In the motion state as a basis for judgment, a control signal is output to the drive circuit 40 , and the drive circuit 40 is used to drive the torque and speed of the motor to adjust the blood pressure and flow rate of the blood in the blood pump 10 .

如图所示，所述信号采集器20具有两个实施例，第一实施例为压力传感器和流速传感器，分别检测血压和流量数据；  As shown in the figure, the signal collector 20 has two embodiments, the first embodiment is a pressure sensor and a flow rate sensor, which detect blood pressure and flow data respectively;

所述信号采集器20第二实施例则为电机自带的编码器50，该编码器50将电机的转矩和转速反馈给控制芯片30，所述电机的转矩和转速与血泵10中血液的血压和流速呈对应函数的关系，控制芯片30根据电机的转矩和转速计算出血泵10中血液的血压和流速。 The second embodiment of the signal collector 20 is an encoder 50 attached to the motor. The encoder 50 feeds back the torque and speed of the motor to the control chip 30. The torque and speed of the motor are the same as those in the blood pump 10. The blood pressure and flow velocity are in the relationship of a corresponding function, and the control chip 30 calculates the blood pressure and flow velocity of the blood in the blood pump 10 according to the torque and rotation speed of the motor.

具体的，所述控制芯片30输出控制信号经驱动电路40转化为电压信号，驱动电路40输出该电压信号给电机的定子绕组60以调节电机转子70的转矩和转速。 Specifically, the control signal output by the control chip 30 is converted into a voltage signal by the drive circuit 40 , and the drive circuit 40 outputs the voltage signal to the stator winding 60 of the motor to adjust the torque and speed of the rotor 70 of the motor.

如图3所示，基于同一个发明构思，本发明还保护一种应用于上述装置的控制方法，包括以下步骤：S1、采集血泵10中血液的血压与流量数据；S2、控制芯片30以机体所处运动状态为基础，针对血压与流量数据进行分析判断，当血压和与流量数据与所处运动状态不匹配时，输出该运动状态下控制电机相应工作数据的指令给驱动电路40；S3、驱动电路40将所述指令转化为电压信号，然后输出给电机的定子绕组60；S4、定子绕组60根据所述电压信号建立新的电磁场，电机的转子70随所述电磁场的改变而改变转矩与转速；S5、血泵10中血液的血压与流量变化到所述运动状态下的设定值。 As shown in Figure 3, based on the same inventive concept, the present invention also protects a control method applied to the above-mentioned device, including the following steps: S1, collecting blood pressure and flow data of the blood in the blood pump 10; S2, controlling the chip 30 with Based on the movement state of the body, analyze and judge the blood pressure and flow data, and when the blood pressure and flow data do not match the movement state, output an instruction to control the corresponding working data of the motor in the movement state to the drive circuit 40; S3 1. The drive circuit 40 converts the instruction into a voltage signal, and then outputs it to the stator winding 60 of the motor; S4. The stator winding 60 establishes a new electromagnetic field according to the voltage signal, and the rotor 70 of the motor changes the rotation speed according to the change of the electromagnetic field. Torque and rotational speed; S5, the blood pressure and flow rate of the blood in the blood pump 10 are changed to the set values in the exercise state.

所述步骤S1中血压与流量数据的采集具有两种方式，其一是通过压力传感器和流速传感器设置于血泵10内腔检测所得；其二，所述步骤S1中血压与流量数据的采集是通过电机自带的编码器50获取，该编码器50将电机的转矩和转速反馈给控制芯片30，所述电机的转矩和转速与血泵10中血液的血压和流速呈对应函数的关系，控制芯片30根据电机的转矩和转速计算出血泵10中血液的血压和流速。 There are two ways to collect the blood pressure and flow data in the step S1. One is to detect the blood pressure sensor and the flow velocity sensor installed in the inner cavity of the blood pump 10; the other is to collect the blood pressure and flow data in the step S1. Obtained by the encoder 50 attached to the motor, the encoder 50 feeds back the torque and speed of the motor to the control chip 30, and the torque and speed of the motor are in a corresponding function relationship with the blood pressure and flow rate of the blood in the blood pump 10 , the control chip 30 calculates the blood pressure and flow rate of the blood in the blood pump 10 according to the torque and rotational speed of the motor.

类似的，所述步骤S2中处理过程也具有两种实施方式，其一为半自动处理，当S1中血压和流速数据传输至控制芯片30后，该数据通过显示装置80显示出来，再由用户根据该数据和机体所处运动状态进行手动按键90调节，输出相应的电机控制信号给驱动电路40。 Similarly, the processing process in step S2 also has two implementation modes, one of which is semi-automatic processing. After the blood pressure and flow rate data in S1 are transmitted to the control chip 30, the data will be displayed by the display device 80, and then the user can perform the processing according to the The data and the motion state of the body are adjusted by the manual button 90, and corresponding motor control signals are output to the drive circuit 40.

其二，所述步骤S2中处理过程为全自动处理，由振动传感器检测机体所处运动状态，当S1中血压和流速数据传输至控制芯片30后，控制芯片30将该数据与存储器数据库中所述运动状态下的数据对比分析，若二者不相同或不相近似，则找出与该运动状态相匹配的控制指令，然后输出该控制指令给驱动电路40；若二者相同或相近似，则不输出控制指令。 Second, the processing in the step S2 is fully automatic, and the motion state of the body is detected by the vibration sensor. After the blood pressure and flow rate data in S1 are transmitted to the control chip 30, the control chip 30 compares the data with the data stored in the memory database. The comparative analysis of the data under the above-mentioned motion state, if the two are not the same or similar, then find out the control command that matches the motion state, and then output the control command to the drive circuit 40; if the two are the same or similar, Then no control command is output.

如上所述，所述数据库中预存有不同运动状态下的血压和流速数据以及与之相对应的电机控制指令。 As mentioned above, blood pressure and flow rate data under different exercise states and corresponding motor control instructions are pre-stored in the database.

本发明用于人工心脏压力与流量控制的装置与控制方法，通过检测机体所处运动状态下的血压与流量数据，以半自动按键90控制或全自动软件控制输出调节信号，然后进驱动电路40输出电压信号作用于电机定子绕组60，建立新的电磁场，从而改变转子70的转矩和转速，达到调节血泵10中血液的血压和流速的目的。 The present invention is used for the artificial heart pressure and flow control device and control method, by detecting the blood pressure and flow data in the motion state of the body, using semi-automatic button 90 control or fully automatic software control to output the adjustment signal, and then entering the drive circuit 40 for output The voltage signal acts on the stator winding 60 of the motor to establish a new electromagnetic field, thereby changing the torque and rotational speed of the rotor 70 to achieve the purpose of regulating the blood pressure and flow rate of the blood in the blood pump 10 .

以上所述仅为本发明的优先实施方式，本发明并不限定于上述实施方式，只要以基本相同手段实现本发明目的的技术方案都属于本发明的保护范围之内。 The above descriptions are only preferred implementations of the present invention, and the present invention is not limited to the above-mentioned implementations, as long as the technical solutions that achieve the purpose of the present invention by basically the same means fall within the protection scope of the present invention.

Claims (10)

1. the device for the control of artificial heart pressure versus flow, act on the blood pump of artificial heart, blood pump is driven by motor, it is characterized in that: comprise a signal picker, a control chip and one drive circuit, this signal picker for gather the blood pressure of blood pump blood and data on flows and by the transfer of data collecting to control chip; This control chip is using described blood pressure and data on flows and body kinestate of living in as basis for estimation, and output control signal is to drive circuit, and this drive circuit is for driving the torque and rotational speed of described motor to regulate blood pressure and the flow of blood pump blood.
2. a kind of device for the control of artificial heart pressure versus flow according to claim 1, is characterized in that: described signal picker is pressure transducer and flow sensor.
3. a kind of device for the control of artificial heart pressure versus flow according to claim 1, it is characterized in that: described signal picker is the encoder that motor carries, the torque and rotational speed of motor is fed back to control chip by this encoder, in the torque and rotational speed of described motor and blood pump, the blood pressure of blood and flow velocity are the relation of respective function, and control chip calculates blood pressure and the flow velocity of blood in blood pump according to the torque and rotational speed of motor.
4. a kind of device for the control of artificial heart pressure versus flow according to claim 1, it is characterized in that: described control chip output control signal is converted into voltage signal through drive circuit, drive circuit export this voltage signal to the stator winding of motor to regulate the torque and rotational speed of rotor.
5. a control method that is applied to device described in claim 1, is characterized in that: comprise the following steps: S1, gather blood pressure and the data on flows of blood in blood pump; S2, control chip are taking body kinestate of living in as basis, analyze judgement for blood pressure and data on flows, while coupling with kinestate of living in when blood pressure with data on flows, export the instruction of controlling motor relevant work data under this kinestate to drive circuit; Described instruction is converted into voltage signal by S3, drive circuit, then exports to the stator winding of motor; S4, stator winding are set up new electromagnetic field according to described voltage signal, and the rotor of motor changes Torque and speed with the change of described electromagnetic field; In S5, blood pump, the blood pressure of blood and changes in flow rate arrive the setting value under described kinestate.
6. control method according to claim 5, is characterized in that: in described step S1, the collection of blood pressure and data on flows is to be arranged at blood pump inner chamber by pressure transducer and flow sensor to detect gained.
7. control method according to claim 5, it is characterized in that: in described step S1, the collection of blood pressure and data on flows is that the encoder carrying by motor obtains, the torque and rotational speed of motor is fed back to control chip by this encoder, in the torque and rotational speed of described motor and blood pump, the blood pressure of blood and flow velocity are the relation of respective function, and control chip calculates blood pressure and the flow velocity of blood in blood pump according to the torque and rotational speed of motor.
8. control method according to claim 5, it is characterized in that: in described step S2, processing procedure is semi-automatic processing, when blood pressure in S1 and flow speed data transfer to after control chip, these data show by display device, carry out manual button adjusting by user according to these data and body kinestate of living in again, export corresponding motor control signal to drive circuit.
9. control method according to claim 5, it is characterized in that: in described step S2, processing procedure is full automatic treatment, detect body kinestate of living in by vibrating sensor, when blood pressure in S1 and flow speed data transfer to after control chip, control chip is by the Data Comparison analysis under kinestate described in these data and memory data storehouse, if the two is not identical or not close, find out the control instruction matching with this kinestate, then export this control instruction to drive circuit; If the two is identical or close, do not export control instruction.
10. control method according to claim 9, is characterized in that: the Electric Machine Control instruction that prestores blood pressure under different motion state and flow speed data in described data base and answer in contrast.
CN201410274559.3A 2014-06-18 2014-06-18 A device and control method for artificial heart pressure and flow control Pending CN104043153A (en)

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US11964145B2 (en) 2019-07-12 2024-04-23 Shifamed Holdings, Llc Intravascular blood pumps and methods of manufacture and use
US11654275B2 (en) 2019-07-22 2023-05-23 Shifamed Holdings, Llc Intravascular blood pumps with struts and methods of use and manufacture
US12465748B2 (en) 2019-08-07 2025-11-11 Supira Medical, Inc. Catheter blood pumps and collapsible pump housings
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US12102815B2 (en) 2019-09-25 2024-10-01 Shifamed Holdings, Llc Catheter blood pumps and collapsible pump housings
US12409310B2 (en) 2019-12-11 2025-09-09 Shifamed Holdings, Llc Descending aorta and vena cava blood pumps
CN111437449A (en) * 2020-05-06 2020-07-24 广州弘大医疗科技有限公司 Right heart auxiliary device
CN114790982B (en) * 2022-03-25 2024-03-05 浙江迪远医疗器械有限公司 Monitoring methods, devices, electronic equipment and storage media for blood pump operating status
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