CN113769262B

CN113769262B - Device for controlling blood pump

Info

Publication number: CN113769262B
Application number: CN202110891735.8A
Authority: CN
Inventors: 魏润杰; 何博; 高琪
Original assignee: Zhejiang Diyuan Medical Equipment Co ltd
Current assignee: Zhejiang Diyuan Medical Equipment Co ltd
Priority date: 2021-08-04
Filing date: 2021-08-04
Publication date: 2022-11-08
Anticipated expiration: 2041-08-04
Also published as: CN113769262A

Abstract

The device for controlling the blood pump obtains preset target aortic systolic pressure and target aortic systolic flow; acquiring the n-th aortic systolic pressure and the n-th aortic systolic flow detected in the nth iteration based on an iterative algorithm; determining an nth pressure difference value based on the target aortic systolic pressure and the nth aortic systolic pressure; determining an nth flow difference based on the target aortic systolic flow and the nth aortic systolic flow; determining the nth rotating speed of the motor during the nth iteration based on the nth pressure difference value and the nth flow difference value; determining the nth running power of the motor matched with the nth rotating speed during the nth iteration, and controlling the motor to run at the nth running power; and if the m-th aortic systolic pressure detected in the m-th iteration and the target aortic systolic pressure meet the first iteration stop condition, and the m-th aortic systolic flow detected in the m-th iteration and the target aortic systolic flow meet the second iteration stop condition, stopping the iteration.

Description

Device for controlling blood pump

Technical Field

The present application relates to, but is not limited to, the field of computer technology, and more particularly, to a device for controlling a blood pump.

Background

The artificial heart is called a "blood pump" for short, and generally blood is pumped out of the left ventricle by a ventricular assist device and is pressurized and conveyed to the aorta, so that the heart is assisted to do work. In the related technology, a constant rotating speed control method is adopted to control the blood pump, namely the blood pump is controlled to rotate at a constant rotating speed so as to achieve rated working performance, and when the physiological state of a patient is improved to some extent, the rotating speed is artificially reduced so as to achieve the purpose of reducing hemolysis.

However, the manual control of the blood pump not only increases the labor cost, but also has the problem of complicated manual operation.

Disclosure of Invention

The embodiment of the application provides a device for controlling a blood pump to solve the problems that the labor cost is increased and the manual operation is complicated in the manual control mode of the blood pump in the related technology.

The technical scheme of the embodiment of the application is realized as follows:

the embodiment of the present application provides a device for controlling a blood pump, the device includes:

the acquisition module is used for acquiring preset target aortic systolic pressure and target aortic systolic flow;

the processing module is used for acquiring the n-th aortic systolic pressure and the n-th aortic systolic flow detected in the nth iteration based on an iterative algorithm; wherein n is a positive integer;

the processing module is used for determining an nth pressure difference value at the nth iteration based on the target aortic systolic pressure and the nth aortic systolic pressure;

the processing module is used for determining an nth flow difference value at the nth iteration based on the target aorta contraction flow and the nth aorta contraction flow;

the processing module is used for determining the nth rotating speed of the motor of the blood pump at the nth iteration based on the nth pressure difference value and the nth flow difference value;

the processing module is used for determining the nth running power of the motor matched with the nth rotating speed during the nth iteration and controlling the motor to run at the nth running power;

the processing module is used for stopping iteration if a first iteration stop condition is met between the m-th aortic systolic pressure detected in the m-th iteration and the target aortic systolic pressure and a second iteration stop condition is met between the m-th aortic systolic flow detected in the m-th iteration and the target aortic systolic flow; wherein m is a positive integer and is greater than n.

The application has the following beneficial effects: the variable-speed control is adopted to realize the advantage of low hemolysis on the premise of meeting the performance, and the device for automatically controlling the running speed of the blood pump is adopted, so that the hemolysis or insufficient performance influence caused by too early and too late manual regulation due to artificial control factors is avoided. The blood pump running performance parameter table and the motor output power performance parameter table are preset, an automatic interpolation query function is achieved, and the running state of the blood pump can be adjusted more quickly and accurately. The physiological parameters are monitored in real time to realize autonomous feedback adjustment, and the physiological parameters can be automatically adjusted when the physiological state of a patient changes, so that the labor cost is reduced, and the control accuracy is improved. The physiological parameters such as blood pressure, flow and the like are strictly controlled within a preset range through system feedback, and the condition of excessive suction or backflow is avoided.

The device for controlling the blood pump obtains preset target aortic systolic pressure and target aortic systolic flow; acquiring the n-th aortic systolic pressure and the n-th aortic systolic flow detected in the nth iteration based on an iterative algorithm; wherein n is a positive integer; determining an nth pressure difference value at an nth iteration based on the target aortic systolic pressure and the nth aortic systolic pressure; determining an nth flow difference value at an nth iteration based on the target aortic systolic flow and the nth aortic systolic flow; determining the nth rotating speed of a motor of the blood pump during the nth iteration based on the nth pressure difference value and the nth flow difference value; determining the nth running power of the motor matched with the nth rotating speed during the nth iteration, and controlling the motor to run at the nth running power; if the m-th aortic systolic pressure detected in the m-th iteration and the target aortic systolic pressure meet a first iteration stop condition, and the m-th aortic systolic flow detected in the m-th iteration and the target aortic systolic flow meet a second iteration stop condition, stopping the iteration; wherein m is a positive integer and is greater than n; so, the mode of manual control blood pump work has not only increased the human cost among the solution correlation technique, and there is the problem that manual operation is complicated, the purpose of adjusting the rotational speed of blood pump in real time and automatically through iterative algorithm has been realized, this regulative mode has not only reduced the human cost, and compare in the complicated characteristics of manual operation, the precision of control has been improved, the hemolysis or the influence of performance not enough that manual regulation caused too early, too late that the artificial control factor leads to has been avoided, thereby the condition that the blood pump performance parameter is not up to standard or the hemolysis aggravates has been avoided taking place.

Drawings

FIG. 1 is a schematic flow diagram of a method of controlling a blood pump provided in an embodiment of the present application;

FIG. 2 is a schematic flow diagram of another method of controlling a blood pump provided in an embodiment of the present application;

FIG. 3 is a schematic diagram of a PID control scheme according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of an apparatus for controlling a blood pump according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of another electronic device provided in the embodiment of the present application.

Detailed Description

In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the accompanying drawings, the described embodiments should not be considered as limiting the present application, and all other embodiments obtained by a person of ordinary skill in the art without making creative efforts fall within the protection scope of the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.

The embodiment of the application provides a method for controlling a blood pump, which is applied to an electronic device and is shown in fig. 1, and the method comprises the following steps:

step 101, acquiring preset target aortic systolic pressure and target aortic systolic flow.

Here, the relationship between the blood pump and hemolysis is carried outExplained, the long-term high-speed operation of the blood pump may cause a hemolysis problem, which is a phenomenon that the red blood cells are destroyed and the hemoglobin components in the red blood cells are released into the blood plasma. Hemolysis of a blood pump is mainly related to the shear stress to which red blood cells in blood are subjected and the exposure time under the shear stress, and a calculation model expression of the hemolysis is as follows: HI = a τ ^α t ^β Where HI denotes a Hemolysis Index (Hemolysis Index), τ denotes a shear stress, t denotes an exposure time, and A, α, and β denote constants which are positive values. The above formula shows that the larger the shear stress to which the red blood cells are subjected and the longer the exposure time, the higher the possibility of hemolysis is, and the shear stress to which the red blood cells are subjected and the rotation speed of the blood pump are in a positive relationship, so that in the operation process of the blood pump, under the condition of meeting the operation requirement, the blood pump is required to be operated at a lower rotation speed working state as much as possible, and the operation time at a high rotation speed is reduced as much as possible. The application provides a method for controlling a blood pump can adjust the rotating speed of the blood pump automatically in real time through an iterative algorithm, avoids hemolysis or insufficient performance influence caused by too early and too late manual adjustment due to artificial control factors, and accordingly avoids the situation that the performance parameters of the blood pump do not reach the standard or the hemolysis is aggravated.

In the embodiment of the application, the electronic device may preset a target aortic systolic pressure and a target aortic systolic flow, which are two important indexes that the electronic device is expected to achieve or approach and maintain all the time, and under the two important indexes, the physiological state of the human body is in a relatively stable state. The target aortic systolic pressure and the target aortic systolic flow rate can be set according to actual requirements, for example, the target aortic systolic pressure preset in the present application is 120mmHg, and the target aortic systolic flow rate is 5L/min. It should be noted that, for specific values of the target aortic systolic pressure and the target aortic systolic flow rate, the present application is not specifically limited.

102, acquiring the n-th aortic systolic pressure and the n-th aortic systolic flow detected in the nth iteration based on an iterative algorithm.

Wherein n is a positive integer.

In the embodiment of the application, when the electronic device executes the method for controlling the blood pump, multiple iteration operations can be performed based on an iteration algorithm, and the n-th aortic systolic pressure and the n-th aortic systolic flow detected in the n-th iteration are obtained in real time.

And 103, determining an nth pressure difference value at the nth iteration based on the target aortic systolic pressure and the nth aortic systolic pressure.

In this embodiment, when determining the nth pressure difference value in the nth iteration based on the target aortic systolic pressure and the nth aortic systolic pressure in step 103, the nth pressure difference value in the nth iteration may be determined by considering only the relationship between the target aortic systolic pressure and the nth aortic systolic pressure; the nth pressure difference value during the nth iteration can be determined jointly by combining the corresponding historical pressure difference value during each iteration in the previous n-1 iteration process on the basis of considering the relation between the target aortic systolic pressure and the nth aortic systolic pressure.

And step 104, determining an nth flow difference value in the nth iteration based on the target aortic contraction flow and the nth aortic contraction flow.

In this embodiment of the application, when determining the nth flow difference value in the nth iteration based on the target aortic contraction flow and the nth aortic contraction flow in step 104, the nth flow difference value in the nth iteration may be determined by only considering the relationship between the target aortic contraction flow and the nth aortic contraction flow; the nth flow difference value in the nth iteration can be determined by combining the corresponding historical flow difference value in each iteration in the previous n-1 iteration process on the basis of considering the relation between the target aortic contraction flow and the nth aortic contraction flow.

And 105, determining the nth rotating speed of the motor of the blood pump during the nth iteration based on the nth pressure difference value and the nth flow difference value.

In this embodiment of the application, the electronic device may determine, based on the nth pressure difference and the nth flow difference, an nth rotation speed of a motor of the blood pump at an nth iteration under the condition that the nth pressure difference and the nth flow difference are obtained. Here, the electronic device may combine a preset blood pump operation performance data list to quickly determine the nth rotation speed of the motor of the blood pump at the nth iteration.

And 106, determining the nth running power of the motor matched with the nth rotating speed during the nth iteration, and controlling the motor to run at the nth running power.

In the embodiment of the application, under the condition that the nth rotating speed during the nth iteration is obtained, the electronic device can quickly determine the nth operating power of the motor matched with the nth rotating speed by combining a preset motor operating power list, and then control the motor to operate at the nth operating power.

And 107, if the m-th aortic systolic pressure detected in the m-th iteration and the target aortic systolic pressure meet a first iteration stop condition, and the m-th aortic systolic flow detected in the m-th iteration and the target aortic systolic flow meet a second iteration stop condition, stopping the iteration.

Wherein m is a positive integer and m is greater than n.

In the embodiment of the application, in the iteration process from the nth iteration to the mth iteration, if it is determined that a first iteration stop condition is satisfied between the mth aortic systolic pressure detected at the mth iteration and the target aortic systolic pressure, and a second iteration stop condition is satisfied between the mth aortic systolic flow detected at the mth iteration and the target aortic systolic flow, the iteration is stopped, and at this time, the motor drives the blood pump to operate at a set rotation speed until the blood pump control method is automatically exited or the blood pump system is shut down.

According to the method for controlling the blood pump, the preset target aortic systolic pressure and the preset target aortic systolic flow are obtained; acquiring the n-th aortic systolic pressure and the n-th aortic systolic flow detected in the nth iteration based on an iterative algorithm; wherein n is a positive integer; determining an nth pressure difference value at an nth iteration based on the target aortic systolic pressure and the nth aortic systolic pressure; determining an nth flow difference value at an nth iteration based on the target aortic systolic flow and the nth aortic systolic flow; determining the nth rotating speed of a motor of the blood pump during the nth iteration based on the nth pressure difference value and the nth flow difference value; determining the nth running power of the motor matched with the nth rotating speed during the nth iteration, and controlling the motor to run at the nth running power; if the m-th aortic systolic pressure detected in the m-th iteration and the target aortic systolic pressure meet a first iteration stop condition, and the m-th aortic systolic flow detected in the m-th iteration and the target aortic systolic flow meet a second iteration stop condition, stopping the iteration; wherein m is a positive integer and is greater than n; so, the mode of manual control blood pump work has not only increased the human cost among the solution correlation technique, and there is the problem that manual operation is complicated, realized the purpose of adjusting the rotational speed of blood pump through iterative algorithm in real time and automatically, this regulative mode has not only reduced the human cost, and compare in the complicated characteristics of manual operation in addition, the precision of control has been improved, the too early that artificial control factor leads to, too late manual regulation causes the hemolysis or the influence that the performance is not enough, thereby the condition emergence of blood pump performance parameter not up to standard or hemolysis aggravation has been avoided.

The embodiment of the present application provides a method for controlling a blood pump, which is applied to an electronic device, and is shown in fig. 2, where the method includes:

step 201, obtaining preset target aorta contraction pressure and target aorta contraction flow.

Step 202, acquiring the n-th aortic systolic pressure and the n-th aortic systolic flow rate detected in the nth iteration based on an iterative algorithm. Wherein n is a positive integer.

In the embodiment of the application, if the blood pump operation performance data list is preset, the influence of parameters in the list on the control of the blood pump is considered, and when the nth pressure difference value in the nth iteration is determined in steps 203 to 208, on the basis of the relationship between the target aortic systolic pressure and the nth aortic systolic pressure, the nth pressure difference value in the nth iteration is obtained more accurately by combining the historical pressure difference value corresponding to each iteration in the previous n-1 iteration process. The pressure difference is also referred to as pressure rise in this application.

And 203, if n is larger than 1, acquiring a corresponding historical pressure difference value of each iteration in the previous n-1 iteration process.

Here, the electronic device obtains a corresponding historical pressure difference value during each iteration in the previous n-1 iteration process to obtain n-1 historical pressure difference values.

And step 204, calculating the value of the target aortic systolic pressure minus the nth aortic systolic pressure to obtain the current pressure difference.

And 205, calculating the sum of the current pressure difference and each historical pressure difference corresponding to each iteration in the previous n-1 iteration process to obtain the nth pressure difference.

And step 206, if n is larger than 1, acquiring a corresponding historical flow difference value of each iteration in the previous n-1 iteration process. Here, the electronic device obtains a corresponding historical flow difference value during each iteration in the previous n-1 iteration process to obtain n-1 historical flow difference values.

And step 207, calculating the value obtained by subtracting the n-th aorta contraction flow from the target aorta contraction flow to obtain the current flow difference value.

And 208, calculating the sum of the current flow difference value and each historical flow difference value corresponding to each iteration in the previous n-1 iteration process to obtain an nth flow difference value.

And 209, determining the nth rotating speed of the motor of the blood pump at the nth iteration based on the nth pressure difference value and the nth flow difference value.

In an implementation scenario of the present application, in step 209, the nth rotation speed of the motor of the blood pump at the nth iteration is determined based on the nth pressure difference and the nth flow difference, and may be implemented in the following two manners:

in the first mode, if the n-th pressure difference value and the n-th flow difference value exist in a preset blood pump operation performance data list, the rotating speed matched with the n-th pressure difference value and the n-th flow difference value in the blood pump operation performance data list is determined to be the n-th rotating speed.

TABLE 1 blood pump operating Performance data List

For example, referring to the data in table 1, if the nth pressure difference, i.e., the pressure rise, is 50mmHG and the nth flow difference is 3L/min, it is determined that the nth rotation speed of the motor of the blood pump at the nth iteration is 20000rpm.

And secondly, if the n-th pressure difference value and/or the n-th flow difference value do not exist in the preset blood pump operation performance data list, determining the n-th rotating speed matched with the n-th pressure difference value and the n-th flow difference value in the blood pump operation performance data list based on an interpolation algorithm.

Illustratively, referring to the data in table 1, if the nth pressure difference, i.e., the pressure rise, is 55mmHG, and the nth flow difference is 3L/min, based on the interpolation algorithm, the nth rotation speed of the motor of the blood pump at the nth iteration is determined to be 25000rpm. In the embodiment of the present application, the interpolation may be an intermediate value between 20000rpm corresponding to 50mmHG and 3L/min and 30000rpm corresponding to 60mmHG and 3L/min, and of course, other values between 20000rpm and 30000rpm may also be used, which is not limited in this application.

Therefore, the blood pump running state adjusting method and device have the advantages that the blood pump running performance data list is preset, the automatic interpolation query function is achieved, and the blood pump running state can be adjusted more quickly and accurately.

The control method involved in the above scenario is a direct control method, and in an actual operation situation, when there is a loss of motor output or a load change is large, the direct control method may be difficult to reach or may take a long time to reach a target pressure rise and flow rate, as shown in fig. 3, the present application proposes a Proportional Integral Derivative (PID) control method in the following scenario to implement an autonomous feedback regulation process, by which the blood pump is helped to quickly reach a working rotation speed required by the target pressure rise and flow rate. It should be noted that, the direct control method in the foregoing scenario is more suitable for an ideal operating state, and when the motor has no problems of output loss, large load change, and the like, the direct control method may be used to achieve a better effect.

In another implementation scenario of the present application, the step 209 of determining the nth rotation speed of the motor of the blood pump at the nth iteration based on the nth pressure difference and the nth flow difference may be implemented by a11 and a12 or a11 and a13 as follows:

a11, substituting the nth pressure difference value and the nth flow difference value which are respectively used as independent variables into an error calculation formula during nth iteration to obtain an nth pressure error output value and an nth flow error output value; wherein the error calculation formula in the nth iteration is

e (n) is independent variable, u (n) is error output value in nth iteration, K is integer greater than or equal to 0 and less than or equal to n, and K is _p Is a proportionality constant, K _i As an integration constant, K _d Is a differential constant.

And A12, if an nth pressure error output value and an nth flow error output value exist in a preset blood pump operation performance data list, determining that the rotating speed matched with the nth pressure error output value and the nth flow error output value in the blood pump operation performance data list is the nth rotating speed.

And A13, if the n-th pressure error output value and/or the n-th flow error output value do not exist in the preset blood pump running performance data list, determining the n-th rotating speed matched with the n-th pressure error output value and the n-th flow error output value in the blood pump running performance data list based on an interpolation algorithm.

And step 210, determining the nth running power of the motor matched with the nth rotating speed during the nth iteration, and controlling the motor to run at the nth running power.

TABLE 2 Motor operating Power List

Exemplarily, referring to the data in table 2, if the nth rotation speed is 20000rpm, the nth operation power of the motor matched with the nth rotation speed is 2w. It should be noted that, in the process of determining the nth operating power of the motor matched with the nth rotation speed in the nth iteration, an interpolation algorithm may also be used, for example, if the nth rotation speed is 70000rpm, the nth operating power of the motor matched with the nth rotation speed is 7w, and of course, other values between 6w and 8w may also be taken, and the present application is not limited in particular.

Therefore, the blood pump running performance data list and the motor running power list are preset, and the automatic interpolation query function is achieved, so that the running state of the blood pump can be adjusted more quickly and accurately.

And step 211, if the m-th aortic systolic pressure detected during the m-th iteration and the target aortic systolic pressure meet a first iteration stop condition, and the m-th aortic systolic flow detected during the m-th iteration and the target aortic systolic flow meet a second iteration stop condition, stopping the iteration.

Wherein m is a positive integer and is greater than n.

In other embodiments of the present application, in the step 107, if the m-th aortic systolic pressure detected at the m-th iteration and the target aortic systolic pressure satisfy the first iteration stop condition, and the m-th aortic systolic flow detected at the m-th iteration and the target aortic systolic flow satisfy the second iteration stop condition, when the iteration is stopped, the stopping of the iteration may be triggered by any one of the following two schemes,

the method comprises the steps of firstly, substituting the mth aorta systolic pressure, the target aorta systolic pressure, the mth aorta systolic flow and the target aorta systolic flow into a relative error calculation formula to obtain the relative error in the mth iteration, wherein the relative error calculation formula in the mth iteration is

RE (m) is the relative error at the mth iteration, A _t To target aortic systolic pressure, A _m Is the m-th aortic systolic pressure, Q _t For a target aortic systolic flow, Q _m Is the mth aortic systolic flow.

And secondly, if RE (m) is smaller than the preset relative error, determining that the m-th aortic systolic pressure and the target aortic systolic pressure meet a first iteration stop condition, and the m-th aortic systolic flow and the target aortic systolic flow meet a second iteration stop condition, and stopping iteration.

Here, RE (m) can be set according to actual control accuracy requirements, illustratively, 0 ≦ RE (m) ≦ 0.01.

Scheme two, first, a first ratio of the mth aortic systolic pressure to the target aortic systolic pressure is calculated.

Second, a second ratio of the m-th aortic systolic flow to the target aortic systolic flow is calculated.

And finally, if the first ratio belongs to the first ratio range and the second ratio belongs to the second ratio range, determining that the m-th aortic systolic pressure and the target aortic systolic pressure meet a first iteration stop condition, and the m-th aortic systolic flow and the target aortic systolic flow meet a second iteration stop condition, and stopping iteration.

Here, β 1. Ltoreq. An/At. Ltoreq. β 2 and β 1. Ltoreq. Qn/Qt. Ltoreq. β 2, illustratively, 0.998. Ltoreq. β 1. Ltoreq.1, 1. Ltoreq. β 2. Ltoreq.1.002, although in the above formula (An/At) and (Qn/Qt) may take different ratio ranges, i.e., β 3. Ltoreq. Qn/Qt. Ltoreq. β 4, the values of β 3 and β 4 may also be adjusted depending on the actual circumstances.

It should be noted that, for the description of the same steps and the same contents in this embodiment as those in other embodiments, reference may be made to the description in the other embodiments, which is not repeated herein.

In an implementation embodiment, referring to fig. 4, the electronic device 4 includes a display module 401, a detection module 402, a calculation module 403, a storage module 404, a control module 405, and an operation module 406 as an example, the method for controlling a blood pump provided in the present application is further described, where the display module 401 has a function of displaying pressure data, flow data, motor power, and blood pump rotation speed of a current aorta, and of course, the display module 401 may also display other index parameters, such as displaying an electrocardiogram parameter, etc.; the detection module 402 is used for detecting arterial pressure and flow, for example, functional modules for detecting arterial pressure and flow may be integrated together to form the detection module 402, and of course, the functional modules for detecting arterial pressure and flow may be respectively and individually used as a sub-module; as shown in FIG. 4, the detection module 402 includes a pressure sub-module and a flow sub-module; for example, the sub-modules may be implemented by using various sensors, for example, the pressure sub-module uses a pressure sensor for detecting arterial pressure, and the flow sub-module uses a flow sensor for detecting flow; it should be noted that, in some practical scenarios, the flow rate submodule may also select a module having a certain calculation function, and calculate the flow rate through the acquired relevant parameters, such as the arterial pressure. The calculation module 403 is used for calculating the pressure rise and the flow rate required to be provided by the blood pump, and obtaining parameters such as the rotating speed of the blood pump, the motor power and the like by value taking or interpolation in cooperation with the storage module; the storage module 404 is configured to store preset performance parameter tables of the blood pump and the motor, so that the calculation module can call the tables conveniently; the control module 405 includes a motor and motor system for controlling the output power of the motor; the operation module 406 includes a blood pump that is rotated by the control module to generate the desired pressure rise and flow rate.

When the method for controlling the blood pump is implemented by the electronic device 4, the following steps may be performed:

step 1: the electronic equipment receives the operation of starting the blood pump, starts the blood pump system, enters an automatic control mode, and sets a target aorta systolic pressure At and a target aorta systolic flow Qt.

Step 2: the electronic equipment detects the aortic systolic pressure A0 and the flow Q0 through the detection module, transmits the detected pressure and flow data to the display module and the calculation module, and the display module displays the current aortic pressure and flow values, namely the arterial pressure and flow of the initial environment.

And 3, step 3: and the electronic device calculates the flow (Qt-Q0) required to be provided by the blood pump and the pressure rise (At-A0) required to be provided by the blood pump according to At and Qt through a calculation module.

And 4, step 4: the electronic equipment calls a blood pump running performance data list (for example, the blood pump can provide the pressure rise under different flow rates and different rotating speeds, see table 1) in the storage module through the pressure rise (At-A0) and the flow rate (Qt-Q0) provided by the calculation module according to needs, automatically calculates the minimum rotating speed n1 required by the running of the blood pump, and transmits data to the display module, and the display module displays the minimum rotating speed n1 required by the normal working of the blood pump. If the completely consistent flow and pressure rise working state does not exist in the performance data table, the flow and pressure rise working state can be obtained by adopting an interpolation or approximation mode.

And 5, step 5: the electronic device further calls a motor running power list (for example, blood pump rotating speeds corresponding to different motor powers, see table 2) in the storage module through the calculation module according to the rotating speed n1 of the blood pump, automatically calculates the running power P1 of the matched motor, and transmits data to the display module, and the display module displays the motor power P1 required by the normal operation of the blood pump. If the parameter table does not have the working state of completely consistent rotating speed and motor power, the working state can be obtained by adopting an interpolation or approximation mode.

And 6, step 6: the electronic equipment transmits the required motor output power parameter P1 to the control module through the calculation module, the control module controls the blood pump motor to operate at a set power, and the further motor drives the blood pump to operate at a set rotating speed.

And 7, step 7: the electronic equipment can repeat the steps 2 to 5 in the running process by controlling the blood pump so as to achieve the preset target pressure and flow, and the method is as follows:

the electronic equipment detects that the aortic systolic pressure is A1 and the flow Q1 through the detection module, transmits the detected pressure and flow data to the display module and the calculation module, and the display module displays the current pressure and flow values of the aorta;

further, the electronic device calculates the flow rate (Qt-Q0) + (Qt-Q1) required to be provided by the blood pump and the pressure rise (At-A0) + (At-A1) required to be provided by the blood pump according to At and Qt through the calculation module.

Furthermore, the electronic device calls a blood pump running performance data list in the storage module through a pressure rise (At-A0) + (At-A1) and a flow (Qt-Q0) + (Qt-Q1) provided by the calculation module as required, automatically calculates a minimum rotating speed n2 required by the running of the blood pump, and transmits the data to the display module, and the display module displays the minimum rotating speed n2 required by the normal running of the blood pump, if the flow and the pressure rise working state which are completely consistent do not exist in the performance data list, the minimum rotating speed n2 can be obtained by adopting an interpolation or approximation mode.

Furthermore, the electronic device calls a motor running power list in the storage module through the calculation module according to the rotating speed n2 of the blood pump, automatically calculates the running power P2 of the matched motor, and transmits data to the display module, the display module displays the motor power P2 required by the normal operation of the blood pump, and if the parameter table does not have a completely consistent rotating speed and working state of the motor power, the parameter table can be obtained by interpolation or approximation.

Furthermore, the electronic device transmits the required motor output power parameter P2 to the control module through the calculation module, the control module controls the blood pump motor to operate at a set power, and the further motor drives the blood pump to operate at a set rotating speed.

In the nth iteration, the blood pump needs to provide a pressure rise of (At-A0) + (At-A1) + \8230 + (At-An) and a flow rate of (Qt-Q0) + (Qt-Q1) + \8230 + (Qt-Qn) until the detected systolic pressure and flow rate reach At and Qt, at which time the motor power is Pn.

Through the purpose of iteratively and automatically adjusting the rotating speed of the blood pump in real time in the steps, the condition that the performance parameter of the blood pump does not reach the standard or the hemolysis is aggravated is avoided.

And 8, step 8: and the electronic equipment receives the operation of exiting the automatic control mode, closes the blood pump system and finishes the circulation.

Where At and Qt refer to being equal to or infinitely close to the set value.

In an exemplary scenario one, the electronic device sets the target aortic systolic pressure to 120mmHg and the target aortic systolic flow to 5L/min.

The electronic equipment starts to detect that the aortic systolic pressure is 70mmHg and the flow is 2L/min through the detection module, and transmits the detected pressure and flow data to the display module and the calculation module, and the display module displays that the current aortic pressure is 70mmHg and the flow value is 2L/min (the arterial pressure and flow of the initial environment).

The electronic device calculates the blood pump to provide 120-70=50mmHg of pressure rise and 5-2=3L/min of flow according to the aorta target systolic pressure 120nnHg and the target flow 5L/min by the calculating module.

The electronic equipment calls a blood pump operation performance data table in the storage module through the calculation module according to the pressure rise 50mmHg and the flow 3L/min which are provided by the calculation module as required, automatically calculates the lowest rotation speed 20000rpm required by the blood pump operation, transmits the data to the display module, and displays the lowest rotation speed 20000rpm required by the normal operation of the blood pump by the display module.

The electronic equipment calls a motor output power performance parameter table in the storage module through the calculation module according to the rotation speed 20000rpm of the blood pump, automatically calculates the running power 2W of the matched motor, transmits data to the display module, and the display module displays the motor power 2W required by the normal work of the blood pump.

The electronic equipment transmits the required motor output power parameter 2W to the control module through the calculation module, the control module controls the blood pump motor to operate at a set power, and the further motor drives the blood pump to operate at a set rotating speed.

The electronic equipment carries out the next round of detection through the detection module, detects that the aortic systolic pressure is 115mmHg and the flow is 5L/min, and transmits the detected pressure and flow data to the display module and the calculation module, and the display module displays that the current aortic pressure is 115mmHg and the flow is 5L/min.

The electronic device calculates the blood pump to provide the pressure rise of (120-70) + (120-115) =55mmHg and the flow rate of (5-2) + (5-5) =3L/mi according to the aorta target systolic pressure 120nnHg and the target flow rate of 5L/min through a calculation module.

The electronic equipment calls a blood pump operation performance data table in the storage module through the calculation module according to the pressure rise 55mmHg and the flow 3L/min which are provided as required, if no completely matched data exists after data search, a linear automatic interpolation method is adopted for calculation, the minimum rotating speed 25000rpm required by the operation of the blood pump is automatically calculated under the condition that the flow is 3L/min, the data are transmitted to the display module, and the display module displays the minimum rotating speed 25000rpm required by the normal operation of the blood pump.

The electronic equipment calls a motor output power performance parameter table in the storage module through the calculation module according to the rotating speed 25000rpm of the blood pump, automatically calculates the running power of the matched motor to be 2.5W, transmits data to the display module, and the display module displays the motor power required by the normal work of the blood pump to be 2.5W.

The electronic equipment transmits the required motor output power parameter 2.5W to the control module through the calculation module, the control module controls the blood pump motor to operate at a set power, and the further motor drives the blood pump to operate at a set rotating speed.

The above cycle is repeated until the target aortic systolic pressure At and the target aortic systolic flow rate Qt are reached or approached and maintained. And ending the circulation until the blood pump system is closed.

Based on the functional modules, the application also provides a method for controlling the blood pump to operate by applying PID control logic, namely proportional control (P), integral control (I) and differential control (D) are adopted to control the blood pump to operate, and a control equation is as follows

When the method for controlling the blood pump is realized in a PID control mode, the following steps can be executed:

Step 2: the electronic equipment detects the aortic systolic pressure A0 and flow Q0 through the detection module, transmits the detected pressure and flow data to the display module and the calculation module, and the display module displays the current pressure and flow values of the aorta, namely the arterial pressure and flow of the initial environment.

And 3, step 3: the electronic equipment calculates the error between the 1 st detection and the blood pump target value through a calculation module according to At and Qt, namely the flow error value is e (n 1) = Qt-Q0, and the pressure error value is e (n 1) = At-A0.

And 4, step 4: the electronic device calculates the error output of the flow and the pressure after the 1 st detection according to the required error value e (n 1), namely u (n 1) = Kp × e (n 1) + Ki × e (n 1) +0; the electronic equipment calls a blood pump operation performance data list (for example, blood pump can provide pressure rise under different flow rates and different rotating speeds, see table 1) in the storage module, automatically calculates the minimum rotating speed n1 required by the blood pump operation, and transmits data to the display module, and the display module displays the minimum rotating speed n1 required by the normal operation of the blood pump. If the completely consistent flow and pressure rise working state does not exist in the performance data table, the flow and pressure rise working state can be obtained by adopting an interpolation or approximation mode.

And 5, step 5: the electronic device further calls a motor output power performance parameter table (such as blood pump rotating speeds corresponding to different motor powers, figure 4) in the storage module according to the rotating speed n1 of the blood pump through the calculation module, automatically calculates the running power P1 of the matched motor, and transmits data to the display module, and the display module displays the motor power P1 required by the normal work of the blood pump. If the operating state of the completely consistent rotating speed and motor power does not exist in the parameter table, the operating state can be obtained by adopting an interpolation or approximation mode.

And 7, step 7: the steps 2-5 are repeated in the running process of the blood pump so as to achieve the preset target pressure and flow, and the method specifically comprises the following steps:

further, the electronic device calculates an error between the detected 2 nd time and the target value of the blood pump according to At and Qt through a calculation module, that is, a flow error value is e (n 2) = Qt-Q1, and a pressure error value is e (n 2) = At-A1;

a further calculation module calculates the error output of the flow and the pressure after the 2 nd detection according to the required error value e (n 2), namely u (n 2) = Kp × e (n 2) + Ki = (n 1) + e (n 2)) + Kd × (e (n 2) -e (n 1)); after the 2 nd detection, the flow and the pressure required by the blood pump are u (n 1) + u (n 2), a blood pump operation performance data list in the storage module is called accordingly (for example, the blood pump can provide pressure rise under different flow and different rotating speeds, see table 1), the minimum rotating speed 2 required by the blood pump operation is automatically calculated, the data are transmitted to the display module, and the display module displays the minimum rotating speed n2 required by the normal operation of the blood pump. If the blood pump operation performance data list does not have completely consistent flow and pressure rise working states, the blood pump operation performance data list can be obtained by adopting an interpolation or approximation mode.

Further, the electronic device calls a motor running power list (for example, blood pump rotating speeds corresponding to different motor powers, see table 2) in the storage module through the calculation module according to the rotating speed n2 of the blood pump, automatically calculates the running power P2 of the matched motor, and transmits data to the display module, and the display module displays the motor power P2 required by the normal operation of the blood pump, and if the operating state of completely consistent rotating speed and motor power does not exist in the motor running power list, the operating state can be obtained by interpolation or approximation.

In the nth iteration, the flow error value of the blood pump is e (nn) = Qt-Qn-1, the pressure error value is e (nn) = At-An-1, the blood pump needs to provide the pressure rise and the flow rate is u (n 1) + u (n 2) + \8230, + u (nn) until the detected systolic pressure and flow rate reach At and Qt, at which time the motor power is Pn.

Exemplary scenario two, another embodiment when PID control is employed, is as follows:

the electronic device sets the target aortic systolic pressure to 120mmHg and the target aortic systolic flow to 5L/min.

Illustratively, the proportionality constant Kp =0.5, ki =0.5, kd =0.167; in practical applications, the three proportionality constants may be varied and may be positive numbers.

The electronic equipment calculates the error between the 1 st detection and the blood pump target value according to the aorta target systolic pressure 120mmHg and the target flow 5L/min through a calculation module, namely the flow error value is e (n 1) = Qt-Q0=3L/min, and the pressure error value is e (n 1) = At-A0=50mmHg.

The electronic device calculates the error output of the flow and the pressure after the 1 st detection according to the required error value e (n 1) by using a calculation module, i.e. u (n 1) = Kp × e (n 1) + Ki × e (n 1) +0, and obtains the error output of the flow u (n 1) =0.5 × 3+0=3l/min and the error output of the pressure u (n 1) =0.5 × 50+0.5 mmhg 50+0= 50500.

The electronic equipment calls a blood pump running performance data table in the storage module through the pressure rise 50mmHg and the flow 3L/min which are provided by the calculation module according to needs, automatically calculates the lowest rotation speed 20000rpm required by the running of the blood pump, transmits the data to the display module, and displays the lowest rotation speed 20000rpm required by the normal working of the blood pump by the display module.

The electronic equipment calls a motor output power performance parameter table in the storage module through the calculation module according to the rotating speed 20000rpm of the blood pump, automatically calculates the running power 2W of the matched motor, transmits data to the display module, and the display module displays the motor power 2W required by the normal work of the blood pump.

The electronic equipment performs the next round of detection through the detection module, detects that the aortic systolic pressure is 115mmHg and the flow is 5L/min, transmits the detected pressure and flow data to the display module and the calculation module, and the display module displays the current aortic pressure as 115mmHg and the flow value as 5L/min.

The electronic device calculates the error between the 2 nd detection and the blood pump target value according to the aorta target systolic pressure 120nnHg and the target flow 5L/min through a calculation module, namely the flow error value is e (n 2) = Qt-Q1=0L/min, and the pressure error value is e (n 2) = At-A2=5mmHg.

The electronic device calculates the error output of the flow and pressure after the 2 nd detection according to the error value e (n 2) required, i.e. u (n 2) = Kp × e (n 2) + Ki (/ e (n 1) + e (n 2)) + Kd: (e (n 2) -e (n 1)), the electronic device obtains the error output of the flow u (n 2) =0.5 × 0.5 ++ 0.5 (3 × 0) +0.167 × 0-3) =1L/min, and the error output of the pressure u (n 2) =0.5 × 5+0.5 ++ 0.5 (50 × 5) +0.167 × 5) = 22.485; after the 2 nd detection, the flow and the pressure required by the blood pump are u (n 1) + u (n 2), namely the required flow is 4L/min, and the required pressure is 72.485mmH g.

The electronic equipment calls a blood pump running performance data table in the storage module through a calculation module according to the pressure rise of 72.485mmHg and the flow of 4L/min which are provided as required, if no completely matched data is found after data search is carried out, a linear automatic interpolation method is adopted for calculation, the minimum rotating speed of 62485rpm required by the running of the blood pump is automatically calculated under the condition that the flow is 4L/min, the data are transmitted to a display module, and the display module displays the minimum rotating speed of 62485rpm required by the normal working of the blood pump.

The electronic equipment calls a motor output power performance parameter table in the storage module through the calculation module according to the rotational speed 62485rpm of the blood pump, automatically calculates the running power 6.2485W of the matched motor, transmits data to the display module, and displays the motor power 6.2485W required by the normal work of the blood pump through the display module.

The electronic equipment transmits a required motor output power parameter of 6.2485W to the control module through the calculation module, the control module controls the blood pump motor to operate at a set power, and the further motor drives the blood pump to operate at a set rotating speed.

The above cycle is repeated until the target aortic systolic pressure At and the target aortic systolic flow Qt are reached or approached and maintained. And ending the circulation until the blood pump system is closed.

An exemplary scene three is based on the above exemplary scene one and the above exemplary scene two, the electronic device can also perform autonomous feedback adjustment according to real-time changes of physiological parameters of a human body, so as to achieve the purpose of rapid and accurate adjustment, if the blood pressure is reduced due to deterioration of the patient condition, the electronic device detects that the initial blood pressure and flow of the patient are respectively 70mmHg and 2L/min, the set target flow and pressure are still 120mmHg and 5L/min, the pressure rise and flow values of the blood pump required to be increased obtained after the first measurement are respectively 50mmHg and 3L/min, and the corresponding rotation speed n1 is used for controlling operation.

The pressure and the flow measured by the electronic equipment for the second time are 115mmHg and 5L/min, so that the pressure rise and the flow which need to be increased by the blood pump for the second time are respectively calculated to be 55mmHG and 3L/min, and the corresponding rotating speed n2 is used for controlling the blood pump to operate.

After the electronic equipment is adjusted for the second time, the heart failure of the patient is determined to be worsened, at this time, assuming that the environmental pressure and flow change is 50mmHG and 2L/min, the detected blood pressure and flow are 105mmHg and 5L/min, and the pressure rise and flow value of the blood pump which needs to be improved are respectively 50+5+15 + 70mmHg and 3L/min.

The above process is cycled through the above sequence until the target flow and pressure are reached or approached and maintained at still 120mmHg and 5L/min.

In this case, the PID control process is similar, and it is not described in detail, and it can be seen that the method for controlling the blood pump provided by the present application can cope with the situation that the physiological condition of the patient changes, and has the effect of real-time feedback adjustment.

An embodiment of the present application provides a device for controlling a blood pump, which may be applied to a method for controlling a blood pump provided in the embodiment corresponding to fig. 1-2, and referring to fig. 5, the device for controlling a blood pump 5 includes: an obtaining module 501 and a processing module 502, wherein:

an obtaining module 501, configured to obtain a preset target aortic systolic pressure and a preset target aortic systolic flow;

a processing module 502, configured to obtain an nth aortic systolic pressure and an nth aortic systolic flow detected during an nth iteration based on an iterative algorithm; wherein n is a positive integer;

a processing module 502 for determining an nth pressure difference value at an nth iteration based on the target aortic systolic pressure and the nth aortic systolic pressure;

a processing module 502, configured to determine an nth flow difference value at an nth iteration based on the target aortic systolic flow and the nth aortic systolic flow;

a processing module 502, configured to determine an nth rotation speed of a motor of the blood pump at an nth iteration based on the nth pressure difference and the nth flow difference;

the processing module 502 is configured to determine an nth operating power of the motor, which is matched with the nth rotation speed during the nth iteration, and control the motor to operate at the nth operating power;

a processing module 502, configured to stop the iteration if a first iteration stop condition is satisfied between an m-th aortic systolic pressure detected during the m-th iteration and a target aortic systolic pressure, and a second iteration stop condition is satisfied between an m-th aortic systolic flow detected during the m-th iteration and a target aortic systolic flow; wherein m is a positive integer and is greater than n.

In other embodiments of the present application, the processing module 502 is configured to, if n is greater than 1, obtain a historical pressure difference value corresponding to each iteration in a previous n-1 iteration process; calculating the value of the target aortic systolic pressure minus the nth aortic systolic pressure to obtain a current pressure difference value; and calculating the sum of the current pressure difference and each historical pressure difference corresponding to each iteration in the previous n-1 iteration process to obtain the nth pressure difference.

In other embodiments of the present application, the processing module 502 is configured to, if n is greater than 1, obtain a historical flow difference corresponding to each iteration in a previous n-1 iteration process; calculating the value of the target aorta contraction flow minus the n-th aorta contraction flow to obtain a current flow difference value; and calculating the sum of the current flow difference value and each historical flow difference value corresponding to each iteration in the previous n-1 iteration process to obtain an nth flow difference value.

In other embodiments of the present application, the processing module 502 is configured to determine that a rotation speed matched with the nth pressure difference value and the nth flow difference value in the blood pump operation performance data list is an nth rotation speed if the nth pressure difference value and the nth flow difference value exist in a preset blood pump operation performance data list; and if the n-th pressure difference value and/or the n-th flow difference value do not exist in the preset blood pump operation performance data list, determining the n-th rotating speed matched with the n-th pressure difference value and the n-th flow difference value in the blood pump operation performance data list based on an interpolation algorithm.

In other embodiments of the present application, the processing module 502 is configured to substitute the nth pressure difference value and the nth flow difference value as independent variables into an error calculation formula during the nth iteration to obtain an nth pressure error output value and an nth flow error output value; wherein the error calculation formula in the nth iteration is

e (n) is an independent variable, u (n) is an error output value at the nth iteration, K is an integer which is greater than or equal to 0 and less than or equal to n, and K _p Is a constant of proportionality, K _i As an integration constant, K _d Is a differential constant; if an nth pressure error output value and an nth flow error output value exist in a preset blood pump operation performance data list, determining that the rotating speed matched with the nth pressure error output value and the nth flow error output value in the blood pump operation performance data list is an nth rotating speed; and if the n-th pressure error output value and/or the n-th flow error output value do not exist in the preset blood pump running performance data list, determining the n-th rotating speed matched with the n-th pressure error output value and the n-th flow error output value in the blood pump running performance data list based on an interpolation algorithm.

In other embodiments of the present application, the processing module 502 is configured to substitute the mth aortic systolic pressure, the target aortic systolic pressure, the mth aortic systolic flow rate, and the target aortic systolic flow rate into a relative error calculation formula to obtain a relative error at the mth iteration, where the relative error calculation formula at the mth iteration is

RE (m) is the relative error at the mth iteration, A _t To target aortic systolic pressure, A _m The mth aortic systolic pressure, Q _t For a target aortic systolic flow, Q _m Is the mth aortic systolic flow;

and if RE (m) is smaller than the preset relative error, determining that the m-th aortic systolic pressure and the target aortic systolic pressure meet a first iteration stop condition, and the m-th aortic systolic flow and the target aortic systolic flow meet a second iteration stop condition, and stopping iteration.

In other embodiments of the present application, the processing module 502 is configured to calculate a first ratio of the mth aortic systolic pressure to the target aortic systolic pressure;

calculating a second ratio of the m-th aortic systolic flow to the target aortic systolic flow

And if the first ratio belongs to the first ratio range and the second ratio belongs to the second ratio range, determining that the m-th aortic systolic pressure and the target aortic systolic pressure meet a first iteration stop condition, and the m-th aortic systolic flow and the target aortic systolic flow meet a second iteration stop condition, and stopping iteration.

An embodiment of the present application provides an electronic device, which may be applied to a method for controlling a blood pump provided in an embodiment corresponding to fig. 1-2, and referring to fig. 6, the electronic device 6 (the electronic device 6 in fig. 6 corresponds to the electronic device 4 in fig. 4) includes: a processor 601, a memory 602, and a communication bus 603, wherein:

the communication bus 603 is used to enable communication connections between the processor 601 and the memory 602.

The processor 601 is configured to execute a program stored in the memory 602 for controlling the blood pump to implement the steps of the method of controlling the blood pump provided by the corresponding embodiment of fig. 1-2.

The Processor may be an integrated circuit chip having Signal processing capabilities, such as a general purpose Processor, a Digital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like, wherein the general purpose Processor may be a microprocessor or any conventional Processor or the like.

It should be noted that, a specific implementation process of the steps executed by the processor in this embodiment may refer to an implementation process in the method for controlling the blood pump provided in the embodiment corresponding to fig. 1-2, and details are not described here.

The description of the apparatus in the embodiment of the present application is similar to that of the method embodiment described above, and has similar beneficial effects to the method embodiment, and therefore, the description thereof is omitted. For technical details not disclosed in the embodiments of the apparatus, reference is made to the description of the embodiments of the method of the present application for understanding.

Embodiments of the present application provide a storage medium having stored therein executable instructions that, when executed by a processor, will cause the processor to perform a method provided by embodiments of the present application, for example, the method as illustrated in fig. 1-2.

In some embodiments, the storage medium may be a computer-readable storage medium, such as a Ferroelectric Random Access Memory (FRAM), 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), a flash Memory, a magnetic surface Memory, an optical disc, or a Compact disc Read Only Memory (CD-ROM), and the like; or may be various devices including one or any combination of the above memories.

In some embodiments, executable instructions may be written in any form of programming language (including compiled or interpreted languages), in the form of programs, software modules, scripts or code, and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

By way of example, executable instructions may correspond, but do not necessarily have to correspond, to files in a file system, and may be stored in a portion of a file that holds other programs or data, such as in one or more scripts in a hypertext Markup Language (hypertext Markup Language) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code). By way of example, executable instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.

The above description is only an example of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, and improvement made within the spirit and scope of the present application are included in the protection scope of the present application.

Claims

1. A device for controlling a blood pump, the device comprising:

the acquiring module is used for acquiring preset target aortic systolic pressure and target aortic systolic flow;

the processing module is used for substituting the nth pressure difference value and the nth flow difference value which are respectively used as independent variables into the error calculation formula during the nth iteration to obtain an nth pressure error output value and an nth flow error output value; wherein the error calculation formula in the nth iteration is

e (n) is the independent variable, u (n) is the error output value in the nth iteration, K is an integer which is greater than or equal to 0 and less than or equal to n, and K _p Is a constant of proportionality, K _i As an integration constant, K _d Is a differential constant;

the processing module is used for determining that the rotating speed matched with the nth pressure error output value and the nth flow error output value in the blood pump running performance data list is the nth rotating speed if the nth pressure error output value and the nth flow error output value exist in the preset blood pump running performance data list;

the processing module is used for determining the nth rotating speed matched with the nth pressure error output value and the nth flow error output value in the blood pump running performance data list based on an interpolation algorithm if the nth pressure error output value and/or the nth flow error output value do not exist in the preset blood pump running performance data list;

the processing module is configured to stop the iteration if an m-th aortic systolic pressure detected during an m-th iteration and the target aortic systolic pressure satisfy a first iteration stop condition, and an m-th aortic systolic flow detected during the m-th iteration and the target aortic systolic flow satisfy a second iteration stop condition; wherein m is a positive integer and is greater than n.

2. The apparatus of claim 1,

the processing module is used for acquiring a corresponding historical pressure difference value during each iteration in the previous n-1 iteration processes if the n is greater than 1;

the processing module is used for calculating the value obtained by subtracting the n-th aortic systolic pressure from the target aortic systolic pressure to obtain a current pressure difference value;

the processing module is configured to calculate a sum of the current pressure difference value and each historical pressure difference value corresponding to each iteration in the previous n-1 iteration processes, so as to obtain the nth pressure difference value.

3. The apparatus of claim 1,

the processing module is used for acquiring a corresponding historical flow difference value during each iteration in the previous n-1 iteration processes if n is larger than 1;

the processing module is used for calculating a value obtained by subtracting the n-th aorta systolic flow from the target aorta systolic flow to obtain a current flow difference value;

the processing module is configured to calculate a sum of the current flow difference value and each historical flow difference value corresponding to each iteration in the previous n-1 iteration processes, so as to obtain the nth flow difference value.

4. The device according to any one of claims 1 to 3,

the processing module is configured to substitute the mth aortic systolic pressure, the target aortic systolic pressure, the mth aortic systolic flow and the target aortic systolic flow into a relative error calculation formula to obtain the relative error at the mth iteration, where the relative error calculation formula at the mth iteration is

RE (m) is the relative error at the mth iteration, A _t Is the target aortic systolic pressure, A _m Is the m-th aortic systolic pressure, Q _t For the target aortic systolic flow, Q _m Is the m-th aortic systolic flow;

the processing module is configured to determine that the first iteration stop condition is satisfied between the m-th aortic systolic pressure and the target aortic systolic pressure, and the second iteration stop condition is satisfied between the m-th aortic systolic flow and the target aortic systolic flow, and stop the iteration if the RE (m) is smaller than a preset relative error.

5. The device according to any one of claims 1 to 3,

the processing module is used for calculating a first ratio of the m-th aortic systolic pressure to the target aortic systolic pressure;

the processing module is used for calculating a second ratio of the m-th aorta systolic flow to the target aorta systolic flow;

the processing module is configured to determine that the first iteration stop condition is satisfied between the mth aortic systolic pressure and the target aortic systolic pressure, and the second iteration stop condition is satisfied between the mth aortic systolic flow and the target aortic systolic flow, if the first ratio belongs to a first ratio range and the second ratio belongs to a second ratio range, and stop the iteration.