CN114796850A - Method for controlling the speed of a heart assist system - Google Patents

Abstract

The present application relates to the field of medical devices, and in particular, to a method for controlling the speed of a heart assist system. The heart assist system includes an action system. The action system sets a first target range and a second target range, and at least determines the first target range of the action system. an operating parameter and a second operating parameter in the test environment, and measure the rotational speed value of the action system; when the first operating parameter exceeds the first target range or the second operating parameter exceeds the second target range, according to the first operating parameter and the first operating parameter Two operating parameters are calculated to obtain an adjustment coefficient, and the speed of the action system is re-determined according to the adjustment coefficient.

Description

A method for controlling the speed of a cardiac assist system

technical field

The present application relates to the field of medical devices, and more particularly, to a method for controlling the speed of a cardiac assist system.

Background technique

Currently, heart failure has high morbidity and mortality, and is an important cause of death for most cardiovascular disease patients, with nearly 117 million people worldwide suffering from the disease. The full name of heart failure is heart failure, which means that due to the dysfunction of the heart's systolic or diastolic function, the venous return blood cannot be fully discharged from the body, resulting in blood stasis in the venous system, insufficient blood supply in the arterial system, and ultimately lead to cardiac circulatory system disorders. It is estimated that the incidence of acute myocardial infarction in my country is about 45/100,000 to 55/100,000, and it is still on the rise. Because the development process of heart failure is relatively slow, most of it is due to the accumulation of various diseases in patients for many years, the heart gradually loses its pumping function, and the functions of all aspects gradually weaken, accompanied by cardiac enlargement, mainly the left ventricle. The existing treatment options include drug therapy, auxiliary devices and heart transplantation, but different treatment methods all face great challenges.

At this stage, there are two main treatment options for cardiogenic shock and high-risk PCI: drug therapy and heart failure assist system. At present, many of the key parameters (motor speed) of the common pump heart failure assistance systems (such as ECMO, Impella, etc.) on the market are adjusted by manual settings. This control method requires medical staff to adjust according to the patient's actual operation. The parameters are constantly adjusted by the signs, and the operation is more complicated; some known methods are based on the state described statically by the characteristic curve under the premise of steady state, i.e., for example, the pump speed, the driving power of the pump and the effect on guiding the blood in the axial direction. Correlation of forces on the rotor or similar quantities, the weakness of this approach is on the one hand the fact that blood viscosity itself is difficult to determine and must be measured accordingly with the aid of individual patient interventions, and this model cannot describe The behavior of the pump in changing or transitioning states.

Patent CN201780040840.2 discloses a method for determining, in particular for estimating, operating parameters of a blood pump (1) comprising a rotor (5) delivering blood, wherein the determination of said blood pumps is independent of each other change in behavior of at least one of the first and second operating parameters of the blood pump, and wherein at least two of these are considered when determining the flow rate through the blood pump and/or the pressure difference across the blood pump and/or the blood viscosity In order to adjust the speed of the blood pump, the motor current of the blood pump will increase or decrease, but if the current value is not equal to the current value Monitoring or not limiting the upper limit current will cause the motor to heat up, affect the life of the motor, or even burn out the motor, affecting the stability and safety of the blood pump.

Therefore, in view of the limitations of the existing similar products in the market in terms of parameter control, those skilled in the art are committed to developing a method for controlling the speed of a cardiac assistance system, mainly to solve the following problems: the cardiac assistance system cannot follow the aorta The change of blood flow and the change of the working current of the action system are used to adjust the speed adaptively.

SUMMARY OF THE INVENTION

The present application has been made in view of the above and other more concepts.

One of the purposes of the present application is to overcome the deficiencies of the prior art. For example, the heart assist system cannot adjust the rotational speed adaptively with the change of the aortic blood flow and the change of the working current of the action system. A method of assisting the speed of the system.

According to another aspect of the present application, there is provided a method for controlling the speed of a cardiac assist system, the cardiac assist system comprising a motion system, wherein at least a first operating parameter of the motion system and a test environment are determined The second operating parameter is measured, and the rotational speed value of the motion system is measured, an adjustment coefficient is obtained by calculation according to the first operating parameter and the second operating parameter, and the rotational speed of the motion system is re-determined according to the adjustment coefficient.

According to an embodiment, the action system sets a first target range and a second target range, when the first operating parameter exceeds the first target range or the second operating parameter exceeds the second target range , the speed of the action system will be adjusted.

According to an embodiment, the action system is set with a safety parameter, and if the first operating parameter exceeds the safety parameter, the action system is shut down immediately.

According to another embodiment, the motion system is set with a safety parameter, and if the second operating parameter exceeds the safety parameter, the motion system is shut down immediately.

According to an embodiment, at least the operating current value I of the action system is measured as the first operating parameter; and the rate of change of the current value I with time is determined.

According to an embodiment, at least the blood flow L in the test environment is measured as a second operating parameter; and the rate of change of the blood flow L over time is determined.

，当所述动作系统的电流I超过 所述安全电流

时，所述动作系统随即关闭。 According to an embodiment, the action system further sets a safety current

, when the current I of the action system exceeds the safe current

, the motion system is turned off immediately.

与下限电流阈值

，当工作电流值I超出所述目标电流范围时，所述动作系统的 转速随即进行调整。 According to an embodiment, the first target range is a target current range, and the target current range includes an upper current threshold

with the lower current threshold

, when the working current value I exceeds the target current range, the rotational speed of the motion system is adjusted immediately.

与下限流量阈值

，当血液流量L超出所述目标流量范围时，所述动作系统的 转速随即进行调整。 According to an embodiment, the second target range is a target flow range, and the target flow range includes an upper flow threshold

with lower flow threshold

, when the blood flow L exceeds the target flow range, the rotational speed of the action system is adjusted immediately.

According to an embodiment, only if the blood flow L is within the target flow range and the operating current value I of the action system is within the target current range at the same time, the action system will work at the current rotational speed, thereby completing the adaptive adjustment of the action system the purpose of the speed.

According to an embodiment, in order to adjust the rotational speed of the action system, an adjustment coefficient t must be determined first, and the adjustment coefficient t multiplied by the current rotational speed value of the action system is the new rotational speed of the action system; and, the action system The rotational speed of the will be stabilized to a fixed value after adaptive adjustment.

、第二调整参数

、血液流量的上限流量阈值

、血液 流量的下限流量阈值

、与所述动作系统的上限电流

。 According to an embodiment, in order to determine the adjustment coefficient, in addition to determining the first operating parameter and the second operating parameter, at least a first adjustment parameter needs to be determined

, the second adjustment parameter

, the upper flow threshold of blood flow

, the lower flow threshold of blood flow

, and the upper limit current of the action system

.

。According to an embodiment, the calculation formula of the adjustment coefficient t is:

.

与所述第二调整参数

满足以下条件：

+

=1。 According to an embodiment, the first adjustment parameter

with the second tuning parameter

The following conditions:

+

=1.

According to another aspect of the present application, a cardiac assistance system is provided, including an action system, a control system, a feedback signal collection system and a human-computer interaction system, wherein the feedback signal collection system includes a system for collecting the action system. A Hall sensor with a current value I, a flow acquisition system for collecting aortic blood flow L, and an ECG signal collector for collecting a patient's ECG signal, the control system collects the current of the system according to the feedback signal The value I and the blood flow L adjust the rotational speed of the motion system.

According to an embodiment, the human-computer interaction system includes a touch display screen, a rotary encoder and buttons, the touch display screen cooperates with the rotary encoder to set the initial speed of the action system, and on the touch display screen Set the target flow range.

According to an embodiment, the ECG signal collected by the ECG signal collector is displayed on the touch screen; when the rotation speed of the motion system runs at a fixed rotation speed for a period of time and the ECG signal collected by the ECG signal collector is When the ECG signal of the electrocardiogram is normal, the touch screen will display pop-up information to prompt the action system to withdraw from the body.

According to an embodiment, the action system includes a motor, a guide tube, a bracket and a paddle, the speed of the blade is controlled by the motor, and the control system controls the speed of the motor; The motors are sequentially arranged from the distal end to the proximal end, and the bracket is sleeved outside the paddle.

According to an embodiment, the flow acquisition system includes a pressure sensor disposed on the catheter to measure aortic pressure, and the flow acquisition system calculates the aortic blood flow L according to the aortic pressure.

=0.5，所述第二调整参数

=0.5。 According to an embodiment, the first adjustment parameter

=0.5, the second adjustment parameter

=0.5.

=0.4，所述第二调整参数

=0.6。 According to an embodiment, the first adjustment parameter

=0.4, the second adjustment parameter

=0.6.

与所述第一调整参数

由所述动作系统默 认设置。 According to an embodiment, the first adjustment parameter

with the first tuning parameter

Set by default by the action system.

与所述第一调整参数

在所述动作系统运 行期间不作调整。 According to an embodiment, the first adjustment parameter

with the first tuning parameter

No adjustments are made during operation of the motion system.

与所述第一 调整参数

作出调整。 According to another embodiment, during the operation of the action system, the first adjustment parameter can be adjusted

with the first tuning parameter

make adjustments.

According to another embodiment, blood viscosity is also measured in order to determine the adjustment factor.

According to another embodiment, in order to determine the adjustment factor, the average speed of the motion system is also determined.

、血 液流量的下限流量阈值

与所述电机的初始转速。 According to an embodiment, the human-computer interaction system is used to set relevant parameters of the cardiac assistance system. After the action system enters the heart and is fixed at the target position, the upper limit flow threshold of blood flow is set on the touch display screen.

, the lower flow threshold of blood flow

with the initial speed of the motor.

由所述动作系统默认设置。 According to an embodiment, the safe current

Set by default by the action system.

According to an embodiment, the waveform of the electrocardiogram ECG signal can be used as patient physiological index detection information.

According to an embodiment, once the action system starts to run, the flow collection system starts to collect the patient's aortic blood flow and the working current of the action system; when the collected aortic blood flow exceeds the target flow range , or the operating current of the action system is higher than the target current range of the action system, and the control system will adaptively adjust the motor speed.

According to an embodiment, when the operating current of the motion system is higher than the upper limit current, the motor immediately performs deceleration processing.

According to an embodiment, when the operating current of the motion system is lower than the upper limit current, the motor immediately performs speed-up processing.

According to an embodiment, the test environment is at the aortic valve annulus.

According to one embodiment, the test environment is at the ascending aorta.

According to one embodiment, the test environment is the left ventricle.

Compared with the prior art, the advantages of the technical solution of the present application include at least the following:

1. Compared with the existing method for controlling the artificial heart, the present invention introduces a method for controlling the speed of the cardiac assist system. First, at least the first operating parameter of the action system and the second operating parameter in the test environment are determined. parameter, for the selection of the first motion parameter and the second motion parameter, the present invention comprehensively considers the influence of the changes of the cardiac assistance system itself and the test environment on the motion of the cardiac assistance system, and, in order to start the adaptive adjustment of the rotational speed of the motion system , the action system sets the first target range and the second target range. When the collected first operating parameter exceeds the first target range or the second motion parameter exceeds the second target range, the control system will automatically control the speed of the action system, and will not It needs to manually adjust its speed, which reduces the complexity of equipment operation. In this way, the function of automatically adjusting the speed of the heart assist system is realized on the premise of ensuring the stable operation of the action system, and this adjustment method can gradually stabilize the speed of the action system to A fixed value is beneficial to the patient's recovery and is of great clinical significance.

2. According to a concept of the present application, the present application takes the working current value I of the action system as the first operating parameter, and takes the blood flow L in the test environment as the second operating parameter. At this time, the first target range is the target current range. , the second target range is the target flow range. When the working current value I exceeds the target current range or the blood flow L exceeds the target flow range, the speed of the action system is adjusted immediately, and only the blood flow L and the working current value I are not When it exceeds the range, the rotational speed of the action system will remain at a certain fixed value. The adaptive mechanism of the action system ensures the stable operation of the action system in the heart, and the pumping effect is good, which is in line with the physiological environment of the human heart and is conducive to the disease. On the other hand, the action system also sets a safe current. Once the current of the action system exceeds the safe current, the action system will immediately shut down, which effectively prevents the action system from being damaged and ensures the stability and safety of the action system. .

，其中，

为第一调整参数，

为第二调整参数，

为 血液流量的上限流量阈值，

为血液流量的下限流量阈值，

为所述动作系统的上限电流， 且

、

、

、

、

均为设置好的定值，调整系数仅仅需要依据血液流量L与工作电流值I 的变化而变动，因此，获得调整系数较为简单、快速，而动作系统的新转速数值是通过调整 系数t乘以动作系统当前的转速数值获得的，故动作系统的转速调整反应也快，灵敏度高， 配合好，综上所述，动作系统的自适应调整转速的机制能够满足且非常适应复杂的心内环 境，临床价值高。3. According to a concept of the present application, in order to adjust the rotational speed, the adjustment coefficient t must be determined first, and the calculation formula of the adjustment coefficient t is:

,in,

for the first tuning parameter,

for the second tuning parameter,

is the upper flow threshold of blood flow,

is the lower flow threshold of blood flow,

is the upper limit current of the action system, and

,

,

,

,

are all set fixed values, and the adjustment coefficient only needs to be changed according to the changes of blood flow L and working current value I. Therefore, it is relatively simple and fast to obtain the adjustment coefficient, and the new speed value of the action system is multiplied by the adjustment coefficient t. The current speed value of the action system is obtained, so the speed adjustment response of the action system is also fast, the sensitivity is high, and the coordination is good. To sum up, the mechanism of the action system's self-adaptive adjustment of the speed can meet and be very adaptable to the complex inner environment. High clinical value.

4. According to a concept of the present application, in addition to the action system, the cardiac assistance system also includes a control system, a feedback signal collection system and a human-computer interaction system, wherein the feedback signal collection system includes a HU for collecting the current value I of the action system. The sensor, the flow acquisition system for collecting the aortic blood flow L, and the ECG signal collector for collecting the patient's ECG signal, the control system will collect the current value I of the system and the blood flow L according to the feedback signal. speed adjustment.

5. According to a concept of the present application, the ECG signal collector will collect the ECG signal of the patient, and the ECG signal of the ECG is displayed on the touch screen. When the ECG signal collected by the signal collector is normal, the touch screen will display pop-up information to remind the action system to withdraw from the body. This reminder mode is more objective and intelligent, saves time, and is more efficient, avoiding the cumbersome judgment process. It is of great significance to carry out human-machine collaboration more thoroughly.

The embodiments of the present application can achieve other advantageous technical effects that are not listed one by one. These other technical effects may be partially described below, and can be expected and understood by those skilled in the art after reading the present application of.

Description of drawings

The above-described features and advantages and other features and advantages of these embodiments, and the manner in which they are achieved, will be more apparent, and embodiments of the present application may be better understood, by reference to the following description in conjunction with the accompanying drawings, in which:

FIG. 1 is a schematic control logic diagram of the method of the present invention for controlling the speed of a cardiac assist system.

2a to 2d are schematic diagrams of the human-computer interaction system and the action system of the present invention

The features referred to by the numbers in the accompanying drawings are as follows:

1-Heart assist system, 2-action system, 21-motor, 22-catheter, 23-stand, 24-paddle, 3-human-computer interaction system.

Detailed ways

The details of one or more embodiments of the application are set forth in the accompanying drawings and the detailed description below. Other features, objects and advantages of the present application will be apparent from the description, drawings and claims.

It should be understood that the illustrated and described embodiments are not limited in application to the details of construction and the arrangement of components set forth in the following description or illustrated in the accompanying drawings. The illustrated embodiments are capable of other embodiments and of being implemented or carried out in various ways. The examples are provided by way of explanation and not limitation of the disclosed embodiments. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the various embodiments of the present application without departing from the scope or spirit of the present disclosure. For example, features illustrated or described as part of one embodiment can be used with another embodiment to still yield a further embodiment. Accordingly, the present disclosure covers such modifications and variations as fall within the scope of the appended claims and their equivalents.

Also, it is to be understood that the phraseology and phraseology used herein is for the purpose of description and should not be regarded as limiting. The use of "including", "including" or "having" and variations thereof herein is intended to be open-ended to include the items listed thereafter and their equivalents as well as additional items.

The present application will be described in more detail below with reference to various embodiments and examples of several aspects of the present application.

In this application, the term "proximal" or "proximal" refers to the end or side that is closer to the operator, and "distal" or "distal" refers to the end or side that is further away from the operator. side.

Example 1

As shown in FIG. 1 , a method for controlling the speed of a heart assistance system 1 according to an embodiment of the present application is illustrated. The heart assistance system 1 includes an action system 2 , wherein at least the action system 2 is determined. The first operating parameter and the second operating parameter in the test environment are measured, and the rotational speed value of the action system 2 is measured, calculated according to the first operating parameter and the second operating parameter to obtain an adjustment coefficient, and recalculated according to the adjustment coefficient. Determine the speed of motion system 2.

In the first embodiment, the action system 2 sets a first target range and a second target range, when the first operating parameter exceeds the first target range or the second operating parameter exceeds the second target range When the target range is reached, the rotational speed of the motion system 2 will be adjusted.

In the first embodiment, the action system 2 is set with a safety parameter, and if the first operation parameter exceeds the safety parameter, the action system 2 is shut down immediately.

In the first embodiment, at least the working current value I of the action system 2 is measured as the first operating parameter; and the rate of change of the current value I with time is determined.

In the first embodiment, at least the blood flow L in the test environment is measured as the second operating parameter; and the rate of change of the blood flow L with time is determined.

，当所述动作系统2的电流I超 过所述安全电流

时，所述动作系统2随即关闭。 In the first embodiment, the action system 2 also sets a safe current

, when the current I of the action system 2 exceeds the safe current

, the motion system 2 is turned off immediately.

与下限电流阈值

，当工作电流值I超出所述目标电流范围时，所述动作系统2 的转速随即进行调整。 In the first embodiment, the first target range is a target current range, and the target current range includes an upper current threshold

with the lower current threshold

, when the working current value I exceeds the target current range, the rotational speed of the motion system 2 is adjusted immediately.

与下限流量阈值

，当血液流量L超出所述目标流量范围时，所述动作系统2的 转速随即进行调整。 In the first embodiment, the second target range is a target flow range, and the target flow range includes an upper flow rate threshold

with lower flow threshold

, when the blood flow L exceeds the target flow range, the rotational speed of the action system 2 is adjusted immediately.

In the first embodiment, only if the blood flow L is within the target flow range and the operating current value I of the action system 2 is within the target current range at the same time, the action system 2 will work at the current rotational speed, thereby completing the self-adaptation The purpose of adjusting the rotation speed of the action system 2.

In the first embodiment, in order to adjust the rotational speed of the action system 2, an adjustment coefficient t must be determined first, and the adjustment coefficient t multiplied by the current rotational speed value of the action system 2 is the new rotational speed of the action system 2; and, The rotational speed of the motion system 2 will be stabilized to a certain fixed value after adaptive adjustment.

、第二调整参数

、血液流量的上限流量阈值

、血液 流量的下限流量阈值

、与所述动作系统2的上限电流

。 In the first embodiment, in order to determine the adjustment coefficient, in addition to determining the first operating parameter and the second operating parameter, at least the first adjustment parameter needs to be determined

, the second adjustment parameter

, the upper flow threshold of blood flow

, the lower flow threshold of blood flow

, and the upper limit current of the action system 2

.

。 In the first embodiment, the calculation formula of the adjustment coefficient t is:

.

与所述第二调整参数

满足以下条件：

+

=1。 In the first embodiment, the first adjustment parameter

with the second tuning parameter

The following conditions:

+

=1.

In the first embodiment, the cardiac assistance system 1 including the action system 2 further includes a control system, a feedback signal collection system and a human-computer interaction system 3, as shown in FIG. 2a, wherein the feedback signal collection system includes a system for collecting The Hall sensor of the current value I of the action system 2, the flow acquisition system for collecting the aortic blood flow L, and the ECG signal collector for collecting the patient's ECG signal, the control system collects according to the feedback signal The current value I and the blood flow L of the system adjust the rotational speed of the action system 2 .

In the first embodiment, the human-computer interaction system 3 includes a touch display screen, a rotary encoder and buttons. The touch display screen and the rotary encoder cooperate to set the initial speed of the action system 2. The target flow range is set on the display.

In the first embodiment, the ECG signal collected by the ECG signal collector is displayed on the touch screen; when the rotation speed of the action system 2 runs at a fixed rotation speed for a period of time and the ECG signal collector When the collected ECG signal is normal, the touch screen will display pop-up information to prompt the action system 2 to withdraw from the body.

In the first embodiment, the action system 2 includes a motor 21 , a conduit 22 , a bracket 23 and a paddle 24 , the speed of the paddle 24 is controlled by the motor 21 , and the control system controls the speed of the motor 21 ; and, The bracket 23 , the catheter 22 and the motor 21 are sequentially arranged from the distal end to the proximal end, and the bracket 23 is sleeved outside the paddle 24 , as shown in FIGS. 2 c and 2 d .

In the first embodiment, the flow collection system includes a pressure sensor, the pressure sensor is arranged on the catheter 22 to measure the aortic pressure, and the flow collection system calculates the aortic blood flow L according to the aortic pressure.

=0.5，所述第二调整参数

=0.5。 In the first embodiment, the first adjustment parameter

=0.5, the second adjustment parameter

=0.5.

与所述第一调整参数

由所述动作系统2默 认设置。 In the first embodiment, the first adjustment parameter

with the first tuning parameter

Set by default by the Action System 2.

与所述第一调整参数

在所述动作系统2运 行期间不作调整。 In the first embodiment, the first adjustment parameter

with the first tuning parameter

No adjustments are made during operation of the motion system 2 .

为0.6A, 安全电流

为0.7A，电机21转速为25000r/min，在动作系统2运行过程中，当实际测得流量值为3.9L/ min，电流值为0.65A时，计算调整系统t为0.96，重新设定转速为24000r/min，其中，动作系 统2转速最小调整步长为500r/min。 In the first embodiment, the target flow range is 3.8-4L/min, and the upper limit current threshold is

0.6A, safe current

When the actual measured flow value is 3.9L/min and the current value is 0.65A, the calculation and adjustment system t is 0.96, and the speed is reset. It is 24000r/min, among which, the minimum adjustment step of the speed of the action system 2 is 500r/min.

In the first embodiment, during the operation of the action system 2, when the actual measured flow value is 3.7L/min and the current value is 0.45A, the calculation and adjustment system t is 1.2, and the re-set speed is 30000r/min.

，直接关闭动作系统2电源，并在触摸显示屏上提示 发生故障。 In the first embodiment, during the operation of the action system 2, when the actual measured flow value is 4L/min and the current value is 0.7A, since the working current reaches the safe current

, directly power off the action system 2, and prompt a fault on the touch screen.

An exemplary use procedure and control logic of the cardiac assistance system 1 of the first embodiment are as follows:

1. The action system 2 is transported into the left ventricle through the femoral artery, descending aorta, aortic arch, ascending aorta, and aortic valve by surgery, as shown in Figure 2b, the stent 23 is supported across the valve;

和下限流量阈值

； 2. Connect the power supply of the cardiac assistance system 1, and after the startup is successful, set the initial speed of the motor 21 and the upper limit flow threshold of the blood flow on the touch screen

and the lower flow threshold

;

3. Press the button of the human-computer interaction system 3 to start the motor 21 of the action system 2, and the motor 21 drives the paddle 24 to rotate through the conduit 22 to realize the function of pumping blood;

4. After the action system 2 is running, the feedback signal acquisition system starts to work, collects the working current of the action system 2, the patient's aortic blood flow and ECG signals, and transmits the collected data to the control system, and the control system is responsible for the action system 2. The working current and the aortic blood flow are judged, as shown in Figure 1;

时，所述控制系统对电机21 作降速处理； 5. When the aortic blood flow is outside the set target flow range, the control system adjusts the rotational speed of the motor 21; when the operating current I of the action system 2 is higher than the upper limit current

, the control system decelerates the motor 21;

6. When the patient's aortic blood flow reaches the set target flow and the operating current of the action system 2 is lower than the upper limit current threshold, the motor 21 will work at the currently set rotational speed, and then the motor 21 will be adaptively adjusted. the purpose of the speed;

7. When the motor 21 runs at a certain fixed speed for a period of time and the ECG signal collected by the feedback signal acquisition system is normal, the touch screen will display pop-up information to help the medical staff determine whether the action system 2 can be withdrawn from the body. out.

The foregoing description of several embodiments of the present application has been presented for purposes of illustration. The foregoing description is not intended to be exhaustive or to limit the application to the precise configurations, configurations and/or steps disclosed, obviously many modifications and variations are possible in light of the above teachings. The scope of the invention and all equivalents are intended to be defined by the appended claims.

Claims (17)

1. A method for controlling the speed of a cardiac assistance system, the cardiac assistance system comprising a motion system, characterized in that at least a first operating parameter of the motion system and a second operating parameter in a test environment are determined, and Measure the rotational speed value of the motion system, calculate according to the first operating parameter and the second operating parameter to obtain an adjustment coefficient, and re-determine the rotational speed of the motion system according to the adjustment coefficient. 2 . The method for controlling the speed of a cardiac assist system according to claim 1 , wherein the motion system sets a first target range and a second target range, and when the first operating parameter exceeds the predetermined range. 3 . When the first target range or the second operating parameter exceeds the second target range, the rotational speed of the motion system will be adjusted. 3. The method for controlling the speed of a cardiac assist system according to claim 2, wherein at least an operating current value I of the action system is measured as a first operating parameter; and the current value I is determined over time rate of change. 4. The method for controlling the speed of a cardiac assist system according to claim 3, wherein at least the blood flow L in the test environment is measured as a second operating parameter; and the change of the blood flow L over time is determined. rate of change. 5. The method for controlling the speed of a cardiac assist system according to claim 3, wherein the action system further sets a safety current

, when the current I of the action system exceeds the safe current

, the motion system is turned off immediately. 6. The method for controlling the speed of a heart assist system according to claim 4, wherein the first target range is a target current range, and the target current range includes an upper current threshold

with the lower current threshold

, when the working current value I exceeds the target current range, the rotational speed of the motion system is adjusted immediately. 7. The method for controlling the speed of a cardiac assist system of claim 6, wherein the second target range is a target flow range including an upper flow threshold

with lower flow threshold

, when the blood flow L exceeds the target flow range, the rotational speed of the action system is adjusted immediately. 8. The method for controlling the speed of a cardiac assist system according to claim 7 , wherein only two conditions are met simultaneously when the blood flow L is within the target flow range and the operating current value I of the action system is within the target current range. Conditions, the action system will work at the current speed, so as to achieve the purpose of adaptively adjusting the speed of the action system. 9 . The method for controlling the speed of a cardiac assist system according to claim 8 , wherein, in order to adjust the rotational speed of the action system, an adjustment coefficient t must be determined first, and the adjustment coefficient t is multiplied by the current of the action system. 10 . The rotational speed value of is the new rotational speed of the action system; and the rotational speed of the action system will stabilize to a certain fixed value after adaptive adjustment. 10 . The method for controlling the speed of a cardiac assistance system according to claim 9 , wherein in order to determine the adjustment coefficient, in addition to determining the first operating parameter and the second operating parameter, at least one further needs to be determined. 11 . first tuning parameter

, the second adjustment parameter

, the upper flow threshold of blood flow

, the lower flow threshold of blood flow

, and the upper limit current of the action system

. 11. The method for controlling the speed of a cardiac assistance system according to claim 10, wherein the formula for calculating the adjustment coefficient t is:

. 12. The method for controlling the speed of a cardiac assist system according to claim 10 or 11, wherein the first adjustment parameter

with the second tuning parameter

The following conditions:

+

=1. 13. A cardiac assistance system for implementing the method of claim 1, comprising an action system, a control system, a feedback signal collection system and a human-computer interaction system, wherein the feedback signal collection system comprises a system for collecting the action The Hall sensor of the current value I, the flow acquisition system for collecting the aortic blood flow L, and the ECG signal collector for collecting the patient's ECG signal, the control system is based on the feedback signal acquisition system. The current value I and the blood flow L adjust the rotational speed of the motion system. 14. A cardiac assistance system according to claim 13, wherein the human-computer interaction system comprises a touch screen, a rotary encoder and buttons, and the touch screen and the rotary encoder cooperate to set the action The initial speed of the system, and the target flow range is set on the touch display. 15 . The cardiac assistance system according to claim 14 , wherein: the ECG signal collected by the ECG signal collector is displayed on the touch screen; 15 . When the rotational speed of the action system runs at a fixed rotational speed for a period of time and the ECG signal collected by the ECG signal collector is normal, the touch screen will display pop-up information to prompt the action system to withdraw from the body. 16 . The cardiac assistance system according to claim 13 , wherein the action system comprises a motor, a catheter, a bracket and a paddle, the rotation speed of the paddle is controlled by the motor, and the control system controls the motor. 17 . and the support, the catheter and the motor are sequentially arranged from the distal end to the proximal end, and the support is sleeved outside the paddle. 17 . The cardiac assist system according to claim 16 , wherein the flow collection system comprises a pressure sensor, the pressure sensor is arranged on the catheter to measure aortic pressure, and the flow collection system is based on 17 . The aortic pressure is calculated to give the aortic blood flow L.

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