CN115487388B - Closed-loop oxygen supply adjusting system based on blood oxygen saturation feedback - Google Patents
Closed-loop oxygen supply adjusting system based on blood oxygen saturation feedback Download PDFInfo
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Abstract
The invention provides a closed-loop oxygen supply regulating system based on blood oxygen saturation feedback, which belongs to the technical field of human blood oxygen saturation regulation, and comprises: the device comprises a physiological detection module, an oxygen storage and therapy module and an oxygen supply intervention algorithm module; the physiological detection module is used for detecting physiological data of a user and transmitting the physiological data to the oxygen supply intervention algorithm module; the oxygen supply intervention algorithm module is used for generating a control signal according to the physiological data and transmitting the control signal to the oxygen storage and therapy module; and the oxygen storage and therapy module outputs oxygen under the control of the control signal.
Description
Technical Field
The invention belongs to the technical field of human body blood oxygen saturation regulation and control, and particularly relates to a closed-loop oxygen supply regulation system based on blood oxygen saturation feedback.
Background
The high altitude area mainly in Qinghai-Tibet plateau in China occupies one fourth of the total area of the national soil, has wide area and rich resources, and has important military, economic and social strategic positions, however, the natural environment of the area is very severe, and a series of climatic problems such as low oxygen and low pressure, dry and cold, overlarge wind speed, strong ultraviolet rays and the like exist. With the construction and perfection of Qinghai-Tibet railways, the tourist industry in the plateau area is continuously and vigorously developed, the number of tourists rapidly entering the plateau in the low-altitude area for a long time is rapidly increased, a series of dangerous symptoms including headache, nausea, coma, death and the like can occur to the inadaptation person, and the plateau health problem is increasingly prominent. In addition, although the resident in the high altitude area has certain physical adaptability to the low oxygen environment, the physiological state is always maintained at an undesirable level, and compared with the normal person, the resident in the high altitude area has the phenomena of too low blood oxygen saturation and too high heart rate, and is extremely easy to cause the occurrence of chronic altitude diseases. Therefore, the guarantee and improvement of the health quality of people in high-altitude areas are significant.
Thanks to the development of wearable devices and medical internet of things, a great amount of physiological monitoring information can be obtained and used for diagnosis, evaluation and treatment of diseases without affecting normal life of people. Aiming at the process of the altitude hypoxia injury, the blood oxygen saturation is recognized as the most direct and effective physiological index, and secondly, the heart rate, and a great deal of medical research uses the two indexes as the judging standard of the altitude environment adaptability. Specifically, the individual should normally have a blood oxygen saturation of 98% or more and a heart rate of 60-100 beats/minute. When the oxygen intake is too low, the blood oxygen level is rapidly reduced, and the heart rate is obviously increased, so that the current individual is in an anoxic state, and the health and safety are threatened. Fourth army university study shows that low flow oxygen uptake by primary and long-lived plateau persons can improve physical and cognitive abilities (Shen G, wu X, tang C, et al, an oxygen enrichment device for lowlanders ascending to high altitude [ J ]. Biomedical Engineering Online,2013, 12:100.), similar promotion effects can be achieved by using hyperbaric oxygen chambers or artificial oxygen chambers, possibly related to relief of energy metabolism disorder of each system after oxygen administration, and repair of injury.
Existing oxygen delivery methods are all based on open loop structures for oxygen delivery, such as: when the hypoxia reaction is strong, an oxygen bottle is used for active inhalation, a hypoxia training device is adopted to supply high-concentration oxygen in a preset oxygen enrichment mode, and the like. Specifically, shenzhen Russian medical science and technology Co., ltd, developed an intermittent high and low oxygen training system and method based on an intelligent algorithm (Wang Boyu, olengag Xiege Lazachef, chen Kuo, guo Jia, hu Xiaozhou. Intermittent high and low oxygen training system [ P ]. Guangdong province: CN211214868U,2020-08-11, wang Boyu, olengag Xiege Lazachef, guo Jia, hucho, chen Kuo, hu Xiaozhou. Intermittent high and low oxygen training system and method based on an intelligent algorithm [ P ]. Guangdong province: CN111009302A, 2020-04-14.). However, the above-described methods lack a systematic, personalized closed-loop strategy, and it is difficult to ensure that the benefits in a resource-constrained plateau environment maximize intervention. Although closed-loop control has been effectively applied to a number of medical problems such as diabetes mellitus glucose regulation (Shi D, dassau E, doyle FJ. Adaptive Zone Model Predictive Control of Artificial Pancreas Based on Glucose-and mobility-Dependent Control Penatides IEEE Trans Biomed Eng.2019Apr;66 (4): 1045-1054.), it is not clear how to design an effective closed-loop oxygen delivery system and method from the point of view of plateau health engineering.
Disclosure of Invention
In view of the problems of limited oxygen in high altitude areas, huge oxygen supply equipment, lack of closed-loop intervention, no monitoring interaction platform and the like, the closed-loop oxygen supply adjusting system based on blood oxygen saturation feedback is provided.
The technical scheme for realizing the invention is as follows:
a closed loop oxygen supply regulation system based on blood oxygen saturation feedback, comprising: the device comprises a physiological detection module, an oxygen storage and therapy module and an oxygen supply intervention algorithm module; wherein the method comprises the steps of
The physiological detection module is used for detecting physiological data of a user and transmitting the physiological data to the oxygen supply intervention algorithm module;
the oxygen supply intervention algorithm module is used for generating a control signal according to the physiological data and transmitting the control signal to the oxygen storage and therapy module; the system comprises two sub-modules, namely an upper-layer multi-parameter self-adaptive optimization sub-module and a lower-layer closed-loop oxygen supply sub-module;
the closed-loop oxygen supply sub-module is used for calculating oxygen concentration as a control signal according to the blood oxygen saturation value detected by the physiological detection module based on the set state space model, the cost function and the constraint condition;
the multi-parameter self-adaptive optimization sub-module is used for obtaining a state space model parameter estimated value and a blood oxygen saturation target interval at the current moment by iterative optimization through the physiological data, the model parameters and the blood oxygen saturation target interval acquired by the physiological detection module, and outputting the state space model parameter estimated value and the blood oxygen saturation target interval to the closed-loop oxygen supply sub-module for parameter updating;
and the oxygen storage and therapy module outputs oxygen under the control of the control signal.
Further, the physiological detection module of the present invention is a portable wearable device, and is configured to detect physiological data of a user, including: blood oxygen saturation, heart rate, blood pressure.
Further, the cost function of the invention is as follows:
wherein λ (d) k ) Is N y Step predicting the blood oxygen saturation value y of the kth step in the time domain k And a target sectionDistance penalty term Γ (u) k ) Is N u A penalty term for the oxygen concentration input value of the kth step in the step control time domain.
Further, the state space model of the present invention is:
x k+1 ＝f(x k ,u k ,w k |θ k )， (1)
y k ＝g(x k ,u k ,v k |γ k )， (2)
wherein y is k For the signal of the blood oxygen saturation detected in the kth step, x k U is the relevant state vector composed of historical data k To deliver oxygen concentration, w k And v k Respectively representing system interference and measurement errors, and f (& gt) and g (& gt) represent dynamic characteristics of the system, namely theta k And gamma k Is a model parameter.
Further, the constraint conditions of the invention are as follows:
safety constraints:
wherein u is min And u max To input the oxygen concentration threshold, y min Is a threshold value of the blood oxygen saturation signal required for physiological safety.
Further, the multi-parameter self-adaptive optimization sub-module of the invention obtains the state space model parameter estimated value and the blood oxygen saturation target interval at the current moment by iterative optimization by using the physiological data, the model parameters and the blood oxygen saturation target interval acquired by the physiological detection module, wherein the state space model parameter estimated value and the blood oxygen saturation target interval are as follows:
s.t.g 1 (Φ k )≤0
wherein,representing the set of parameters to be adapted at the sampling instant k, D k The data set contains physiological data detected by the physiological monitoring module, including blood oxygen saturation, heart rate and the like, f 1 (Φ k ) An objective function, g, representing the performance of blood oxygen saturation regulation 1 (Φ k ) And < 0 represents a relevant safety constraint.
Further, the system of the invention also comprises a communication and transmission module, and the system is in wireless communication with the outside based on the communication and transmission module.
Further, the system of the invention also comprises a cloud platform monitoring and interaction module which is integrated with the mobile terminal, stores, records and displays the monitored physiological signals, sets control targets and parameters, and generates alarms based on the real-time physiological state to prompt and predict dangerous situations.
The beneficial effects are that:
(1) The oxygen supply intervention algorithm module in the system can realize optimal oxygen uptake intelligent decision by using measurement data, considers a double-layer control structure, takes charge of blood oxygen target interval threshold and model parameter self-adaption in the upper layer, completes oxygen supply concentration regulation in the lower layer, can fully consider individual differences, and provides an oxygen supply intervention strategy with maximum benefit on the basis of autonomously considering constraints such as physiological limit, oxygen capacity and the like.
(2) The physiological detection module in the system is specially used for measuring the physiological state of the human body in the plateau environment, integrates a plurality of related indexes including blood oxygen saturation, heart rate, blood pressure and the like, can be embedded in wearable equipment such as a bracelet and the like, and cannot interfere with normal life.
(3) The oxygen storage and therapy module in the system can dynamically regulate and control the actual oxygen concentration output according to the optimal control input value obtained by the intervention algorithm.
(4) The cloud platform monitoring and interaction module in the system is in communication connection with the physiological detection module and the oxygen storage and therapy module, can store and utilize a large amount of information, creates an individual physiological database, and realizes health monitoring and alarming of plateau residents.
Drawings
Fig. 1 is a diagram of the relationship between the modules of the present invention.
FIG. 2 is a schematic diagram of the closed loop oxygen delivery system of the present invention.
Fig. 3 is a flow chart of oxygen supply regulation by a human body through the present invention.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The design idea of the invention is as follows: under the control theory framework of closed-loop optimization, the safety and resource constraint are considered through each device with the functions of physiological signal measurement, oxygen concentration regulation and transportation and data storage, so that the optimal oxygen supply decision and intervention are realized, and the whole parts form a closed-loop oxygen supply system with complete software and hardware.
A closed-loop oxygen supply regulation system based on blood oxygen saturation feedback comprises a physiological detection module, an oxygen storage and therapy module, an oxygen supply intervention algorithm module, a communication and transmission module and a cloud platform monitoring and interaction module; the relationship between the parts is shown in fig. 1, wherein,
the physiological detection module is used for carrying out continuous physiological data aggressive detection on the user;
the physiological detection module can adopt wearable equipment such as a bracelet, a finger clip and the like to realize detection of continuous physiological data (blood oxygen saturation, heart rate and the like) related to the altitude adaptation capability.
Preferably, non-invasive measurement of multiple physiological parameters can be performed using photoplethysmography (PPG), with the blood flow change information in the skin tissue extracted by LED measurement light sources and detectors. The detection device is worn when the detected individual performs closed-loop intervention, the embedded LED light source irradiates the skin of the detected part (finger tip, earlobe, nose tip and the like) and then is absorbed by various tissues to different degrees, the light absorption quantity changes along with the change of substances, the reflected transmitted light intensity signal is received by the photosensitive sensor and converted into an electric signal, and the electric signal is decomposed into a slow direct current component (DC) related to blood flow and a pulsating alternating current component (AC) after analog-digital (AD) conversion, wherein the alternating current component is mainly formed by the change of the light absorption quantity due to the change of the blood volume (mainly blood flow in blood vessels and components thereof, such as hemoglobin) caused by heart pulsation, and therefore, different physiological signal measurement can be realized by carrying out different processing and calculation on the signal.
Measurement of blood oxygen saturation since the degree of absorption of blood to light is mainly related to the hemoglobin content carried in red blood cells, the intensity of light emitted after absorption by human tissue is detected by PPG technique using oxyhemoglobin (HbO) 2 ) And the characteristic that the difference of the absorption coefficients of the reduced hemoglobin (Hb) to light with different wavelengths is obvious, and the oxygen-containing condition of blood is estimated by combining with the beer-lambert optical law, so that the soft measurement of the blood oxygen saturation is realized.
Measurement of heart rate: the change signal of peripheral microvascular arterial blood volume fluctuation acquired by PPG presents periodic characteristics, heart rate mainly corresponds to the period of pulse wave, time domain analysis and processing are carried out on the signal, and the number information of wave crests is recorded after filtering operation, so that the beating times of the heart in each minute can be obtained.
Measurement of blood pressure: the pulse wave conduction time (PWTT) is calculated to establish a measurement model of the systolic pressure (SBP), and the human body pulse pressure difference is obtained by combining the beer-lambert optical law, so that the measurement of the diastolic pressure (DSP) is indirectly realized. In addition, considering the problems of measurement accuracy and diversity, signals measured by other methods (such as electrocardio) can be subjected to multi-source fusion so as to realize accurate detection and consider physiological parameters such as integrated body temperature.
And the oxygen supply intervention algorithm module is used for generating a control signal according to the physiological data and transmitting the control signal to the oxygen storage and therapy module.
Further, the module comprises two sub-modules, namely an upper multi-parameter self-adaptive optimization sub-module and a lower closed-loop oxygen supply sub-module, wherein the lower closed-loop oxygen supply sub-module is composed of an oxygen concentration feedback controller, control signals are given based on real-time physiological monitoring data and safety and resource constraints, and the upper multi-parameter self-adaptive optimization module is responsible for self-adaptation of a model parameter of a lower oxygen supply algorithm and a blood oxygen saturation target interval threshold.
(1) Closed loop oxygen supply submodule: considering that the normal physiological level of a person is usually not a fixed constant but fluctuates within a certain range, it is preferable to implement the intervention for oxygen using an interval model predictive control algorithm. First, a system identification can be performed through a large amount of collected data to obtain a relevant physiological model. Consider here a discrete state space model:
x k+1 ＝f(x k ,u k ,w k |θ k )， (1)
y k ＝g(x k ,u k ,v k |γ k )， (2)
wherein the output vector y of the system k For the signal of the blood oxygen saturation detected in the kth step, x k The input u may be controlled for a related state vector consisting of historical data k To deliver oxygen concentration, w k And v k Representing system interference and measurement error, respectively. f (·) and g (·) characterize the dynamics of the system, model parameters θ k And gamma k Can be estimated and obtained through a system identification method.
In order to ensure that the physiological state of the human body is in an acceptable range, a cost function needs to be reasonably designed, and the following form can be selected:
wherein λ (d) k ) Is N y Step prediction physiological measurement value and target interval of kth step in time domainDistance penalty term Γ (u) k ) Is N u A penalty term for the oxygen concentration input value of the kth step in the step control time domain. Γ (u) k ) And lambda (d) k ) Each containing a weight matrix for adjusting the intensity of action of each term.
In addition, the control effect is largely determined by the design of the safety constraint and the resource constraint, which is a non-negligible important part, basically, the control effect can be considered from the initial value constraint, the safety constraint, the state constraint and the output constraint:
initial constraint: x is x 0 ＝x i The method comprises the steps of carrying out a first treatment on the surface of the (4) state constraints:
output constraints:
safety constraints:
specifically, an oxygen concentration threshold u is input min And u max Determined from relevant physiological knowledge. Combining formulas (3) - (7), adopting a complete mathematical tool for solving the minimization optimization problem to obtainThe optimal input intervention value of each step is obtained, and the signal is transmitted to the oxygen storage and therapy module to carry out actual physical control.
(2) A multi-parameter self-adaptive optimization sub-module: because of the large difference in physiological state between individuals, the normal physiological range of the controlled subject varies when in the same hypoxic environment. In addition, the physiological dynamics characteristics are changed due to various state factors (such as exercise intensity, emotion fluctuation, etc.), and the corresponding model parameters theta k And gamma k Can change over time. Therefore, the oxygen supply regulation and control based on the fixed model parameters lacks rationality by adopting the same control target interval, a personalized oxygen supply control strategy is designed for fully excavating the physiological characteristics of different objects, and an upper sub-module is introduced to realize the self-adaption of the control model parameters and the target interval. Specifically, the lower blood oxygen saturation regulation is assisted by using relevant physiological parameters except blood oxygen saturation, and the method is realized by solving the following optimization problem,
s.t.g 1 (Φ k )≤0 (9)
wherein,let the measurement dataset at time k be I k Then there is total data set D k ＝D k-1 ∪Φ k-1 ∪I k Comprising historical estimated values of physiological signals such as heart rate and blood pressure and parameters, f 1 (Φ k ) An objective function, g, representing the performance of blood oxygen saturation regulation 1 (Φ k ) And < 0 represents a relevant safety constraint.
Considering that the specific association relation among the parameters is difficult to precisely quantify, because f 1 (. Cndot.) and g 1 The analytical expression of (-) is unknown, so a Bayesian optimization algorithm is preferred to solve the multi-parameter adaptation problem in a data driven manner by solving (8) - (9)The model parameters can be estimated in real time, the target interval range which needs to be reached by the regulation of the blood oxygen saturation in each step is determined, and the data is transmitted to the lower closed loop oxygen supply sub-module for further regulation of the oxygen concentration.
And the oxygen storage and therapy module outputs oxygen under the control of the control signal output by the oxygen supply intervention algorithm module.
The oxygen storage and delivery module can adopt oxygen storage containers such as oxygen tanks or oxygen enrichment technology to provide sufficient oxygen and is connected with oxygen delivery equipment such as a breathing mask, and the concentration value of the delivered oxygen is preset to realize oxygen concentration regulation and oxygen delivery within a physiologically acceptable range in continuous time.
The concentration regulation method realized by preferably controlling the mixing proportion of the gas under the plain condition of sufficient ambient oxygen is realized by writing control algorithms such as proportional-integral-derivative (PID) and the like in a Micro Control Unit (MCU) to control the conduction states of the low-oxygen channel and the oxygen-enriched channel. Aiming at the plateau environment with thin oxygen, the oxygen resource which can be directly used is limited, and the molecular sieve is preferred to produce oxygen to provide oxygen. The obtained oxygen is stored by an oxygen storage container, is externally connected with a gas conduit, and is respectively connected with the storage container and a breathing mask at two sides, and the gas is transmitted into the lungs of the tested individual through the mask.
Communication and transmission module: the wireless communication technology such as Bluetooth and Wi-Fi is used for transmitting the oxygen concentration input control signal and the output monitoring signals such as oxygen saturation and heart rate (shown in figure 2), and is a communication bridge of the physiological detection module and the cloud platform monitoring and interaction module.
The cloud platform monitoring and interaction module is integrated in a mobile terminal such as a mobile phone and a computer, stores, records and displays the monitored physiological signals, and generates an alarm based on the real-time physiological state to prompt and predict dangerous situations.
Considering that the use scenario is movable, and the communication and transmission module mainly has smaller communication requirements, the communication and transmission module preferably adopts the Bluetooth technology to realize data transmission and exchange. The cloud platform monitoring and interaction module receives signals in real time through wireless transmission and respectively receives data from the physiological detection module and the oxygen storage and therapy module, wherein the physiological detection module transmits real-time continuous physiological data, and the oxygen storage and therapy module transmits oxygen concentration data provided in real time. Because the programs of the oxygen supply intervention algorithm module and the cloud platform monitoring and interaction module are written into the same mobile terminal, the oxygen concentration intervention value of each step of decision is transmitted to the oxygen storage and therapy module through the cloud platform so as to control the actual transmission of the oxygen concentration. The cloud platform monitoring and interaction module is provided with a display and interaction interface, can dynamically monitor and update current vital sign parameters, sets a desired control interval, and generates low alarm, high alarm, constraint violation alarm and hardware abnormality alarm. The low alarm and the high alarm respectively prompt the conditions of too high, too fast and too low and too slow physiological signals; the constraint violation alarm is used for processing the condition of violating the preset safety constraint in the controller in the running process of the system; the hardware abnormality alarm mainly processes the abnormal or sudden interruption condition of equipment connection, if the abnormal condition of unsuccessful connection or sudden interruption of connection occurs in the hardware equipment, the closed loop system should be immediately closed at the moment, and the equipment is checked. The whole operation flow of the system is shown in fig. 3.
The system can utilize continuous physiological data related to blood oxygen saturation, heart rate and the like provided by the wearable equipment, complete closed-loop oxygen supply decision through an effective control algorithm, store and display the data on the cloud platform to realize dynamic monitoring and real-time alarm, and ensure the health and safety of individuals in anoxic environments such as high-altitude areas and the like.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A closed loop oxygen supply regulation system based on blood oxygen saturation feedback, comprising: the device comprises a physiological detection module, an oxygen storage and therapy module and an oxygen supply intervention algorithm module; wherein the method comprises the steps of
The physiological detection module is used for detecting physiological data of a user and transmitting the physiological data to the oxygen supply intervention algorithm module;
the oxygen supply intervention algorithm module is used for generating a control signal according to the physiological data and transmitting the control signal to the oxygen storage and therapy module; the system comprises two sub-modules, namely an upper-layer multi-parameter self-adaptive optimization sub-module and a lower-layer closed-loop oxygen supply sub-module;
the closed-loop oxygen supply sub-module is used for calculating oxygen concentration as a control signal according to the blood oxygen saturation value detected by the physiological detection module based on the set state space model, the cost function and the constraint condition;
the multi-parameter self-adaptive optimization sub-module is used for obtaining a state space model parameter estimated value and a blood oxygen saturation target interval at the current moment by iterative optimization through the physiological data, the model parameters and the blood oxygen saturation target interval acquired by the physiological detection module, and outputting the state space model parameter estimated value and the blood oxygen saturation target interval to the closed-loop oxygen supply sub-module for parameter updating;
the oxygen storage and therapy module outputs oxygen under the control of the control signal;
the multi-parameter self-adaptive optimization sub-module optimizes parameters of a state space model and a cost function according to physiological signals except blood oxygen saturation acquired by the physiological detection module and a set threshold range, wherein the parameters comprise:
s.t.g 1 (Φ k )≤0
wherein,representing the set of parameters to be adapted at the sampling instant k, D k ＝D k-1 ∪Φ k-1 ∪I k ，I k Raw life representing detection of physiological monitoring moduleData management, f 1 (Φ k ) An objective function, g, representing the performance of blood oxygen saturation regulation 1 (Φ k ) And < 0 represents a relevant safety constraint.
2. The closed loop oxygen supply regulation system based on blood oxygen saturation feedback of claim 1, wherein the physiological detection module is a portable wearable device for detecting physiological data of a user comprising: blood oxygen saturation, heart rate, blood pressure.
3. The closed loop oxygen supply regulation system based on blood oxygen saturation feedback of claim 1, wherein the state space model is:
x k+1 ＝f(x k ,u k ,w k |θ k )， (1)
y k ＝g(x k ,u k ,v k |γ k )， (2)
wherein y is k For the signal of the blood oxygen saturation detected in the kth step, x k U is the relevant state vector composed of historical data k To deliver oxygen concentration, w k And v k Respectively representing system interference and measurement errors, and f (& gt) and g (& gt) represent dynamic characteristics of the system, namely theta k And gamma k Is a model parameter.
4. A closed loop oxygen supply regulation system based on blood oxygen saturation feedback according to claim 3, wherein the cost function is:
wherein λ (d) k ) Is N y Step predicting the blood oxygen saturation value y of the kth step in the time domain k And a target sectionDistance penalty term Γ (u) k ) Is N u A penalty term for the oxygen concentration input value of the kth step in the step control time domain.
5. The closed loop oxygen supply regulation system based on blood oxygen saturation feedback of claim 1, wherein the constraints are:
safety constraints:
wherein u is min And u max To input the oxygen concentration threshold, y min Is a threshold value of the blood oxygen saturation signal required for physiological safety.
6. The oxygen supply regulation system of claim 1, further comprising a communication and transmission module based on which wireless communication between the system and the outside is achieved.
7. The oxygen supply regulation system of claim 1, further comprising a cloud platform monitoring and interaction module integrated with the mobile terminal for storing, recording and displaying the monitored physiological signals, setting control targets and parameters, and generating alarms based on real-time physiological conditions to prompt and predict dangerous conditions.
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