CN116235846A - Organ perfusion control method, system and device - Google Patents
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- 230000010412 perfusion Effects 0.000 title claims abstract description 91
- 210000000056 organ Anatomy 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000013528 artificial neural network Methods 0.000 claims description 24
- 230000033228 biological regulation Effects 0.000 claims description 10
- 230000006641 stabilisation Effects 0.000 claims description 10
- 238000011105 stabilization Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 9
- 230000000541 pulsatile effect Effects 0.000 claims description 9
- 210000001367 artery Anatomy 0.000 claims description 8
- 230000010349 pulsation Effects 0.000 claims description 8
- 210000003462 vein Anatomy 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 6
- 238000012549 training Methods 0.000 claims description 6
- 230000006870 function Effects 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000036770 blood supply Effects 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 claims description 3
- 238000001802 infusion Methods 0.000 claims description 3
- 230000000737 periodic effect Effects 0.000 claims description 3
- 210000004185 liver Anatomy 0.000 abstract description 7
- 238000004321 preservation Methods 0.000 abstract description 5
- 206010018910 Haemolysis Diseases 0.000 abstract description 4
- 230000008588 hemolysis Effects 0.000 abstract description 4
- 230000008439 repair process Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 239000008280 blood Substances 0.000 description 7
- 210000004369 blood Anatomy 0.000 description 7
- 230000008901 benefit Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 210000002767 hepatic artery Anatomy 0.000 description 5
- 210000003240 portal vein Anatomy 0.000 description 4
- 210000001631 vena cava inferior Anatomy 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000002054 transplantation Methods 0.000 description 3
- 238000000502 dialysis Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
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- 210000004087 cornea Anatomy 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000002216 heart Anatomy 0.000 description 1
- 230000002440 hepatic effect Effects 0.000 description 1
- 210000003734 kidney Anatomy 0.000 description 1
- 210000004072 lung Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01N—PRESERVATION OF BODIES OF HUMANS OR ANIMALS OR PLANTS OR PARTS THEREOF; BIOCIDES, e.g. AS DISINFECTANTS, AS PESTICIDES OR AS HERBICIDES; PEST REPELLANTS OR ATTRACTANTS; PLANT GROWTH REGULATORS
- A01N1/00—Preservation of bodies of humans or animals, or parts thereof
- A01N1/02—Preservation of living parts
- A01N1/0236—Mechanical aspects
- A01N1/0242—Apparatuses, i.e. devices used in the process of preservation of living parts, such as pumps, refrigeration devices or any other devices featuring moving parts and/or temperature controlling components
- A01N1/0247—Apparatuses, i.e. devices used in the process of preservation of living parts, such as pumps, refrigeration devices or any other devices featuring moving parts and/or temperature controlling components for perfusion, i.e. for circulating fluid through organs, blood vessels or other living parts
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01N—PRESERVATION OF BODIES OF HUMANS OR ANIMALS OR PLANTS OR PARTS THEREOF; BIOCIDES, e.g. AS DISINFECTANTS, AS PESTICIDES OR AS HERBICIDES; PEST REPELLANTS OR ATTRACTANTS; PLANT GROWTH REGULATORS
- A01N1/00—Preservation of bodies of humans or animals, or parts thereof
- A01N1/02—Preservation of living parts
- A01N1/0278—Physical preservation processes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses an organ perfusion control method, which belongs to the medical field, and provides an environment with similar physiological parameters of human body by setting up an organ perfusion control system, generating pulsating flow by a centrifugal pump, arterial pulsating perfusion, venous steady pressure perfusion and the like, and is beneficial to the preservation and repair of isolated livers; arterial pulse type perfusion reduces the risk of hemolysis. The invention also relates to a system and a device for implementing the organ perfusion control method.
Description
Technical Field
The invention relates to the field of medical treatment, in particular to a method, a system and a device for controlling organ perfusion.
Background
Organ transplantation refers to the surgical transfer of a viable donor organ into a patient to replace an organ that has lost function. At present, most organs in the human body can be transplanted, such as heart, lung, liver, kidney, pancreas, small intestine and the like. In addition, the transplantation of tissues such as cornea and blood vessel is also very mature. Isolated organ preservation is mainly divided into two technical paths of static cold preservation and mechanical perfusion. Static cold preservation is easy to cause reperfusion injury and affects the effect of organ transplantation operation.
By adopting the mechanical perfusion technology, the isolated organ can obtain an environment simulating physiological parameters, and oxygen, nutrient components and the like are obtained through perfusion liquid, so that normal metabolic functions are maintained.
At present, most liver perfusion systems adopt a double-way centrifugal pump to perfuse hepatic artery and portal vein respectively, and the two loops are regulated and controlled independently through different control systems, but because the centrifugal pump is relatively expensive, and the pump head is a disposable consumable, the single perfusion cost is relatively high. In addition, the existing control method for the centrifugal pump is long in adjusting time and poor in robustness.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the purposes of the invention is to provide an organ perfusion control method for carrying out perfusion on arteries and veins by adopting a centrifugal pump, which has low cost and strong robustness.
In order to overcome the defects of the prior art, the second aim of the invention is to provide an organ perfusion control system for perfusing arteries and veins by adopting a centrifugal pump, which has low cost and strong robustness.
In order to overcome the defects of the prior art, the third object of the invention is to provide an organ perfusion control device for perfusing arteries and veins by adopting a centrifugal pump, which has low cost and strong robustness.
One of the purposes of the invention is realized by adopting the following technical scheme:
a method of organ perfusion control, comprising the steps of:
building an organ perfusion control system: the centrifugal pump is communicated with the organ through an arterial pipeline and a venous pipeline respectively, a first pressure sensor is arranged on the arterial pipeline, a second pressure sensor and a first flow resistance actuator are arranged on the venous pipeline, and the controller is in communication connection with the centrifugal pump, the first pressure sensor, the second pressure sensor and the first flow resistance actuator;
the centrifugal pump produces a pulsating flow: superposing an average pressure feedback control rotating speed waveform and a real-time pressure feedback control rotating speed waveform of the first pressure sensor to enable the centrifugal pump to generate a pulsatile perfusion flow so as to simulate real arterial blood supply pressure fluctuation of a human body;
arterial pulse type perfusion: perfusing a pulsatile perfusion flow into an organ artery;
venous stabilization pressure infusion: and (3) taking the real-time pressure of the second pressure sensor as feedback, establishing a double-path perfusion coupling model, performing decoupling regulation and control by a fuzzy neural network method according to the pulsating flow generated by the centrifugal pump, reversely adjusting the flow resistance actuator, and changing the pulsating flow into stable pressure perfusion through the flow resistance actuator to perfuse into the vein of the organ.
Further, in the step of generating pulsating flow by the centrifugal pump, the superposition of the average pressure feedback control centrifugal blood pump rotating speed waveform and the real-time pressure feedback control centrifugal blood pump control waveform of the first pressure sensor is specifically: the pulsating pulse generator is adopted to generate pulsating pulse rotating speed, the fuzzy neural network controller is adopted to output stable pump rotating speed, and the pulsating pulse rotating speed and the stable pump rotating speed are combined and output to the centrifugal pump.
Further, the generation of the pulse rotation speed by the pulse generator is specifically as follows: based on the real-time pressure value fed back by the first pressure sensor, the pulse generator generates periodic pulse rotation speed omega p 。
Further, the method for outputting the stable pump rotation speed by the fuzzy neural network controller specifically comprises the following steps: the controller generates an initial centrifugal pump rotating speed according to the target pressure, the first pressure sensor feeds back the average pressure in the pulsation period, and the centrifugal pump rotating speed omega is output through the fuzzy neural network controller m 。
Further, the centrifugal pump rotating speed omega is output through the fuzzy neural network controller m The method comprises the following steps: taking pressure error and pressure error change rate as modesThe input variable of the fuzzy neural network outputs three parameters Kp, ki and Kd to the PID controller through fuzzy reasoning of the network, then the PID controller carries out learning training through historical regulation data of the PID controller, automatically adjusts the weighting system, outputs stable control PID parameters, and the PID controller outputs real-time control rotating speed omega m 。
Further, the venous stabilization pressure perfusion step specifically includes: the controller generates initial flow resistance of the first flow resistance actuator according to target pressure, the second pressure sensor feeds back real-time pressure values in real time, pressure errors and pressure error change rates are used as input variables of a fuzzy neural network, three parameters Kp, ki and Kd are output to the PID controller through fuzzy reasoning of the network, learning and training are conducted through historical regulation data of the PID controller, a weighting system is automatically adjusted, PID parameters of stable control are output, the PID controller outputs real-time control flow resistance, and the real-time flow resistance is adjusted through the first flow resistance actuator.
Further, the venous stabilization pressure perfusion step further includes: the venous line is provided with a pressure fluctuation buffer unit, the pressure fluctuation buffer unit is a container with a storage function, and the pressure fluctuation buffer unit stores perfusate according to real-time feedback real-time pressure values of the second pressure sensor.
Further, in the step of setting up the organ perfusion control system, a first flow sensor is further arranged on the arterial line, and the first flow sensor collects real-time flow of the arterial line; the venous line is also provided with a second flow sensor, and the second flow sensor is used for collecting real-time flow of the venous line.
Further, in the step of setting up the organ perfusion control system, the organ is communicated with a storage through a inferior vena cava, the inferior vena cava is provided with a second flow resistance actuator, the second flow resistance actuator is in communication connection with the controller, the second flow resistance actuator regulates the pressure of the inferior vena cava and regulates the flow ratio between an arterial pipeline and a venous pipeline, and the storage is communicated with the arterial pipeline and the venous pipeline through a centrifugal pump to realize circulation.
The second purpose of the invention is realized by adopting the following technical scheme:
an organ perfusion control system for implementing any of the organ perfusion control methods described above.
The third purpose of the invention is realized by adopting the following technical scheme:
the organ perfusion control device comprises a centrifugal pump, an arterial pipeline and a venous pipeline, wherein the centrifugal pump is simultaneously communicated with the arterial pipeline and the venous pipeline, the arterial pipeline and the venous pipeline are communicated with an organ, a first pressure sensor is arranged on the arterial pipeline, a second pressure sensor is arranged on the venous pipeline, and the organ perfusion control device further comprises a processor and a storage, and the storage is in communication connection with the processor; the memory stores instructions executable by the processor to implement any of the organ perfusion control methods described above.
Compared with the prior art, the organ perfusion control method adopts a centrifugal pump, saves cost, has smaller volume, has low consumable cost and high economic benefit; the centrifugal pump is communicated with the organ through an arterial pipeline and a venous pipeline for perfusion, a first pressure sensor is arranged on the arterial pipeline, a second pressure sensor and a flow resistance actuator are arranged on the venous pipeline, pulsating flow is generated through the centrifugal pump, and arterial pulsating type perfusion is carried out, so that the risk of hemolysis is reduced; venous stabilized pressure perfusion provides an environment of a variety of physiological parameters of the human body, providing great benefits for the preservation and repair of isolated livers.
Drawings
FIG. 1 is a schematic diagram of an organ perfusion control system according to the present invention;
FIG. 2 is a schematic diagram of the hepatic arterial pulsatile perfusion control principle of the organ perfusion control system of the present invention;
FIG. 3 is a schematic diagram of a fuzzy neural network controller;
FIG. 4 is a schematic diagram of the venous control principle;
FIG. 5 is an arterial pulsatile perfusion pressure map;
fig. 6 is a graph of venous stabilization pressure perfusion pressure.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or be present as another intermediate element through which the element is fixed. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
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 invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 4, the method for controlling organ perfusion includes the following steps:
building an organ perfusion control system: the centrifugal pump is communicated with the organ through an arterial pipeline and a venous pipeline respectively, a first pressure sensor is arranged on the arterial pipeline, a second pressure sensor and a flow resistance actuator are arranged on the venous pipeline, and the controller is in communication connection with the centrifugal pump, the first pressure sensor, the second pressure sensor and the flow resistance actuator;
the centrifugal pump produces a pulsating flow: superposing an average pressure feedback control rotating speed waveform and a real-time pressure feedback control rotating speed waveform of the first pressure sensor to enable the centrifugal pump to generate a pulsatile perfusion flow so as to simulate real arterial blood supply pressure fluctuation of a human body;
arterial pulse type perfusion: perfusing a pulsatile perfusion flow into an organ artery;
venous stabilization pressure infusion: and (3) taking the real-time pressure of the second pressure sensor as feedback, establishing a double-path perfusion coupling model, performing decoupling regulation and control by a fuzzy neural network method according to the pulsating flow generated by the centrifugal pump, reversely adjusting the first flow resistance actuator, and changing the pulsating flow into stable pressure perfusion through the first flow resistance actuator to perfuse the organ vein.
The method for constructing the organ perfusion control system comprises the following steps:
the organ perfusion control system further comprises a first flow sensor, a second flow resistance actuator and a storage, the centrifugal pump drives perfusion liquid to circularly operate in the whole loop through a high-speed operation pump head, the first pressure sensor collects real-time pressure values of an arterial loop, the first flow sensor collects real-time flow values of the arterial loop, the second pressure sensor collects real-time pressure values of a venous loop, the second flow sensor collects real-time flow values of the venous loop, and the flow resistance actuator adjusts flow resistance values of the venous loop. In this application, the quantity of centrifugal pump is one, and a centrifugal pump communicates with arterial circuit and venous circuit simultaneously, practices thrift the cost, and the volume is littleer, and the consumptive material is with low costs, and economic benefits is high. The storage is used for storing perfusate, and a dialysis assembly is further arranged in the storage so as to facilitate cyclic utilization of the perfusate after dialysis. The organ perfusion control system is also provided with a inferior vena cava, which is in communication with a reservoir, which is in communication with the centrifugal pump. In this embodiment, the organ is the liver. The second flow resistance actuator has two functions, and as the storage is a hollow container, after the perfusion flow is perfused into an organ through an artery and a vein in a double-way, the pressure at the outlet is too low, so that the pressure fluctuation in the system is easily caused to be too large, the second flow resistance actuator is increased, the flow resistance is regulated, and the severe pressure fluctuation in the system can be effectively improved; the flow ratio between the artery and the vein can be regulated through the second flow resistance actuator, and the flow can be obtained through the first flow sensor and the second flow sensor, so that the flow in the two pipelines is closer to the real environment in the human body.
The step of generating pulsating flow by the centrifugal pump is specifically as follows:
the controller generates initial centrifugal pump rotation speed according to the target pressure, the first pressure sensor feeds back average pressure in the pulse period (1 Hz), and the centrifugal pump rotation speed omega is output through the fuzzy neural network controller m . In addition, the pulse generator generates periodic pulse rotation speed omega according to the real-time pressure value fed back by the first pressure sensor p After the two rotation speed values are synthesized, the rotation speed values are output to a centrifugal pump to generate an pulsatile perfusion flow, so that the risk of hemolysis is reduced. The schematic diagram of the fuzzy neural network controller is shown in fig. 3, the controller generates an initial centrifugal pump rotating speed according to target pressure, takes pressure errors and pressure error change rates as input variables of the fuzzy neural network, outputs three parameters Kp, ki and Kd to the PID controller through fuzzy reasoning of the network, carries out learning training through historical regulation data of the PID controller, automatically adjusts a weighting system, and outputs PID parameters of stable control. The PID controller outputs real-time control rotating speed to control the centrifugal pump to adjust the rotating speed.
The venous stabilization pressure perfusion step specifically comprises the following steps:
the portal vein perfusion needs to maintain stable pressure, as shown in fig. 4, in a specific embodiment, the controller generates an initial flow resistance of the flow resistance actuator according to a target pressure, the second pressure sensor feeds back a real-time pressure value in real time, the pressure error and the pressure error change rate are used as input variables of a fuzzy neural network, three parameters Kp, ki and Kd are output to the PID controller through fuzzy reasoning of the network, learning and training are performed through historical regulation data of the PID controller, and a weighting system is automatically adjusted to output PID parameters of stable control. The PID controller outputs real-time control flow resistance, and the real-time flow resistance is adjusted through the flow resistance actuator.
In the venous stabilization pressure perfusion step, a pressure fluctuation buffer unit is arranged on the venous return circuit, the pressure fluctuation buffer unit is a small hollow container and has a storage function, and the pressure fluctuation buffer unit stores perfusate according to real-time feedback real-time pressure values of the second pressure sensor.
The application also relates to a system and a device for implementing the organ perfusion control method.
The liver perfusion control method optimizes a mechanical perfusion system, provides an environment with similar physiological parameters of human bodies, and provides great benefits for the preservation and repair of isolated livers; the single centrifugal pump saves cost, has smaller volume, low consumable cost and high economic benefit; the hepatic artery pulsating perfusion is characterized in that the waveform of the average pressure feedback control centrifugal blood pump rotating speed and the waveform of the real-time pressure feedback control centrifugal blood pump control are overlapped, the control method is innovative, the hepatic artery pulsating pressure is realized, and the real arterial blood supply pressure fluctuation of a human body is simulated, as shown in figure 5. The specific implementation mode is that a pulsation pulse generator is adopted to generate pulsation pulse rotating speed, and the pulsation pulse rotating speed is synthesized with the stable blood pump rotating speed output by the fuzzy neural network controller and then output to a centrifugal blood pump to regulate the centrifugal blood pump rotating speed so as to achieve hepatic artery pulsation type perfusion and reduce the hemolysis risk; portal vein steady pressure perfusion takes real-time pressure as feedback, a double-path perfusion coupling model is established, decoupling regulation and control are carried out according to hepatic artery pulsation by a fuzzy neural network method, and a flow resistance actuator is reversely regulated to reach a portal vein steady pressure range, as shown in figure 6. The centrifugal pump is controlled by adopting a fuzzy neural network PID algorithm, the average pressure value in the pulsation period of the pressure sensor is used as feedback to regulate the rotating speed of the centrifugal pump, the learning and self-adaptive capacity of the fuzzy neural network is utilized, and the method has the advantages of solving the current nonlinear control problem and being stronger in robustness.
The foregoing examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, it is possible to make several modifications and improvements without departing from the concept of the present invention, which are equivalent to the above embodiments according to the essential technology of the present invention, and these are all included in the protection scope of the present invention.
Claims (11)
1. A method of controlling organ perfusion, comprising the steps of:
building an organ perfusion control system: the centrifugal pump is communicated with the organ through an arterial pipeline and a venous pipeline respectively, a first pressure sensor is arranged on the arterial pipeline, a second pressure sensor and a first flow resistance actuator are arranged on the venous pipeline, and the controller is in communication connection with the centrifugal pump, the first pressure sensor, the second pressure sensor and the first flow resistance actuator;
the centrifugal pump produces a pulsating flow: superposing an average pressure feedback control rotating speed waveform and a real-time pressure feedback control rotating speed waveform of the first pressure sensor to enable the centrifugal pump to generate a pulsatile perfusion flow so as to simulate real arterial blood supply pressure fluctuation of a human body;
arterial pulse type perfusion: perfusing a pulsatile perfusion flow into an organ artery;
venous stabilization pressure infusion: and (3) taking the real-time pressure of the second pressure sensor as feedback, establishing a double-path perfusion coupling model, performing decoupling regulation and control by a fuzzy neural network method according to the pulsating flow generated by the centrifugal pump, reversely adjusting the first flow resistance actuator, and changing the pulsating flow into stable pressure perfusion through the first flow resistance actuator to perfuse the organ vein.
2. The organ perfusion control method according to claim 1, wherein: in the step of generating pulsating flow by the centrifugal pump, the superposition of the average pressure feedback control rotating speed waveform and the real-time pressure feedback control rotating speed waveform of the first pressure sensor is specifically: the pulsating pulse generator is adopted to generate pulsating pulse rotating speed, the fuzzy neural network controller is adopted to output stable pump rotating speed, and the pulsating pulse rotating speed and the stable pump rotating speed are combined and output to the centrifugal pump.
3. The organ perfusion control method according to claim 2, wherein: the pulse generator is adopted to generate the pulse rotation speed specifically comprises the following steps: according to the first pressureThe pulse generator generates periodic pulse rotation speed omega by the real-time pressure value fed back by the sensor p 。
4. The organ perfusion control method according to claim 2, wherein: the adoption of the fuzzy neural network controller to output the stable pump rotation speed is specifically as follows: the controller generates an initial centrifugal pump rotating speed according to the target pressure, the first pressure sensor feeds back the average pressure in the pulsation period, and the centrifugal pump rotating speed omega is output through the fuzzy neural network controller m 。
5. The method of organ perfusion control according to claim 4, wherein: the centrifugal pump rotating speed omega is output through the fuzzy neural network controller m The method comprises the following steps: the pressure error and the pressure error change rate are used as input variables of a fuzzy neural network, three parameters Kp, ki and Kd are output to a PID controller through fuzzy reasoning of the network, learning and training are carried out through historical regulation data of the PID controller, a weighting system is automatically regulated, PID parameters of stable control are output, and the PID controller outputs real-time control rotating speed omega m 。
6. The organ perfusion control method according to claim 1, wherein: the venous stabilization pressure perfusion step specifically comprises the following steps: the controller generates initial flow resistance of the first flow resistance actuator according to target pressure, the second pressure sensor feeds back real-time pressure values in real time, pressure errors and pressure error change rates are used as input variables of a fuzzy neural network, three parameters Kp, ki and Kd are output to the PID controller through fuzzy reasoning of the network, learning and training are conducted through historical regulation data of the PID controller, a weighting system is automatically adjusted, PID parameters of stable control are output, the PID controller outputs real-time control flow resistance, and the real-time flow resistance is adjusted through the first flow resistance actuator.
7. The organ perfusion control method according to claim 1, wherein: the venous stabilization pressure perfusion step further includes: the venous line is provided with a pressure fluctuation buffer unit, the pressure fluctuation buffer unit is a container with a storage function, and the pressure fluctuation buffer unit stores perfusate according to real-time feedback real-time pressure values of the second pressure sensor.
8. The organ perfusion control method according to claim 1, wherein: in the step of building the organ perfusion control system, a first flow sensor is further arranged on the arterial line, and the first flow sensor is used for collecting real-time flow of the arterial line; the venous line is also provided with a second flow sensor, and the second flow sensor is used for collecting real-time flow of the venous line.
9. The organ perfusion control method according to claim 1, wherein: in the step of setting up an organ perfusion control system, an organ is communicated with a storage through a lower vena cava, the lower vena cava is provided with a second flow resistance actuator, the second flow resistance actuator is in communication connection with the controller, the second flow resistance actuator regulates the pressure of the lower vena cava and regulates the flow ratio between an arterial pipeline and a venous pipeline, and the storage is communicated with the arterial pipeline and the venous pipeline through a centrifugal pump to realize circulation.
10. An organ perfusion control system, characterized by: the organ perfusion control system is for implementing the organ perfusion control method of any one of claims 1-9.
11. An organ perfusion control device comprising a centrifugal pump, characterized in that: the device comprises a centrifugal pump, an arterial pipeline, a venous pipeline, a processor, a storage and a controller, wherein the centrifugal pump is simultaneously communicated with the arterial pipeline and the venous pipeline, the arterial pipeline and the venous pipeline are communicated with an organ, a first pressure sensor is arranged on the arterial pipeline, a second pressure sensor is arranged on the venous pipeline, and the controller for organ perfusion further comprises the processor and the storage which is in communication connection with the processor; the memory stores instructions executable by the processor to implement the organ perfusion control method of any one of claims 1-9.
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