CN116235846B - Organ perfusion control method, system and device - Google Patents

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

Organ perfusion control method, system and device

Technical field

The present invention relates to the medical field, and in particular, to an organ perfusion control method, system and device.

Background technique

Organ transplantation refers to the surgical transfer of viable donor organs into the patient's body to replace organs that have lost function. Currently, most organs in the human body can be transplanted, such as the heart, lungs, liver, kidneys, pancreas, small intestine, etc. In addition, transplantation of tissues such as cornea and blood vessels is also very mature. Ex vivo organ preservation is mainly divided into two technical approaches: static cold preservation and mechanical perfusion. Static cold storage can easily cause reperfusion injury and affect the effectiveness of organ transplantation.

Using mechanical perfusion technology, isolated organs can obtain an environment that simulates physiological parameters, obtain oxygen and nutrients through the perfusion fluid, and maintain normal metabolic functions.

At present, most liver perfusion systems use dual-path centrifugal pumps to perfuse the hepatic artery and portal vein respectively, and independently regulate the two circuits through different control systems. However, because the centrifugal pump is more expensive and the pump head is a disposable consumable, The cost per injection is higher. In addition, the existing control methods for centrifugal pumps require long adjustment times and poor robustness.

Contents of the invention

In order to overcome the shortcomings of the prior art, one of the objects of the present invention is to provide an organ perfusion control method that uses a centrifugal pump to perfuse arteries and veins, which is low-cost and highly robust.

In order to overcome the shortcomings of the prior art, the second object of the present invention is to provide an organ perfusion control system that uses a centrifugal pump to perfuse arteries and veins, which is low-cost and highly robust.

In order to overcome the shortcomings of the prior art, the third object of the present invention is to provide an organ perfusion control device that uses a centrifugal pump to perfuse arteries and veins, which is low-cost and highly robust.

One of the purposes of the present invention is achieved by adopting the following technical solutions:

An organ perfusion control method includes the following steps:

Build an organ perfusion control system: a centrifugal pump is connected to the organ through the arterial pipeline and the venous pipeline respectively. The arterial pipeline is equipped with a first pressure sensor, and the venous pipeline is equipped with a second pressure sensor and a first flow resistance actuator. The controller Communicatively connected to the centrifugal pump, the first pressure sensor, the second pressure sensor and the first flow resistance actuator;

The centrifugal pump generates a pulsatile flow: superimposes the average pressure feedback control speed waveform of the first pressure sensor and the real-time pressure feedback control speed waveform, so that the centrifugal pump generates a pulsatile perfusion flow, simulating the real arterial blood supply pressure fluctuation of the human body;

Arterial pulsatile perfusion: Perfusing a pulsatile perfusion flow into organ arteries;

Stable venous pressure perfusion: Using the real-time pressure of the second pressure sensor as feedback, a dual-channel perfusion coupling model is established. Based on the pulsating flow generated by the centrifugal pump, the fuzzy neural network method is used for decoupling control and the flow resistance actuator is reversely adjusted. , the pulsatile flow changes to stable pressure perfusion through the flow resistance actuator, and is perfused into the organ veins.

Further, in the centrifugal pump generating pulsating flow step, superimposing the average pressure feedback control centrifugal blood pump speed waveform of the first pressure sensor and the real-time pressure feedback control centrifugal blood pump control waveform is as follows: using a pulsation pulse generator to generate pulsation For the pulse speed, the fuzzy neural network controller is used to output the stable pump speed, and the pulsating pulse speed and the stable pump speed are synthesized and output to the centrifugal pump.

Further, the use of the pulsation pulse generator to generate the pulsation pulse rotation speed is specifically: based on the real-time pressure value fed back by the first pressure sensor, the pulsation pulse generator generates a periodic pulsation pulse rotation speed ω _p .

Further, the use of a fuzzy neural network controller to output a stable pump speed is specifically: the controller generates an initial centrifugal pump speed according to the target pressure, and the first pressure sensor feeds back the average pressure within the pulsation cycle, which is controlled by the fuzzy neural network. The device outputs the centrifugal pump speed ω _m .

Further, the output of the centrifugal pump speed ω _m through the fuzzy neural network controller is specifically: using the pressure error and the pressure error change rate as input variables of the fuzzy neural network, and outputting three parameters Kp, Ki, Kd through fuzzy reasoning of the network Give the PID controller, and then conduct learning and training through the historical adjustment data of the PID controller, automatically adjust the weighting system, and output the PID parameters for stable control. The PID controller outputs the real-time control speed ω _m .

Further, the stable venous pressure perfusion step is specifically: the controller generates the initial flow resistance of the first flow resistance actuator according to the target pressure, and the second pressure sensor feeds back the real-time pressure value in real time, using the pressure error and the pressure error change rate as The input variables of the fuzzy neural network output three parameters Kp, Ki, Kd to the PID controller through fuzzy reasoning of the network, and then conduct learning and training through the historical adjustment data of the PID controller, automatically adjust the weighting system, and output the PID parameters for stable control. , the PID controller output controls the flow resistance in real time, and the real-time flow resistance is adjusted through the first flow resistance actuator.

Further, the stable venous pressure perfusion step also includes: setting a pressure fluctuation buffer unit in the venous pipeline. The pressure fluctuation buffer unit is a container with a storage function. The pressure fluctuation buffer unit feeds back the real-time pressure value in real time according to the second pressure sensor. Store perfusate.

Further, in the step of building the organ perfusion control system, a first flow sensor is also provided on the arterial pipeline, and the first flow sensor collects the real-time flow rate of the arterial pipeline; a second flow sensor is also provided on the venous pipeline. Sensor, the second flow sensor collects the real-time flow rate of the venous pipeline.

Further, in the step of building the organ perfusion control system, the organ is connected to the reservoir through the inferior vena cava, and the inferior vena cava is provided with a second flow resistance actuator, and the second flow resistance actuator communicates with the controller. connected, the second flow resistance actuator adjusts the pressure of the inferior vena cava and adjusts the flow ratio in the arterial line and the venous line, and the reservoir is connected to the arterial line and the venous line through a centrifugal pump Realize the cycle.

The second object of the present invention is achieved by adopting the following technical solutions:

An organ perfusion control system is used to implement any one of the above organ perfusion control methods.

The third object of the present invention is achieved by adopting the following technical solutions:

An organ perfusion control device includes a centrifugal pump, an arterial pipeline and a venous pipeline. The centrifugal pump is connected to the arterial pipeline and the venous pipeline at the same time. The arterial pipeline and the venous pipeline are connected to the organ. Communicated, the arterial pipeline is provided with a first pressure sensor, the venous pipeline is provided with a second pressure sensor, the organ perfusion control device also includes a processor and a storage, the storage communicates with the processor Connection; the storage stores instructions that can be executed by the processor, and the instructions are executed by the processor to implement any one of the above organ perfusion control methods.

Compared with the prior art, the organ perfusion control method of the present invention uses a centrifugal pump, which saves costs, is smaller, has low consumable costs, and has high economic benefits; the centrifugal pump is connected to the organ through arterial pipelines and venous pipelines to perform perfusion. There is a first pressure sensor on the arterial line, and a second pressure sensor and a flow resistance actuator on the venous line. The centrifugal pump generates pulsating flow and arterial pulsating perfusion reduces the risk of hemolysis; venous stable pressure perfusion provides a kind of The environment of human physiological parameters provides great benefits to the preservation and repair of isolated liver.

Description of the drawings

Figure 1 is a schematic structural diagram of the organ perfusion control system of the present invention;

Figure 2 is a schematic diagram of the hepatic artery pulse perfusion control principle of the organ perfusion control system of the present invention;

Figure 3 is a schematic diagram of the fuzzy neural network controller principle;

Figure 4 is a schematic diagram of the vein control principle;

Figure 5 is an arterial pulsatile perfusion pressure diagram;

Figure 6 is a graph of venous stable pressure perfusion pressure.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or another intermediate component may be present through which it is fixed. When a component is said to be "connected" to another component, it can be directly connected to the other component or there may be another intermediate component present at the same time. When a component is said to be "disposed on" another component, it can be directly located on the other component or another intervening component may be present. The terms "vertical," "horizontal," "left," "right" and similar expressions are used herein for illustrative purposes only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which the invention belongs. The terminology used herein in the description of the invention is for the purpose of describing specific embodiments only and is not intended to limit the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Please refer to Figure 1 to Figure 4 for the organ perfusion control method, which includes the following steps:

Build an organ perfusion control system: a centrifugal pump is connected to the organ through the arterial pipeline and the venous pipeline respectively. The arterial pipeline is equipped with a first pressure sensor, and the venous pipeline is equipped with a second pressure sensor and a flow resistance actuator. The controller and The centrifugal pump, the first pressure sensor, the second pressure sensor and the flow resistance actuator are communicatively connected;

The centrifugal pump generates a pulsatile flow: superimposes the average pressure feedback control speed waveform of the first pressure sensor and the real-time pressure feedback control speed waveform, so that the centrifugal pump generates a pulsatile perfusion flow, simulating the real arterial blood supply pressure fluctuation of the human body;

Arterial pulsatile perfusion: Perfusing a pulsatile perfusion flow into organ arteries;

Stable venous pressure perfusion: Using the real-time pressure of the second pressure sensor as feedback, a dual-channel perfusion coupling model is established. According to the pulsating flow generated by the centrifugal pump, the fuzzy neural network method is used for decoupling control, and the first flow resistance is reversely adjusted to execute device, the pulsating flow changes into stable pressure perfusion through the first flow resistance actuator, and is perfused into the organ veins.

The specific steps to build an organ perfusion control system are:

The organ perfusion control system also includes a first flow sensor, a second flow sensor, a second flow resistance actuator and a storage device. The centrifugal pump drives the perfusion fluid to circulate throughout the entire circuit by operating the pump head at high speed. The first pressure sensor collects arterial data. The first flow sensor collects the real-time flow value of the arterial circuit, the second pressure sensor collects the real-time pressure value of the venous circuit, the second flow sensor collects the real-time flow value of the venous circuit, and the flow resistance actuator adjusts the venous circuit flow resistance value. In this application, the number of centrifugal pumps is one, and one centrifugal pump is connected to the arterial circuit and the venous circuit at the same time, saving costs, smaller volume, low consumable costs, and high economic benefits. The reservoir is used to store the perfusate, and a dialysis component is also provided inside the reservoir to facilitate the recycling of the perfusate after dialysis. The organ perfusion control system is also equipped with an inferior vena cava, which is connected to the reservoir, and the reservoir is connected to the centrifugal pump. In this example, the organ is the liver. The second flow resistance actuator has two functions. Since the reservoir is a hollow container, after the perfusion flow is perfused to the organ through both arteries and veins, the pressure at the outlet is too low, which can easily lead to excessive pressure fluctuations in the system and increase the second flow rate. The flow resistance of the flow resistance actuator can be adjusted to effectively improve the violent pressure fluctuations in the system; the flow ratio of the artery and the vein can be adjusted through the second flow resistance actuator, and the flow rate can be obtained through the first flow sensor and the second flow sensor. This makes the flow rate in the two pipelines closer to the real environment in the human body.

The specific steps for a centrifugal pump to generate pulsating flow are:

The controller generates the initial centrifugal pump speed according to the target pressure, the first pressure sensor feeds back the average pressure within the pulsation period (1Hz), and outputs the centrifugal pump speed ω _m through the fuzzy neural network controller. In addition, the pulsating pulse generator generates a periodic pulsating pulse rotation speed ω _p based on the real-time pressure value fed back by the first pressure sensor. After the two rotational speed values are synthesized, they are output to the centrifugal pump to generate a pulsatile perfusion flow and reduce the risk of hemolysis. The schematic diagram of the fuzzy neural network controller principle is shown in Figure 3. The controller generates the initial centrifugal pump speed according to the target pressure, uses the pressure error and the pressure error change rate as the input variables of the fuzzy neural network, and outputs three parameters Kp through fuzzy reasoning of the network , Ki, Kd are given to the PID controller, and then the historical adjustment data of the PID controller are used for learning and training, the weighting system is automatically adjusted, and the PID parameters for stable control are output. The output of the PID controller controls the speed in real time and controls the centrifugal pump to adjust the speed.

The specific steps for stable intravenous pressure perfusion are:

Portal vein perfusion needs to maintain a stable pressure, as shown in Figure 4. The specific implementation method is that the controller generates the initial flow resistance of the flow resistance actuator according to the target pressure, and the second pressure sensor feeds back the real-time pressure value in real time to calculate the pressure error and pressure. The error change rate is used as the input variable of the fuzzy neural network. After the fuzzy reasoning of the network, the three parameters Kp, Ki, and Kd are output to the PID controller. Then, the historical adjustment data of the PID controller is used for learning and training, and the weighting system is automatically adjusted to achieve stable output. Control PID parameters. The PID controller output controls the flow resistance in real time, and the real-time flow resistance is adjusted through the flow resistance actuator.

In the stable venous pressure perfusion step, a pressure fluctuation buffer unit can also be installed on the venous circuit. The pressure fluctuation buffer unit is a small hollow container with a storage function. The pressure fluctuation buffer unit stores the perfusion fluid according to the real-time pressure value fed back by the second pressure sensor in real time. .

The present application also relates to systems and devices for implementing the above organ perfusion control method.

The liver perfusion control method involved in the present invention optimizes the mechanical perfusion system, provides an environment similar to human physiological parameters, and provides great benefits for the preservation and repair of isolated livers; a single centrifugal pump saves costs, is smaller, and requires less consumables. Low cost and high economic benefits; hepatic artery pulsatile perfusion superimposes the average pressure feedback control centrifugal blood pump speed waveform and the real-time pressure feedback control centrifugal blood pump control waveform. The control method is innovative to achieve hepatic artery pulsation pressure and simulate the real arterial blood supply of the human body. Pressure fluctuations, as shown in Figure 5. The specific implementation method is to use a pulsating pulse generator to generate a pulsating pulse speed, synthesize it with the stable blood pump speed output by the fuzzy neural network controller, and then output it to the centrifugal blood pump to adjust the centrifugal blood pump speed to achieve hepatic artery pulsatile perfusion and reduce Risk of hemolysis; portal vein stable pressure perfusion uses real-time pressure as feedback to establish a dual-channel perfusion coupling model. According to the hepatic artery pulse, the fuzzy neural network method is used for decoupling control, and the flow resistance actuator is reversely adjusted to achieve a stable portal vein pressure range. As shown in Figure 6. The fuzzy neural network PID algorithm is used to control the centrifugal pump, and the average pressure value within the pulse cycle of the pressure sensor is used as feedback to adjust the speed of the centrifugal blood pump. The learning and adaptive capabilities of the fuzzy neural network are used, which has advantages for current nonlinear control problems. More robust.

The above embodiments only express several embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, which are equivalent modifications to the above embodiments based on the essential technology of the present invention. and evolution, these all belong to the protection scope of the present invention.

Claims (6)

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: generating a pulsating pulse rotating speed by adopting a pulsating pulse generator, generating an initial centrifugal pump rotating speed by the controller according to target pressure, and feeding back average pressure in a pulsating period by using a first pressure sensor, wherein the average pressure is in a pressure error and a pressure errorThe difference change rate is used as an input variable 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 Synthesizing the pulsation pulse rotating speed and the stable pump rotating speed, and outputting the synthesized pulsation pulse rotating speed and the stable pump rotating speed to a centrifugal pump, so that the centrifugal pump generates pulsation perfusion flow, and simulates 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: the pulse generator is adopted to generate the pulse rotation speed specifically comprises the following steps: based on the real-time pressure value fed back by the first pressure sensor, the pulse generator generates periodic pulse rotation speed omega _p 。

3. 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.

4. 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.

5. 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.

6. 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.