JPH03210272A - Adaptive controller for auxiliary artificial heart - Google Patents

Abstract

PURPOSE:To adaptively control the auxiliary artificial heart by calculating the shrinkage time necessary for imparting the set circulation rate per minute by the rule of successive adaptive control using the weighted least squares from the circulation rate per time of the auxiliary artificial heart and the R wave intervals of an electrocardiogram. CONSTITUTION:The optimum control means of a personal computer calculates the shrinkage time necessary for imparting the set circulation rate per minute of the auxiliary artificial heart by the rule of successive adaptive control using the weighted least squares from the circulation rate per time of the auxiliary artificial heart and the R wave intervals of the electrocardiogram and controls the driving of a pneumatic driver in such a manner that the time for positive pressure supply coincides. The control state is simultaneously monitored by a monitor device for the control system and the blood circulating action of the biocirculation system is analyzed in real time by a means for analyzing the biocirculation system and is displayed on a display device. The fluctuation in the blood circulation action of the biocirculation system is thus promptly recognized by a doctor or operator and is rapidly reflected in the driving conditions of the auxiliary artificial heart.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to an adaptive control device for driving an auxiliary artificial heart, and more specifically, an adaptive control means in a personal computer (hereinafter abbreviated as "personal computer").

An adaptive control device for a ventricular auxiliary artificial heart, which is configured by integrating a control system monitoring means and a biological circulatory system analysis means using software, and simultaneously performs adaptive control and monitoring of the auxiliary artificial heart, and analysis of the hemodynamics of the biological circulatory system. Regarding.

[Conventional technology]

An auxiliary artificial heart is a system in which a blood pump driven by air pressure is installed between the left atrium and the aorta to assist the natural heart's stroke volume and coronary circulation. It is attracting attention as a final aid that is extremely effective in the treatment and lifesaving of patients with severe pump dysfunction due to volume syndrome or myocardial infarction.

Currently, there are more than 100 clinical applications of ventricular assist devices in Japan, and the technology is about to move from the basic research stage to the practical stage. Under these circumstances, in order to further spread and promote the clinical application of ventricular assist devices, it is necessary to automate not only the drive device of the ventricular assist device but also the entire measurement, control, and analysis system centered on the ventricular assist device. It is necessary to realize an advanced and practical control system.

(Problems to be Solved by the Invention) Among the drive systems with automatic control for assisted ventricular assist devices that have been published so far, there is no system in which measurement, control, and analysis systems are integrated. For this reason, it was difficult for doctors to immediately grasp changes in the hemodynamics of the biological circulatory system when the driving conditions of the auxiliary artificial heart changed, and it was difficult for the doctors to It was difficult to quickly reflect this on the driving conditions.

The present invention was made under the above circumstances, and its purpose is to provide a compact and clinically useful adaptive control device for an auxiliary artificial heart that integrates a measurement, control, and analysis system. be.

[Means to solve the problem]

In order to achieve the above object, the optimal control device for an auxiliary artificial heart of the present invention, as shown in the principle in FIG. The system consisted of a personal computer that provided a complete system, and a display device that displayed desired information such as the hemodynamics and control status of the biological circulatory system in a predetermined format.

The personal computer then sets the ventricular assist device every minute based on the stroke volume of the ventricular assist device sent from the sensor and the R-wave interval of the electrocardiogram using a weighted least squares sequential adaptive control law. Optimal control means that calculates the optimal contraction time to give a stroke volume and controls the pneumatic drive device so that the positive pressure supply time to the auxiliary artificial heart matches the contraction time, and a control system that monitors the control state. It is configured by integrating a monitoring means and a biological circulatory system analysis means for analyzing the hemodynamics of the biological circulatory system in real time using software.

[For production]

In general, the following problems can be considered as problems that must be solved in order to control an auxiliary artificial heart and its drive system.

■) Since the dynamic characteristics of the biological circulatory system under the drive of an auxiliary artificial heart have not yet been fully elucidated, it has not been determined what drive conditions are optimal.

2) Since the structure and parameters of the biological circulatory system as a dynamic system vary greatly over time, it is necessary to change the driving conditions of the auxiliary artificial heart accordingly.

3) Driving conditions must be changed significantly depending on individual differences, activity conditions, or pathological conditions.

4) For clinical use, the system must be compact and have excellent man-machine interface.

The present invention makes it possible for the extraction flow rate of the auxiliary artificial heart to quickly match the target value even if the characteristics of the hardware or the hemodynamics of the biological circulatory system change significantly, and furthermore, it is possible to control the flow rate while driving the auxiliary artificial heart. In order to monitor and analyze the circulatory system, and to enable physicians to easily set the target output flow rate and drive timing of the auxiliary artificial heart based on quantitative and objective information, the The above problems l) to 4) are solved by integrating the control means, control system monitoring means, and biological circulatory system analysis means using software, and displaying the monitoring results and analysis results on a display device in real time. It is.

The adaptive control means employs, as a control algorithm, a weighted least squares sequential adaptive control law that takes into account the weight for the manipulated variable, and uses this weighted least squares sequential adaptive control law to adjust the stroke volume of the biological circulatory system. The optimal contraction time for giving the set stroke volume of the auxiliary artificial heart is calculated from the R-wave interval of the electrocardiogram, and the positive pressure supply time of the pneumatic drive device is adaptively controlled so as to match the contraction time.

The weighted least squares sequential adaptive control law uses an ARMA model (auto-regressive
evolving average model: an autoregressive moving average model), the coefficients of the model are estimated sequentially using the sequential least squares method, and the square of the error between the target value and the output and the input (operating amount) 2
This is an adaptive control algorithm that determines the output that minimizes the weighted amount (evaluation function) of In other words, the stroke volume per minute at the second beat of the auxiliary artificial heart is f
h(l/+in), the time from R wave to R wave of the electrocardiogram (RR interval) is rk(s), and the flow rate of the electromagnetic flowmeter is RR.
The stroke volume obtained by discretely integrating over the interval is V
k(1), extraction per minute at the th beat 1r k
is fh=60 vb/r, (11
It is expressed as

The weighted least squares sequential adaptive control law sets the target value of stroke volume per minute as f”h (1/win) and the contraction time as uk(s).
, when the sampling period is Δ(s) and the dead time from ull to fk is d・Δ(s) (d≧1), the flow rate fk◆d is the ARMA model rk◆,=
αOfk+α1fk-1+...10 α1l-1fk-(+1
-11+βOuk+βIuk-1+ ”'+βs+4-
11 is expressed as -+lI+d-IT(2), and the coefficient α of this equation (2). , α1. ...α7-
1. β0°β6. ..., while successively estimating the quantities related to βm+4-1, the +dth beat evaluation function J k,a
(3) Find the manipulated variable u5 that minimizes .

Here, γ in equation (3) is a weight for uk, and is used to prevent the manipulated variable from becoming excessive.

How to select this T is related to the response speed. If γ is made smaller, the response speed becomes faster, but uh also becomes larger. When uk is small to a certain extent, the relationship between uk and vk in a steady state can not be considered linear, and vk increases proportionally to an increase in ull. When u becomes too large, ■ becomes saturated or decreases with respect to the increase in ul(.

Therefore, in order for uk to remain in the linear region (equation 11 holds true), γ cannot be made too small.According to the experimental results of the present invention, when r-1000 or so, the response speed is sufficiently fast and stable. was also good.

Furthermore, the constraint conditions regarding the orders n, m, and d in the formula (21+31 are determined by the calculation speed of the personal computer, and n +
m + d≦5. n is an autoregressive α regarding f in equation (2). fk+αl fk-1+...+αn
-1fk- (represents the order of 11-11. m is the moving average term β regarding uk. uh + βl u k-1+ ”・+
βwr+4-1 u k-(*represents the order of +4-11. Also, d (integer) is related to the dead time (transmission delay) from uk to fk, and when Δ(s) is the sampling period , an integer multiple of Δ, that is, d・Δ(s)
gives the length of dead time. Based on the experimental results of the present invention, the one that was judged to have the best stability was n=1. m=1. d=
It was a combination of 1.

The control system monitoring means monitors the control state of the auxiliary artificial heart by the adaptive control means, and the biological circulatory system analysis means analyzes the hemodynamics of the biological circulatory system, and these monitoring results and analysis results are displayed on the display device. Displayed in real time on a CRT screen, etc. Therefore, it is possible to immediately grasp changes in the hemodynamics of the biological circulatory system when the driving conditions of the auxiliary artificial heart are changed, and the physician's judgment can be quickly reflected in the driving conditions of the auxiliary artificial heart. become able to.

Each processing operation of the above-mentioned adaptive control means, control system monitoring means, and biological circulatory system analysis means is executed by a timer interrupt (l9m
(every time) and an external interrupt caused by an electrocardiogram R-wave trigger pulse. The timer interrupt determines the unit of sampling of the A/D converter and sequential processing of data (integration and screen display of instantaneous values). Furthermore, the interruption by the R wave synchronizes the beats of the auxiliary artificial heart with the beats of the natural heart. Therefore, it appears as if the adaptive control means, control system monitoring means, and biological circulatory system analysis means are operating simultaneously, and the control status and biological circulatory system analysis results are displayed in real time while driving the auxiliary artificial heart. can be confirmed.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 3 shows an embodiment of an adaptive control device for an auxiliary artificial heart according to the present invention. This embodiment is an example in which the device of the present invention is applied to a left ventricular auxiliary artificial heart made of a polyurethane sack-type pump.

In the figure, 1 is the biological circulation system, that is, the natural heart, 2 is the left ventricular auxiliary artificial heart, 3 is the pneumatic drive device (manufactured by Nippon Zeon) that drives the left ventricular auxiliary artificial heart 2, and 4 is the main body of the adaptive control device. A personal computer (manufactured by NEC, PC
-9801V This is an electromagnetic flowmeter for detecting stroke volume.

The left ventricular auxiliary artificial heart 2 is connected between the left atrium 101 and the aorta 102 of the natural heart 1, and is configured to pump blood by contracting and expanding the sac 201. Note that the reference numeral 103 in the natural heart 1 is the left ventricle.

The pneumatic drive device 3 includes a positive pressure source 301 and a positive pressure source 3 for deflating and expanding the sac 201 of the left ventricular auxiliary artificial heart 112.
02, and a drive pressure switching valve 303 for alternately switching between this positive pressure source and the positive pressure source. Although not shown, each of the positive pressure source 301 and the positive pressure source 302 is equipped with a pressure regulating valve, and the positive pressure can be adjusted to a desired value using the computer 4 or manually.

The adaptive control means, control system monitoring means, and biological circulatory system analysis means, which are the features of the present invention, are realized by software in the personal computer 4. An outline of the processing operation of the personal computer 4 is shown in the time chart of FIG. The following four operations are performed on the pneumatic drive device 3 from the computer 4.

l) Operating signal of the positive pressure level 2) Operating signal of the positive pressure level 3) Deflation time U 4) Delay time τ Here, the signals of l) and 2) are respectively shown in FIG. This is an analog signal that sets the saturation level prs on the pressure side and the saturation level P on the positive pressure side, and is output to the pneumatic drive device 3 through a D/A converter (not shown).In the case of the present invention, the positive pressure side and the positive pressure side The pressure side saturation level P ps g P Hl is set in advance to a predetermined value.

The contraction time U in 3) and the delay time τ in 4) are shown in Figure 4(e).
As shown in , it corresponds to the pulse width of the drive pulse and its rise time. The contraction time U is the time during which the driving pressure switching valve 303 is switched to the positive pressure source 301 side and positive pressure is supplied to the left ventricular auxiliary artificial heart 2, and the delay time τ is the time position at which this positive pressure is applied, That is, it corresponds to the delay time from the R wave of the electrocardiogram (ECG) of the native heart to the contraction start position of the left ventricular assist artificial heart 2 as shown in FIG. 4 (18). Incidentally, if this contraction time U is increased or decreased within a certain range, the ejection volume of the left ventricular auxiliary artificial heart 2 can be increased or decreased in proportion to this, as shown by the horizontal stripes in the figure (illustration).

Therefore, if this contraction time U is adaptively controlled according to the weighted least squares sequential adaptive control law given by the above-mentioned equation 12) and 131, the natural heart Flil
The left ventricular auxiliary artificial heart 2 can be optimally controlled in accordance with the hemodynamics of the left ventricular assist device 2 in the sense of minimizing equation (3).

On the other hand, the following eight measured quantities are input to the PC 4 as input signals from the pneumatic drive device 3, the left ventricular assist device 2, and the biological circulatory system 1 through an 8-channel A/D converter (not shown). .

1) Positive pressure level 2) Positive pressure level 3) Instantaneous value of air drive pressure 4) Flow rate of the left ventricular assist device (outflow or inflow) 5) Pulmonary artery flow rate 6) Aortic pressure 7) Left ventricular pressure 8) Left atrium Of these eight input signals, 1), 2) and 3
) is measured by a pressure sensor (not shown) built into the pneumatic drive device 3. 4) is the electromagnetic flowmeter 9 installed in the outflow side cannula of the left ventricular auxiliary artificial heart Fi2 in Fig. 3.
It is measured by 5) is measured by an electromagnetic flowmeter (not shown) attached to the pulmonary artery, and 6), 7), and 8) are measured by internal pressure sensors such as catheter tip manometers attached to the aorta, left ventricle, and left atrium, respectively. (not shown).

Next, the operation of the above embodiment will be explained in order by dividing it into an adaptive control function, a control system monitoring function, and a biological circulatory system analysis function.

[1] Adaptive control function The personal computer 4 monitors the stroke volume of the left ventricular assist device 112 (Fig. 4 (g)) and the electrocardiogram of the natural heart 111 (Fig. 4 (a)
)), the contraction time U of the left ventricular assist device 2 is calculated by the weighted least squares sequential adaptive control law as follows, and the switching timing of the drive pressure switching valve 303 of the pneumatic drive device 3 is determined. and adaptively control the minute stroke volume of the left ventricular assist device to reach a preset target value. In addition,
In this embodiment, the order of the equation (2) is set to n=m=d=1. Therefore, when n=m=d=1, the above (2)
The formula is [11+1=(r(Ifk+βOuk+βIuk−
1121'.

Now, the stroke volume per minute at the 1st beat of the left ventricular assist device 112 is f@(1/+1in), the contraction time is ul,
(s), the personal computer 4 creates a human data vector φ of the following equation (4) from these data.

Also, Baek The torque φ□ is defined as follows.

This vector φ□ is obtained by replacing f l++1 included in the first element of vector φ in equation (4) with its target value fIk,t.

Now, the weighted least squares sequential adaptive control law, C, and the contraction time uk, which is the manipulated variable. , is an algorithm that gives uk++-φ"kTf'k (61 (T on the right shoulder represents transposition). Here, the three-dimensional vector θ is the coefficient α., β of equation (2). , β1 is made from the estimators α., β., β1, and is .

Therefore, equation (6) is: u k41 = [f ''m+1+ r uk + fl uk,] (βo+r) (f''b +++ γuk - α1) fk + βI
uk1) (6)'

moreover, θ, is as shown in equation (8) below. obtained sequentially, (8) Three-dimensional square matrix Pk in formula too It is updated sequentially according to equation (9) below.

1+φll−+”Pl -1 to 2φ × [um to φ 1′θ to 1] (8) here, Initial value θ for θ. is θ. =0.

(9) here, The initial value P-, of Pk-1 is 1=ε■3 and do.

■3 is a cubic unit matrix as shown below.

ε is any positive real number.

This ε is θ person in charge Determine the convergence speed of number estimation.

In this example, Collection The bundle speed is sufficiently fast, and a value that can be estimated stably. do, ε-0.01 was adopted.

In addition, while blocking the influence of minute fluctuations in θ, P,
In order to stop the accumulation of errors in the numerical calculation, rh, + - f"t,, t l / l f"k, t 1
≦ν θ0k 2φto1 xI uk−1−φ−1”θ−1f ≦p (If J2 is satisfied at the same time, do not update equations (8) and (9) and Instead, θ2=θ*−+
031. Here, ν and μ are arbitrary positive real numbers, and in this embodiment, ν=0.2 and μ=0.01.

Furthermore, (8) (Once the condition of Equation 91 is satisfied, when the condition is no longer satisfied again, in order to recover the convergence speed, P is controlled to return to the initial value ε!. A flowchart of the adaptive control operation is shown in FIG. 5. The above-mentioned adaptive control operation is completed within one sampling period Δ-10 ms immediately after the R wave interrupt routine of FIG. 2.

Actual measurement examples are shown in Figs. 6 and 7. This example shows the flow path of the outflow side cannula of the left ventricular assist device in an adult goat (65 kg in weight) under laughing gas anesthesia equipped with a left ventricular assist device. Number of elapsed beats when increasing resistance (NIJMIIEROF BEAT
Various measured quantities for S), namely mean aortic pressure (A
ORTICPRESSURE: AOP), heart rate per minute (H[1ART RATE: IIR), systolic time (SYSTOLICDURATION: u), pulmonary artery flow rate (PULMONARY ARTE)
OW: PAF), which shows the state of change in the stroke volume f per minute of the left ventricular assist device. The saturation level PP on the positive pressure side (Fig. 4 (f)) is 260 -tag, and the saturation level PN3 on the depressurization side (Fig. 4 (f)) is -40 Tsuru 11.
It was set to g.

FIG. 6 shows an example in which the target value f1 of the stroke volume per minute of the left ventricular assist device Fi2 is set to 2 (l/win) and the adaptive control of the present invention is executed. This is an example where the adaptive control according to the present invention is not performed and the contraction time U is driven at a constant value of 110 (ms).

In both figures, the elapsed beats range from the 20th beat to the 40th beat.
Approximately half the diameter of the outflow cannula was clamped with forceps until the beat (hunted part). therefore,
Due to the increase in flow path resistance due to this clamp, in FIG. 7 where the adaptive control of the present invention is not performed, the minute stroke volume f of the left ventricular auxiliary artificial heart in this section is approximately halved. In contrast, in FIG. 6, where the adaptive control of the present invention is performed, the contraction time U automatically increases in this section, and the minute output r of the left ventricular assist device reaches the target value at about 5 beats. f8=2(f/meng i
n), and it can be seen that this is maintained thereafter.

[1] Control System Monitoring Function FIG. 8 shows a flowchart of the operation of the control system monitoring function, and FIG. 9 shows an example of display of control system monitoring results on the CRT display 6.

In FIG. 9, a portion indicated by the symbol A) displays various drive conditions set by the operator, such as the target value of the minute output of the auxiliary artificial heart. 0 in the part indicated by symbol B)
At the marked position, the current systolic time U and the minute stroke volume f from the left ventricular assist device 2 are displayed graphically, and the bar graph area near the bottom of the horizontal axis memory at the bottom edge of the screen displays the RR interval of the electrocardiogram. The relationship between drive pulses (contraction time) is displayed. moreover,
The part indicated by symbol C) includes the RR interval, delay time, left ventricular pressure (AD5: input signal to channel 5 of the A/D converter; the same applies hereinafter), and left atrial pressure (AD6).
, pulmonary artery flow rate (AD7), driving air pressure (AD8),
Average value of aortic pressure (AOP), maximum value (AOP□,)
, minimum value (AOP,i,), 5PT(DPTr E
VR etc. are displayed.

In addition, S P T I (systolic pres
sure time 1ndeX) and D P T I
(diastolic pressure time
1ndex) is the area of the shaded part in FIG. 4 (bJ).

E V R (endocardial variation)
ity ratio) is said to represent the oxygen supply to demand ratio to the myocardium, and EVR = DPTI/5PTI
This is the calculation result of Q4).

On the other hand, the blood pressure and flow rate of the biological circulatory system and the internal state of the control system B
(u, τ, etc.) are divided into instantaneous value data obtained by sampling at a cycle of 10 m5 (see Figure 2) and beat unit data consisting of the value integrated over the RR interval. The data is recorded on a floppy disk by the disk device 8. Both instantaneous value and beat rate unit data can be continuously recorded for about 500 beats at a time.

Therefore, according to the present invention, recording by a data recorder, which has been conventionally used for data collection and analysis, is almost unnecessary.

Note that if the RR interval becomes extremely short or becomes long due to arrhythmia or the like, the drive state is automatically shifted to a predetermined mode. Further, if any abnormality occurs in the control program and an error occurs, the computer control is automatically stopped and the pneumatic drive device 3 shifts to an internal drive mode (drive conditions are set manually). Furthermore, an appropriate warning is displayed when a human error by an operator occurs, such as when the capacity of a recording floppy disk is insufficient.

[m]BE#Circulatory system analysis function A flowchart of the operation of the biological circulatory system analysis function is shown in FIG. The biological circulatory system analysis function uses the recorded integral values of blood pressure and flow rate of the biological circulatory system, or the aforementioned 5PTI, DP.
TI, EVR, etc., according to driving conditions (driving pressure level, u, τ
This is a function that displays changes in beats (e.g.) in units of beats. This function can be operated while simultaneously driving the auxiliary artificial heart. Therefore, the doctor can immediately refer to information for estimating the hemodynamics of the circulatory system while comparing it with past data. 6 and 7 already shown are hard copies of the CRTWI screen displayed by this function.

Figure 11 shows each measured amount when IO μg of catecholamine (cardiac drug) was injected into an adult goat (weight 60 kg) under laughing gas anesthesia and equipped with left ventricular assist device 2, i.e. heart rate per minute () IEART. RATE:)IR), systolic time (SYSTOLICDELAY: r), mean aortic pressure (AORTICPRESSURE: AO)
P), left ventricular pressure (LEFT VENTRICULARP
RESSURE: LVP), left atrial pressure (LEFT)
This shows the analysis results of changes in ATRIAL PRESSURE (LAP) in units of beats. The injection time of catecholamine is determined by the number of elapsed beats (NUMBERO).
F BEATS) It is the Oth beat of ノ.

In addition, the effects of drug administration can be confirmed on the spot in real time, and decisions can be made based on this information, and subsequent driving conditions for the left ventricular assist device can be determined.

In addition, the target value f of the stroke volume per minute of the left ventricular assist device 112
It is also possible to change the delay time and delay time τ in a specified pattern. An example is shown in Fig. 12.
These are the results when the delay time τ was randomly changed every 20 beats for the same goat as in Figure 1. From this figure,
It can be seen that as the delay time τ becomes longer, the left ventricular pressure LVP and the left atrial pressure LAP tend to decrease while the mean aortic pressure AOP increases. Furthermore, in the present invention, the first
While displaying the screen as shown in FIG. 1 or FIG. 12, it is also possible to calculate the average value of each quantity in a designated beat number section.

An embodiment of the present invention has been described above. In order to apply the weighted least squares sequential adaptive control law adopted in the present invention, it is necessary that the controlled object can be constructed as a linear system.

In the case of this example, the target flow rate f0 of the left ventricular assist device is approximately 2.5 (1/win) or less, and the contraction time u
In the range where k is less than about 200 (m), the controlled object can be regarded as a linear system, and good control results can be obtained.

Note that since the width of the linear region changes depending on the heart rate, preload/afterload, driving positive and negative pressure level, etc., it is quite difficult to specify in advance the upper limit of uk that maintains the linear region. Even if the current operating point is within the linear region, U may become excessive due to some disturbance such as arrhythmia, and the operating point may move to a region where stroke volume is saturated or decreased as uk increases. In such a case, β.

The absolute value of U becomes extremely small or negative, so after determining this and fixing U to a preset value, the estimated value of the coefficient is reset and adaptive control is executed again. do it.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, the adaptive control means, the control system monitoring means, and the biological circulatory system analysis means are integrated into a personal computer using software, so that it is possible to adapt the auxiliary artificial heart. It is possible to simultaneously monitor the control status and analyze the hemodynamics of the biological circulatory system while simultaneously driving the auxiliary artificial heart, allowing doctors and operators to instantly grasp changes in the hemodynamics of the biological circulatory system and to improve the performance of the auxiliary artificial heart. This has an excellent effect in that it can be quickly reflected in the driving conditions.

Furthermore, since the device is configured mainly with a personal computer, it is possible to provide an adaptive control device for an auxiliary artificial heart that is compact and easy to handle.

[Brief explanation of drawings]

Fig. 1 is a principle diagram of the present invention, Fig. 2 is a time chart of parallel processing using multiple interrupts of the present invention, Fig. 3 is a block diagram of an embodiment of the present invention, and Fig. 4 is a diagram of the above embodiment. Figure 5 is a flowchart of the adaptive control operation, and Figure 6 is a time chart of the time waveform of each measured quantity. Figure 7 is a diagram showing an actual measurement example of each measured quantity when the adaptive control of the present invention is not executed in the same as above, Figure 8 is a flowchart of the monitoring operation of the control system, and Figure 9 is a monitoring screen. Figure 10 is a flow chart of the analysis operation of the biological circulatory system, Figure 11 is a diagram showing an example of the analysis screen for the response of the adult goat's circulatory system during drug injection, and Figure 12 shows the delay time τ. FIG. 4 is a diagram showing an example of an analysis screen for the response of an adult goat's circulatory system when the response is randomly changed every 20 beats. l... Biological circulatory system (natural heart) 2... Left heart auxiliary artificial heart 3... Pneumatic drive device 4... Personal computer 6... CRT display 7... Printer

Claims (1)

[Claims] In an auxiliary artificial heart that pumps blood by contracting and expanding a blood pump by alternately supplying positive pressure and negative pressure from a pneumatic drive device, the The personal computer comprises a sensor that picks up desired information, a personal computer that constitutes the body of the adaptive control device, and a display device that displays desired information such as the hemodynamics and control status of the biological circulatory system in a predetermined format.・The computer calculates the set stroke volume of the ventricular assist device per minute using a weighted least squares sequential adaptive control law based on the stroke volume of the ventricular assist device and the R-wave interval of the electrocardiogram sent from the sensor. an optimal control means that calculates the optimal contraction time for the given contraction time and controls the pneumatic drive device so that the positive pressure supply time to the auxiliary artificial heart becomes the contraction time; and a control system monitoring means that monitors the control state. An adaptive control device for an auxiliary artificial heart, characterized in that it is configured by integrating a biological circulatory system analysis means for analyzing the hemodynamics of the biological circulatory system in real time using software.