A Novel Multi-objective Physiological Control System for Rotary Left Ventricular Assist Devices

Performance and Reliable Operation of Physiological Controllers Under Various Cardiovascular Models: In Silico and In Vitro Study

The evaluation of control schemes for left ventricular assist devices (LVADs) requires the utilization of an appropriate model of the human cardiovascular system. Given that different patients and experimental data yield varying performance of the cardiovascular models (CVMs) and their respective parameters, it becomes crucial to assess the reliable operation of controllers. This study aims to assess the performance and reliability of various LVAD controllers using two state-of-the-art CVMs, with a specific focus on the impact of interpatient variability. Extreme test cases were employed for evaluation, incorporating both in silico and in vitro experiments. The differences observed in response between the studied CVMs can be attributed to variations in their structures and parameters. Specifically, the model with smaller compartments exhibits higher overload rates, whereas the other model demonstrates increased sensitivity to changes in preload and afterload, resulting in more frequent suction events (34.2% vs. 8.5% for constant speed mode). These findings along with the varying response of the tested controllers highlight the influence of the selected CVM emphasizing the need to test each LVAD controller with multiple CVMs or, at least, a range of parameter sets. This approach ensures sufficient evaluation of the controller's efficacy in addressing interpatient variability.

A Multi-objective Physiological Control for Continuous Flow Left Ventricular Assist Devices: Comparison of Estimator versus Sensor-based Feedback. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2023;2023:1-5. [PMID: 38082905 DOI: 10.1109/embc40787.2023.10340974] [Citation(s) in RCA: 0] [Impact Index Per Article: 0]

Left Ventricular Assist Devices have been successfully used for the treatment of Congestive Heart failure in patients who are not eligible for heart transplantation. This paper describes the implementation and comparison of the performance of a pressure sensor-based feedback controller. The strategies were tested on a mock loop of the systemic circulation. The results show that the use of pressure sensors generated a more accurate response of the controller compared to the use of estimators.Clinical Relevance- The study describes the integration of a LVAD physiological controller to a dynamic wireless monitoring system.

Continuous Monitoring of Blood Pressure and Vascular Hemodynamic Properties With Miniature Extravascular Hall-Based Magnetic Sensor

Continuous measurement of vascular and hemodynamic parameters could improve monitoring of disease progression and enable timely clinical decision making and therapy surveillance in patients suffering from cardiovascular diseases. However, no reliable extravascular implantable sensor technology is currently available. Here, we report the design, characterization, and validation of an extravascular, magnetic flux sensing device capable of capturing the waveforms of the arterial wall diameter, arterial circumferential strain, and arterial pressure without restricting the arterial wall. The implantable sensing device, comprising a magnet and a magnetic flux sensing assembly, both encapsulated in biocompatible structures, has shown to be robust, with temperature and cyclic-loading stability. Continuous and accurate monitoring of arterial blood pressure and vascular properties was demonstrated with the proposed sensor in vitro with a silicone artery model and validated in vivo in a porcine model mimicking physiologic and pathologic hemodynamic conditions. The captured waveforms were further used to deduce the respiration frequency, the duration of the cardiac systolic phase, and the pulse wave velocity. The findings of this study not only suggest that the proposed sensing technology is a promising platform for accurate monitoring of arterial blood pressure and vascular properties, but also highlight the necessary changes in the technology and the implantation procedure to allow the translation of the sensing device in the clinical setting.

Physiologic Data-Driven Iterative Learning Control for Left Ventricular Assist Devices

Continuous flow ventricular assist devices (cfVADs) constitute a viable and increasingly used therapy for end-stage heart failure patients. However, they are still operating at a fixed-speed mode that precludes physiological cfVAD response and it is often related to adverse events of cfVAD therapy. To ameliorate this, various physiological controllers have been proposed, however, the majority of these controllers do not account for the lack of pulsatility in the cfVAD operation, which is supposed to be beneficial for the physiological function of the cardiovascular system. In this study, we present a physiological data-driven iterative learning controller (PDD-ILC) that accurately tracks predefined pump flow trajectories, aiming to achieve physiological, pulsatile, and treatment-driven response of cfVADs. The controller has been extensively tested in an in-silico environment under various physiological conditions, and compared with a physiologic pump flow proportional-integral-derivative controller (PF-PIDC) developed in this study as well as the constant speed (CS) control that is the current state of the art in clinical practice. Additionally, two treatment objectives were investigated to achieve pulsatility maximization and left ventricular stroke work (LVSW) minimization by implementing copulsation and counterpulsation pump modes, respectively. Under all experimental conditions, the PDD-ILC as well as the PF-PIDC demonstrated highly accurate tracking of the reference pump flow trajectories, outperforming existing model-based iterative learning control approaches. Additionally, the developed controllers achieved the predefined treatment objectives and resulted in improved hemodynamics and preload sensitivities compared to the CS support.

An Optimal H-Infinity Controller for Left Ventricular Assist Devices Based on a Starling-like Controller: A Simulation Study

Left ventricular assist devices (LVADs) are emerging innovations that provide a feasible alternative treatment for heart failure (HF) patients to enhance their quality of life. In this work, a novel physiological control system to optimize LVAD pump speed using an H-infinity controller was developed. The controller regulates the calculated target pump flow vs. measured pump flow to meet the changes in metabolic demand. The method proposes the implementation of the Frank–Starling mechanism (FSM) approach to control the speed of an LVAD using the left ventricle end-diastolic volume (Vlved) parameter (preload). An operating point was proposed to move between different control lines within the safe area to achieve the FSM. A proportional–integral (PI) controller was used to control the gradient angle between control lines to obtain the flow target. A lumped parameter model of the cardiovascular system was used to evaluate the proposed method. Exercise and rest scenarios were assessed under multi-physiological conditions of HF patients. Simulation results demonstrated that the control system was stable and feasible under different physiological states of the cardiovascular system (CVS). In addition, the proposed controller was able to keep hemodynamic variables within an acceptable range of the mean pump flow (Qp) (max = 5.2 L/min and min = 3.2 L/min) during test conditions.

Control Strategy Design of a Microblood Pump Based on Heart-Rate Feedback

Based on the nonlinear relationship between heart rate and stroke volume, a flow model of left ventricular circulation was improved, and a variable-speed blood-pump control strategy based on heart-rate feedback was proposed. The control strategy was implemented on a system combining the rotary blood pump and blood circulation models of heart failure. The aortic flow of a healthy heart at different heart rates was the desired control goal. Changes in heart rate were monitored and pump speed was adjusted so that the output flow and aortic pressure of the system would match a normal heart in real time to achieve the best auxiliary state. After simulation with MATLAB, the cardiac output satisfied the ideal perfusion requirements at different heart rates, and aortic pressure demonstrated lifting and had good pulsatile performance when a variable-speed blood pump was used. The coupled model reflected the relationship between hemodynamic parameters at different heart rates with the use of the variable-speed blood pump, providing a theoretical basis for the blood-pump-assisted treatment of heart failure and the design of physiological control strategies.

Pressure and Bernoulli-based Flow Measurement via a Tapered Inflow VAD Cannula

OBJECTIVE

Currently available ventricular assist devices provide continuous flow and do not adapt to the changing needs of patients. Physiological control algorithms have been proposed that adapt the pump speed based on the left ventricular pressure. However, so far, no clinically used pump can acquire this pressure. Therefore, for the validation of physiological control concepts in vivo, a system that can continuously and accurately provide the left ventricular pressure signal is needed.

METHODS

We demonstrate the integration of two pressure sensors into a tapered inflow cannula compatible with the HeartMate 3 (HM3) ventricular assist device. Selective laser melting was used to incorporate functional elements with a small footprint and therefore retain the geometry, function and implantability of the original cannula. The system was tested on a hybrid mock circulation system. Static and simulated physiological flow and pressure profiles were used to evaluate the combined pressure and flow sensing capabilities of the modified cannula.

CONCLUSION

The cannula prototypes enabled continuous pressure measurements at two points of their inner wall in the range of 100 and 200 mmHg. The developed, Bernoulli-based, two sensor model improved the accuracy of the measured simulated left ventricular pressure by eliminating the influence of flow inside the cannula. This method reduced the flow induced pressure uncertainty from up to 7.6 mmHg in single sensor measurements to 0.3 mmHg. Additionally, the two-sensor system and model enable the measurement of the blood flow through the pump with an accuracy of 0.140.04 L/min, without dedicated flow sensors.

An Intra-Cycle Optimal Control Framework for Ventricular Assist Devices Based on Atrioventricular Plane Displacement Modeling

A promising treatment for congestive heart failure is the implementation of a left ventricular assist device (LVAD) that works as a mechanical pump. Modern LVADs work with adjustable constant rotor speed and provide therefore continuous blood flow; however, recently undertaken efforts try to mimic pulsatile blood flow by oscillating the pump speed. This work proposes an algorithmic framework to construct and evaluate optimal pump speed policies with respect to generic objectives. We use a model that captures the atrioventricular plane displacement, which is a physiological indicator for heart failure. We employ mathematical optimization to adapt this model to patient specific data and to find optimal pump speed policies with respect to ventricular unloading and aortic valve opening. To this end, we reformulate the cardiovascular dynamics into a switched system and thereby reduce nonlinearities. We consider system switches that stem from varying the constant pump speed and that are state dependent such as valve opening or closing. As a proof of concept study, we personalize the model to a selected patient with respect to ventricular pressure. The model fitting results in a root-mean-square deviation of about 6 mmHg. The optimization that considers aortic valve opening and ventricular unloading results in speed modulation akin to counterpulsation. These in silico findings demonstrate the potential of personalized hemodynamical optimization for the LVAD therapy.

Cardiac Output Estimation: Online Implementation for Left Ventricular Assist Device Support

OBJECTIVE

We present a novel pipeline that consists of various algorithms for the estimation of the cardiac output (CO) during ventricular assist devices (VADs) support using a single pump inlet pressure (PIP) sensor as well as pump intrinsic signals.

METHODS

A machine learning (ML) model was constructed for the prediction of the aortic valve opening status. When a closed aortic valve is detected, the estimated CO equals the estimated pump flow. Otherwise, the estimated CO equals the sum of the estimated pump flow and the aortic valve flow, estimated via a Kalman-filter approach. Both the pathophysiological conditions and the pump speed of an in-vitro test bench were adjusted in various combinations to evaluate the performance of the pipeline, as well as the individual estimators.

RESULTS

The ML model yielded a Matthews correlation coefficient of 0.771, a sensitivity of 0.913 and a specificity of 0.871. An overall CO root mean square error (RMSE) of 0.69 L/min was achieved. Replacing the pump flow and aortic pressure estimators with sensors would decrease the RMSE below 0.5 L/min.

CONCLUSION

The performance of the proposed pipeline is considered the state of the art for VADs with an integrated PIP sensor. The effect of the individual estimators on the overall performance of the pipeline was thoroughly investigated and their limitations were identified for future research.

SIGNIFICANCE

The clinical application of the proposed solution could provide the clinicians with essential information about the interaction between the patient's heart and the VAD to further improve the VAD therapy.

Physiological principles of Starling-like control of rotary ventricular assist devices

Introduction: This review explores the Starling-like physiological control method (SLC) for rotary ventricular assist devices (VADs) for severe heart failure. The SLC, based on mathematical models of the circulation, has two functions modeling each ventricle. The first function controls the output of the VAD to the arterial pool according to Starling's law, while the second function accounts for how the blood returns to the heart from the veins. The article aims to expose clinicians to SLC in an accessible and clinically relevant discussion. Areas Covered: The article explores the physiology underlying the controller, its development and how that physiology can be adapted to SLC. Examples of controller performance are demonstrated and discussed using a benchtop model of the cardiovascular system. A discussion of the limitations and criticisms of SLC is presented, followed by a future outlook on the clinical adoption of SLC. Expert Opinion: Due to its simplicity and emulation of the natural cardiac autoregulation, SLC is the superior physiological control method for rotary VADs. However, current technical and regulatory challenges prevent the clinical translation of SLC of VADs. Further technical and regulatory development will enable the clinical translation of SLCs of VADs in the coming years.

Evaluation of the Pulse wave in the face for the patients with rotary blood pump (RP) in the Outpatient clinic

Rotary blood pump (RP) is one of the most important devices in the treatment of profound heart failure and is known to reduce the pulse in the blood pressure waveform, especially when it is used for axial flow. In an outpatient clinic, checking the pulse of a patient implanted with an RP can help diagnose the patient's condition. For that purpose, animal experiments with healthy adult goats implanted with the EVAHEART system were carried out after obtaining ethical committee approval. Visual imaging of the goats' faces was recorded using a video camera. The pulse waves were clearly recorded using the newly developed pulse diagnosis system with video imaging and compared with laser Doppler flowmeter and time series data. Spectral analysis of the time series data showed the usefulness of video imaging from outside the body. Clinical applications are planned, and this newly developed method is expected to be a useful diagnostic method for evaluating the cardiac function in patients implanted with RPs in the future.

In vitro evaluation of multi-objective physiological control of the centrifugal blood pump

Left ventricular assist devices (LVADs) have been used as a bridge to transplantation or as destination therapy to treat patients with heart failure (HF). The inability of control strategy to respond automatically to changes in hemodynamic conditions can impact the patients' quality of life. The developed control system/algorithm consists of a control system that harmoniously adjusts pump speed without additional sensors, considering the patient's clinical condition and his physical activity. The control system consists of three layers: (a) Actuator speed control; (b) LVAD flow control (FwC); and (c) Fuzzy control system (FzC), with the input variables: heart rate (HR), mean arterial pressure (MAP), minimum pump flow, level of physical activity (data from patient), and clinical condition (data from physician, INTERMACS profile). FzC output is the set point for the second LVAD control schemer (FwC) which in turn adjusts the speed. Pump flow, MAP, and HR are estimated from actuator drive parameters (speed and power). Evaluation of control was performed using a centrifugal blood pump in a hybrid cardiovascular simulator, where the left heart function is the mechanical model and right heart function is the computational model. The control system was able to maintain MAP and cardiac output in the physiological level, even under variation of EF. Apart from this, also the rotational pump speed is adjusted following the simulated clinical condition. No backflow from the aorta in the ventricle occurred through LVAD during tests. The control algorithm results were considered satisfactory for simulations, but it still should be confirmed during in vivo tests.

A Novel Control Method for Rotary Blood Pumps as Left Ventricular Assist Device Utilizing Aortic Valve State Detection

A novel control method for rotary blood pumps is proposed relying on two different objectives: regulation of pump flow in accordance with desired value and the maintenance of partial support with an open aortic valve by the variation of pump speed. The estimation of pump flow and detection of aortic valve state was performed with mathematical models describing the first- and second generation of Sputnik rotary blood pumps. The control method was validated using a cardiovascular system model. The state of the aortic valve was detected with a mean accuracy of 91% for Sputnik 1 and 96.2% for Sputnik 2 when contractility, heart rate, and systemic vascular resistance was changed. In silico results for both pumps showed that the proposed control method can achieve the desired pump flow level and maintain the open state of the aortic valve by periodically switching between two objectives under contractility, heart rate, and systemic vascular resistance changes. The proposed method showed its potential for safe operation without adverse events and for the improvement of chances for myocardial recovery.

Preliminary evaluation of a predictive controller for a rotary blood pump based on pulmonary oxygen gas exchange

Physiological control of rotary blood pumps is becoming increasingly necessary for clinical use. In this study, the mean oxygen partial pressure in the upper airway was first quantitatively evaluated as a control objective for a rotary blood pump. A model-free predictive controller was designed based on this control objective. Then, the quantitative evaluation of the controller was implemented with a rotary blood pump model on a complete cardiovascular model incorporated with airway mechanics and gas exchange models. The results show that the controller maintained a mean oxygen partial pressure at a normal and constant level of 138 mmHg in the left heart failure condition and restored basic haemodynamics of blood circulation. A left ventricular contractility recovery condition was also replicated to assess the response of the controller, and a stable result was obtained. This study indicates the potential use of the oxygen partial pressure index during pulmonary gas exchange when developing a multi-objective physiological controller for rotary blood pumps.

Comparison of Flow Estimators for Rotary Blood Pumps: An In Vitro and In Vivo Study

Various approaches for estimating the flow rate of a rotary blood pump have been proposed for monitoring and control purposes. They have been evaluated under different test conditions and, therefore, a direct comparison among them is difficult. Furthermore, a limited performance has been reported for the areas where the pump flow and motor current present a non-monotonic relationship. In this regard, we selected most approaches that have been presented in literature and added a modified one, resulting in four estimators, which are either non-invasive or invasive, i.e., inlet and outlet pump pressure sensors are used. Data from in vitro and in vivo studies with the Deltastream pump DP2 were used to compare the estimators under the same test conditions. These data included both constant and varying pre- and afterload, contractility, viscosity, as well as pump speed settings. Bland-Altman plots were used to evaluate the performance of the estimators. The mean error of the overall estimated flow in vitro ranged from 0.002 to 0.38 L/min and the limits of agreement (LoA) between ± 2 L/min. During negative flows the mean error decreased by about 25% when the pump inlet pressure was added as an input. In vivo, the mean errors increased, while the LoA remained in the same range. An estimator based on pump pressure difference improves the reliability in areas where flow and current relationship is not monotonic. A trade-off between estimation accuracy and number of sensors was identified. The estimation objective and the potential errors should be considered when selecting an estimation approach and designing the pump systems.

A Versatile Hybrid Mock Circulation for Hydraulic Investigations of Active and Passive Cardiovascular Implants

Supplemental Digital Content is available in the text.

During the development process of active or passive cardiovascular implants, such as ventricular assist devices or vascular grafts, extensive in-vitro testing is required. The aim of the study was to develop a versatile hybrid mock circulation (HMC) which can support the development of such implants that have a complex interaction with the circulation. The HMC operates based on the hardware-in-the-loop concept with a hydraulic interface of four pressure-controlled reservoirs allowing the interaction of the implant with a numerical model of the cardiovascular system. Three different conditions were investigated to highlight the versatility and the efficacy of the HMC during the development of such implants: 1) biventricular assist device (BiVAD) support with progressive aortic valve insufficiency, 2) total artificial heart (TAH) support with increasing pulmonary vascular resistance, and 3) flow distribution in a total cavopulmonary connection (TCPC) in a Fontan circulation during exercise. Realistic pathophysiologic waveforms were generated with the HMC and all hemodynamic conditions were simulated just by adapting the software. The results of the experiments indicated the potential of physiologic control during BiVAD or TAH support to prevent suction or congestion events, which may occur during constant-speed operation. The TCPC geometry influenced the flow distribution between the right and the left pulmonary artery, which was 10% higher in the latter and led to higher pressures. Together with rapid prototyping methods, the HMC may enhance the design of implants to achieve better hemodynamics. Validation of the models with clinical recordings is suggested for increasing the reliability of the HMC.