Control strategy for maintaining physiological perfusion with rotary blood pumps

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.

A Sensorless Control System for an Implantable Heart Pump Using a Real-Time Deep Convolutional Neural Network

Left ventricular assist devices (LVADs) are mechanical pumps, which can be used to support heart failure (HF) patients as bridge to transplant and destination therapy. To automatically adjust the LVAD speed, a physiological control system needs to be designed to respond to variations of patient hemodynamics across a variety of clinical scenarios. These control systems require pressure feedback signals from the cardiovascular system. However, there are no suitable long-term implantable sensors available. In this study, a novel real-time deep convolutional neural network (CNN) for estimation of preload based on the LVAD flow was proposed. A new sensorless adaptive physiological control system for an LVAD pump was developed using the full dynamic form of model free adaptive control (FFDL-MFAC) and the proposed preload estimator to maintain the patient conditions in safe physiological ranges. The CNN model for preload estimation was trained and evaluated through 10-fold cross validation on 100 different patient conditions and the proposed sensorless control system was assessed on a new testing set of 30 different patient conditions across six different patient scenarios. The proposed preload estimator was extremely accurate with a correlation coefficient of 0.97, root mean squared error of 0.84 mmHg, reproducibility coefficient of 1.56 mmHg, coefficient of variation of 14.44%, and bias of 0.29 mmHg for the testing dataset. The results also indicate that the proposed sensorless physiological controller works similarly to the preload-based physiological control system for LVAD using measured preload to prevent ventricular suction and pulmonary congestion. This study shows that the LVADs can respond appropriately to changing patient states and physiological demands without the need for additional pressure or flow measurements.

Estimation Methods for Viscosity, Flow Rate and Pressure from Pump-Motor Assembly Parameters

Blood pumps have found applications in heart support devices, oxygenators, and dialysis systems, among others. Often, there is no room for sensors, or the sensors are simply unreliable when long-term operation is required. However, control systems rely on those hard-to-measure parameters, such as blood flow rate and pressure difference, thus their estimation takes a central role in the development process of such medical devices. The viscosity of the blood not only influences the estimation of those parameters but is often a parameter that is of great interest to both doctors and engineers. In this work, estimation methods for blood flow rate, pressure difference, and viscosity are presented using Gaussian process regression models. Different water–glycerol mixtures were used to model blood. Data was collected from a custom-built blood pump, designed for intracorporeal oxygenators in an in vitro test circuit. The estimation was performed from motor current and motor speed measurements and its accuracy was measured for: blood flow rate r² = 0.98, root mean squared error (RMSE) = 46 mL^.min⁻¹; pressure difference r² = 0.98, RMSE = 8.7 mmHg; and viscosity r² = 0.98, RMSE = 0.049 mPa^.s. The results suggest that the presented methods can be used to accurately predict blood flow rate, pressure, and viscosity online.

A Physiological Control System for an Implantable Heart Pump That Accommodates for Interpatient and Intrapatient Variations

Left ventricular assist devices (LVADs) can provide mechanical support for a failing heart as a bridge to transplant and destination therapy. Physiological control systems for LVADs should be designed to respond to changes in hemodynamic across a variety of clinical scenarios and patients by automatically adjusting the heart pump speed. In this study, a novel adaptive physiological control system for an implantable heart pump was developed to respond to interpatient and intrapatient variations to maintain the left-ventricle-end-diastolic-pressure (LVEDP) in the normal range of 3 to 15 mmHg to prevent ventricle suction and pulmonary congestion. A new algorithm was also developed to detect LVEDP from pressure sensor measurement in real-time mode. Model-free adaptive control (MFAC) was employed to control the pump speed via simulation of 100 different patient conditions in each of six different patient scenarios, and compared to standard PID control. Controller performance was tracked using the sum of the absolute error (SAE) between the desired and measured LVEDP. The lower SAE on control tracking performance means that the measured LVEDP follows the desired LVEDP faster and with less amplitude oscillations, preventing ventricle suction and pulmonary congestion (mean and standard deviation of SAE (mmHg) for all 600 simulations were 18813 ± 29345 and 24794 ± 28380 corresponding to MFAC and PID controller, respectively). In four out of six patient scenarios, MFAC control tracking performance was better than the PID controller. This study shows the control performance can be guaranteed across different patients and conditions when using MFAC over PID control, which is a step toward clinical acceptance of these systems.

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.

Clinical Implications of Physiologic Flow Adjustment in Continuous-Flow Left Ventricular Assist Devices

There is increasing evidence for successful management of end-stage heart failure with continuous-flow left ventricular assist device (CF-LVAD) technology. However, passive flow adjustment at fixed CF-LVAD speed is susceptible to flow balancing issues as well as adverse hemodynamic effects relating to the diminished arterial pulse pressure and flow. With current therapy, flow cannot be adjusted with changes in venous return, which can vary significantly with volume status. This limits the performance and safety of CF-LVAD. Active flow adjustment strategies have been proposed to improve the synchrony between the pump and the native cardiovascular system, mimicking the Frank-Starling mechanism of the heart. These flow adjustment strategies include modulation by CF-LVAD pump speed by synchrony and maintenance of constant flow or constant pressure head, or a combination of these variables. However, none of these adjustment strategies have evolved sufficiently to gain widespread attention. Herein we review the current challenges and future directions of CF-LVAD therapy and sensor technology focusing on the development of a physiologic, long-term active flow adjustment strategy for CF-LVADs.

Sensor-Based Physiologic Control Strategy for Biventricular Support with Rotary Blood Pumps

Rotary biventricular assist devices (BiVAD) are becoming a clinically accepted treatment option for end-stage biventricular failure. To improve BiVAD efficacy and safety, we propose a control algorithm to achieve the clinical objectives of maintaining left-right-sided balance, restoring physiologic flows, and preventing ventricular suction. The control algorithm consists of two proportional-integral (PI) controllers for left and right ventricular assist devices (LVAD and RVAD) to maintain differential pump pressure across LVAD (ΔPL) and RVAD (ΔPR) to provide left-right balance and physiologic flow. To prevent ventricular suction, LVAD and RVAD pump speed differentials (ΔRPML, ΔRPMR) were maintained above user-defined thresholds. Efficacy and robustness of the proposed algorithm were tested in silico for axial and centrifugal flow BiVAD using 1) normal and excessive ΔPL and/or ΔPR setpoints, 2) rapid threefold increase in pulmonary vascular or vena caval resistances, 3) transient responses from exercise to rest, and 4) ventricular fibrillation. The study successfully demonstrated that the proposed BiVAD algorithm achieved the clinical objectives but required pressure sensors to continuously measure ΔPL and ΔPR. The proposed control algorithm is device independent, should not require any modifications to the pump or inflow/outflow cannulae/grafts, and may be directly applied to current rotary blood pumps for biventricular support.

Hemodynamic Benefits of Counterpulsation, Implantable, Percutaneous, and Intraaortic Rotary Blood Pumps: An In-Silico and In Vitro Study

Mechanical circulatory support (MCS) devices have become a standard therapy for heart failure (HF) patients. MCS device designs may differ by level of support, inflow and/or outflow cannulation sites, and mechanism(s) of cardiac unloading and blood flow delivery. Investigation and direct comparison of hemodynamic parameters that help characterize performance of MCS devices has been limited. We quantified cardiac and vascular hemodynamic responses for different types of MCS devices. Continuous flow (CF) left ventricular (LV) assist devices (LVAD) with LV or left atrial (LA) inlet, counterpulsation devices, percutaneous CF LVAD, and intra-aortic rotary blood pumps (IARBP) were quantified using established computer simulation and mock flow loop models. Hemodynamic data were analyzed on a beat-to-beat basis at baseline HF and over a range of MCS support. Results demonstrated that all LVAD greatly diminished vascular pulsatility (P) and LV external work (LVEW). LVAD with LA inflow provided a greater reduction in LVEW compared to LVAD with LV inflow, but at the potential risk for blood stasis/thrombosis in the LV at high support. Counterpulsation provided greater coronary flow (CoF) augmentation, but had a lower reduction in LVEW compared to partial percutaneous LVAD support. IARBP diminished LVEW, but at the expense of diminished CoF due to coronary steal. The hemodynamic benefits for each type of mechanical circulatory support system are unique and clinical decisions on device selection to maximize end organ perfusion and minimize invasiveness needs to be considered for an individual patients' presentation.

Evaluation of Physiological Control Systems for Rotary Left Ventricular Assist Devices: An In-Vitro Study

Rotary left ventricular assist devices (LVADs) show weaker response to preload and greater response to afterload than the native heart. This may lead to ventricular suction or pulmonary congestion, which can be deleterious to the patient's recovery. A physiological control system which optimizes responsiveness of LVADs may reduce adverse events. This study compared eight physiological control systems for LVAD support against constant speed mode. Pulmonary (PVR) and systemic (SVR) vascular resistance changes, a passive postural change and exercise were simulated in a mock circulation loop to evaluate the controller's ability to prevent suction and congestion and to increase exercise capacity. Three active and one passive control systems prevented ventricular suction at high PVR (500 dyne s cm(-5)) and low SVR (600 dyne s cm(-5)) by decreasing LVAD speed (by 200-515 rpm) and by increasing LVAD inflow cannula resistance (up to 1000 dyne s cm(-5)) respectively. These controllers increased LVAD preload sensitivity (to 0.196-2.415 L min(-1) mmHg(-1)) compared to the other control systems and constant speed mode (0.039-0.069 L min(-1) mmHg(-1)). The same three active controllers increased pump speed (600-800 rpm) and thus LVAD flow by 4.5 L min(-1) during exercise which increased exercise capacity. Physiological control systems that prevent adverse events and/or increase exercise capacity may help improve LVAD patient conditions.

ADRC or adaptive controller--A simulation study on artificial blood pump

Active disturbance rejection control (ADRC) has gained popularity because it requires little knowledge about the system to be controlled, has the inherent disturbance rejection ability, and is easy to tune and implement in practical systems. In this paper, the authors compared the performance of an ADRC and an adaptive controller for an artificial blood pump for end-stage congestive heart failure patients using only the feedback signal of pump differential pressure. The purpose of the control system was to provide sufficient perfusion when the patients' circulation system goes through different pathological and activity variations. Because the mean arterial pressure is equal to the total peripheral flow times the total peripheral resistance, this goal was converted to an expression of making the mean aortic pressure track a reference signal. The simulation results demonstrated that the performance of the ADRC is comparable to that of the adaptive controller with the saving of modeling and computational effort and fewer design parameters: total peripheral flow and mean aortic pressure with ADRC fall within the normal physiological ranges in activity variation (rest to exercise) and in pathological variation (left ventricular strength variation), similar to those values of adaptive controller.

Simulation of changes in myocardial tissue properties during left ventricular assistance with a rotary blood pump

We considered a mathematical model to investigate changes in geometric and hemodynamic indices of left ventricular function in response to changes in myofiber contractility and myocardial tissue stiffness during rotary blood pump support. Left ventricular assistance with a rotary blood pump was simulated based on a previously published biventricular model of the assisted heart and circulation. The ventricles in this model were based on the one-fiber model that relates ventricular function to myofiber contractility and myocardial tissue stiffness. The simulations showed that indices of ventricular geometry, left ventricular shortening fraction, and ejection fraction had the same response to variations in myofiber contractility and myocardial tissue stiffness. Hemodynamic measures showed an inverse relation compared with geometric measures. Particularly, pulse pressure and arterial dP/dtmax increased when myofiber contractility increased, whereas increasing myocardial tissue stiffness decreased these measures. Similarly, the lowest pump speed at which the aortic valve remained closed increased when myofiber contractility increased and decreased when myocardial tissue stiffness increased. Therefore, simultaneous monitoring of hemodynamic parameters and ventricular geometry indirectly reflects the status of the myocardial tissue. The appropriateness of this strategy will be evaluated in the future, based on in vivo studies.

Miniaturization of mechanical circulatory support systems

Heart failure (HF) is increasing worldwide and represents a major burden in terms of health care resources and costs. Despite advances in medical care, prognosis with HF remains poor, especially in advanced stages. The large patient population with advanced HF and the limited number of donor organs stimulated the development of mechanical circulatory support (MCS) devices as a bridge to transplant and for destination therapy. However, MCS devices require a major operative intervention, cardiopulmonary bypass, and blood component exposure, which have been associated with significant adverse event rates, and long recovery periods. Miniaturization of MCS devices and the development of an efficient and reliable transcutaneous energy transfer system may provide the vehicle to overcome these limitations and usher in a new clinical paradigm in heart failure therapy by enabling less invasive beating heart surgical procedures for implantation, reduce cost, and improve patient outcomes and quality of life. Further, it is anticipated that future ventricular assist device technology will allow for a much wider application of the therapy in the treatment of heart failure including its use for myocardial recovery and as a platform for support for cell therapy in addition to permanent long-term support.

Control strategies for afterload reduction with an artificial vasculature device

Ventricular assist devices (VADs) have been used successfully as a bridge to transplant in heart failure patients by unloading ventricular volume and restoring the circulation. An artificial vasculature device (AVD) is being developed that may better facilitate myocardial recovery than VAD by controlling the afterload experienced by the native heart and controlling the pulsatile energy entering into the arterial system from the device, potentially reconditioning the arterial system properties. The AVD is a valveless, 80 ml blood chamber with a servo-controlled pusher plate connected to the ascending aorta by a vascular graft. Control algorithms for the AVD were developed to maintain any user-defined systemic input impedance (IM) including resistance, elastance, and inertial components. Computer simulation and mock circulation models of the cardiovascular system were used to test the efficacy of two control strategies for the AVD: 1) average impedance position control (AIPC)-to maintain an average value of resistance during left ventricular (LV) systole and 2) instantaneous impedance force feedback (IIFF) and position control (IIPC)-to maintain a desired value or profile of resistance and compliance. Computer simulations and mock loop tests were performed to predict resulting cardiovascular pressures, volumes, flows, and the resistance and compliance experienced by the native LV during ejection for simulated normal, failing, and recovering LV. These results indicate that the LV volume and pressure decreased, and the LV stroke volume increased with decreasing IM, resulting in an increased ejection fraction. Although the AIPC algorithm is more stable and can tolerate higher levels of sensor errors and noise, the IIFF and IIPC control algorithms are better suited to maintain any instantaneous IM or an IM profile. The developed AVD impedance control algorithms may be implemented with current VADs to promote myocardial recovery and facilitate weaning.

A blood assist index control by intraaorta pump: a control strategy for ventricular recovery

Left ventricular assist devices (LVAD) are increasingly used for long-term support in heart failure patients. To promote ventricular reverse remodeling, a defined and adjustable energy distribution of LVAD and native heart is important. Therefore, a blood assist index (BAI), which is a ratio of power of LVAD and total power of the cardiovascular system, is defined to indicate the energy distribution of LVAD and native heart. Subsequently, an LVAD control algorithm that uses the BAI as control input is designed. The control strategy maintains the measured BAI tracking the desired BAI. A mathematic model of cardiovascular system is used to verify the feasibility of control strategy in the presence of left ventricular failure, physical active, and a recovery of cardiac function. The simulation results show that the control strategy automatically increases pump speed in response to the reduced peripheral systemic resistance (5,500 vs. 6,000 RPM). When Emax is increased from 0.6 to 1.8 mm Hg/ml to mimic left ventricular recovery, the blood flow is automatically increased from 5 to 8 L/min. As a key feature, the proposed control strategy provides a defined and adjustable energy distribution of LVAD and native heart by regulating the rotational speed of the pump, which is benefit to promote the left ventricular reverse remodeling.

Physiological control of an in-series connected pulsatile VAD: numerical simulation study

This paper investigates ventricular assist device (VAD)-assisted cardiovascular dynamics under proportion-integration-differentiation (PID) feedback control. Previously, we have studied the cardiovascular responses under the support of an in-series connected reciprocating-valve VAD through numerical simulation, and no feedback control was applied in the VAD. In this research, we explore the contribution of the VAD control on the circulatory dynamics assisted by the reciprocating-valve VAD, in response to the changing physiological conditions. The classical PID control algorithm is implemented to regulate the VAD stroke beat-to-beat, based on the error signal between the expected and the realistic mean aortic pressures. Simulation results show that under the PID VAD control, physiological variables such as left atrial, ventricular and systemic arterial pressures, cardiac output and ventricular volumes are satisfactorily maintained in the physiological ranges. With the online PID feedback control, operation of the reciprocating-valve VAD can be satisfactorily regulated to accommodate metabolic requirements under various physiological conditions including normal resting and exercise situations.

Computational modelling and evaluation of cardiovascular response under pulsatile impeller pump support

This study presents a numerical simulation of cardiovascular response in the heart failure condition under the support of a Berlin Heart INCOR impeller pump-type ventricular assist device (VAD). The model is implemented using the CellML modelling language. To investigate the potential of using the Berlin Heart INCOR impeller pump to produce physiologically meaningful arterial pulse pressure within the various physiological constraints, a series of VAD-assisted cardiovascular cases are studied, in which the pulsation ratio and the phase shift of the VAD motion profile are systematically changed to observe the cardiovascular responses in each of the studied cases. An optimization process is proposed, including the introduction of a cost function to balance the importance of the characteristic cardiovascular variables. Based on this cost function it is found that a pulsation ratio of 0.35 combined with a phase shift of 200° produces the optimal cardiovascular response, giving rise to a maximal arterial pulse pressure of 12.6 mm Hg without inducing regurgitant pump flow while keeping other characteristic cardiovascular variables within appropriate physiological ranges.

Application of Extremum Seeking Control to Turbodynamic Blood Pumps

Ventricular assist devices now clinically used for treatment of end-stage heart failure require responsive and reliable control to accommodate the continually changing demands of the body. However, due to the varying physiologic conditions and the limited use of the sensors to detect hemodynamic load and suction, it is difficult to control pump speed appropriately. The author introduces an adaptive pump speed controller to provide maximum cardiac perfusion while avoiding ventricular suction. The controller is based on an extremum seeking control (ESC) algorithm and a slope seeking control (SSC) algorithm, which find and track unknown and moving peak points of a prescribed cost function. The controller was validated with in vivo data using time-averaged diastolic pump flow as the cost function for ESC/SSC. Initial results demonstrate the successful application of ESC/SSC as a physiologic pump speed controller.

A Computer Model of the Pediatric Circulatory System for Testing Pediatric Assist Devices

Lumped parameter computer models of the pediatric circulatory systems for 1- and 4-year-olds were developed to predict hemodynamic responses to mechanical circulatory support devices. Model parameters, including resistance, compliance and volume, were adjusted to match hemodynamic pressure and flow waveforms, pressure-volume loops, percent systole, and heart rate of pediatric patients (n = 6) with normal ventricles. Left ventricular failure was modeled by adjusting the time-varying compliance curve of the left heart to produce aortic pressures and cardiac outputs consistent with those observed clinically. Models of pediatric continuous flow (CF) and pulsatile flow (PF) ventricular assist devices (VAD) and intraaortic balloon pump (IABP) were developed and integrated into the heart failure pediatric circulatory system models. Computer simulations were conducted to predict acute hemodynamic responses to PF and CF VAD operating at 50%, 75% and 100% support and 2.5 and 5 ml IABP operating at 1:1 and 1:2 support modes. The computer model of the pediatric circulation matched the human pediatric hemodynamic waveform morphology to within 90% and cardiac function parameters with 95% accuracy. The computer model predicted PF VAD and IABP restore aortic pressure pulsatility and variation in end-systolic and end-diastolic volume, but diminish with increasing CF VAD support.

Predicted hemodynamic benefits of counterpulsation therapy using a superficial surgical approach

A volume-displacement counterpulsation device (CPD) intended for chronic implantation via a superficial surgical approach is proposed. The CPD is a pneumatically driven sac that fills during native heart systole and empties during diastole through a single, valveless cannula anastomosed to the subclavian artery. Computer simulation was performed to predict and compare the physiological responses of the CPD to the intraaortic balloon pump (IABP) in a clinically relevant model of early stage heart failure. The effect of device stroke volume (0-50 ml) and control modes (timing, duration, morphology) on landmark hemodynamic parameters and the LV pressure-volume relationship were investigated. Simulation results predicted that the CPD would provide hemodynamic benefits comparable to an IABP as evidenced by up to 25% augmentation of peak diastolic aortic pressure, which increases diastolic coronary perfusion by up to 34%. The CPD may also provide up to 34% reduction in LV end-diastolic pressure and 12% reduction in peak systolic aortic pressure, lowering LV workload by up to 26% and increasing cardiac output by up to 10%. This study demonstrated that the superficial CPD technique may be used acutely to achieve similar improvements in hemodynamic function as the IABP in early stage heart failure patients.

Physiological Control of Blood Pumps Using Intrinsic Pump Parameters: A Computer Simulation Study

Implantable flow and pressure sensors, used to control rotary blood pumps, are unreliable in the long term. It is, therefore, desirable to develop a physiological control system that depends only on readily available measurements of the intrinsic pump parameters, such as measurements of the pump current, voltage, and speed (in revolutions per minute). A previously proposed DeltaP control method of ventricular assist devices (VADs) requires the implantation of two pressure sensors to measure the pressure difference between the left ventricle and aorta. In this article, we propose a model-based method for estimating DeltaP, which eliminates the need for implantable pressure sensors. The developed estimator consists of the extended Kalman filter in conjunction with the Golay-Savitzky filter. The performance of the combined estimator-VAD controller system was evaluated in computer simulations for a broad range of physical activities and varying cardiac conditions. The results show that there was no appreciable performance degradation of the estimator-controller system compared to the case when DeltaP is measured directly. The proposed approach effectively utilizes a VAD as both a pump and a differential pressure sensor, thus eliminating the need for dedicated implantable pressure and flow sensors. The simulation results show that different pump designs may not be equally effective at playing a dual role of a flow actuator and DeltaP sensor.

In Vitro Evaluation of Multiobjective Hemodynamic Control of a Heart-Assist Pump

Ventricular assist devices now clinically used for treatment of end-stage heart failure require responsive and reliable hemodynamic control to accommodate the continually changing demands of the body. This is an essential ingredient to maintaining a high quality of life. To satisfy this need, a control algorithm involving a trade-off between optimal perfusion and avoidance of ventricular collapse has been developed. An optimal control strategy has been implemented in vitro that combines two competing indices: representing venous return and prevalence of suction. The former is derived from the first derivative of diastolic flow with speed, and the latter derived from the harmonic spectra of the flow signal. The responsiveness of the controller to change in preload and afterload were evaluated in a mock circulatory simulator using a HeartQuest centrifugal blood pump (CF4b, MedQuest Products, Salt Lake City, UT). To avoid the need for flow sensors, a state estimator was used, based on the back-EMF of the actuator. The multiobjective algorithm has demonstrated more robust performance as compared with controllers relying on individual indices.

Measurement for implantable rotary blood pumps

Rotary blood pumps offer a cost-effective way to assist the failing heart. Relative to their pulsatile cousins, they can consist of remarkably few moving parts, with attendant advantages in reliability. These advantages are realized in full only if the entire assist system is kept maximally simple. Control of the pump must therefore be based on a minimum number of measurement devices. This paper reviews the measurements that are made in the wide range of implantable rotary blood pump designs that are in development for ventricular assist. In a number of these, fluid-mechanical variables are estimated indirectly from measurements of motor speed and current or power. The introduction explains the goals of rotary blood pump control by comparison to the innate properties of the natural heart. Then motor and fluid-mechanical variables that may be transduced are discussed. Methods of indirect estimation of pressure drop and flow-rate are dealt with, followed by ways of detecting unusual states such as inflow obstruction. It is found that detection of these alone can be the basis of an adequate control strategy. Some groups have estimated variables pertaining to the heart that is being assisted, and there has also been work on monitoring the ongoing health of the assist system itself. The review concludes with a brief look at the wider measurement context for the intensive-care facility that proposes to use such devices to provide circulatory support.

Magnevad-The World's Smallest Magnetic-bearing Turbo Pump

The first animal implant of our Magnevad LVAD is scheduled for the fourth quarter of 2003. This is being performed by the George E. Reed Heart Center of Westchester Medical Center and by New York Medical College; both are in Valhalla, NY. This article summarizes 3 years of development of the miniature axial flow LVAD. Our LVAD has new innovations not found in any other turbo pump to minimize thrombus, blood turbulence, flow separation, and the generation of microemboli. The Magnevad is only 25 mL in volume, similar in size to the Micromed & Jarvik 2000 axial flow turbo pumps that have contacting bearings. US Patent 6 527 699 was issued to Gold Medical on March 4, 2003 and World Wide PCT patents are pending. The discussed improvements (patents pending) are designed to minimize flow separation and turbulence, the precursors of microemboli that lodge in end organs. This problem has been largely ignored in the published literature. A new long-term stable miniature ultrasonic position sensor is used for bearing control. It measures the axial position of the rotor to obtain LVAD differential pressure. Differential pressure is used to obtain pulsating flow and automatic physiologic control. The term "fourth generation pump" is being coined for the Magnevad because in addition to being noncontacting, it inherently measures pump differential pressure on which physiologic control can be based.

Left Ventricular and Myocardial Perfusion Responses to Volume Unloading and Afterload Reduction in a Computer Simulation

Ventricular assist devices (VADs) have been used successfully as a bridge to transplant in heart failure patients by unloading ventricular volume and restoring the circulation. In a few cases, patients have been successfully weaned from these devices after myocardial recovery. To promote myocardial recovery and alleviate the demand for donor organs, we are developing an artificial vasculature device (AVD) that is designed to allow the heart to fill to its normal volume but eject against a lower afterload. Using this approach, the heart ejects its stroke volume (SV) into an AVD anastomosed to the aortic arch, which has been programmed to produce any desired afterload condition defined by an input impedance profile. During diastole, the AVD returns this SV to the aorta, providing counterpulsation. Dynamic computer models of each of the assist devices (AVD, continuous, and pulsatile flow pumps) were developed and coupled to a model of the cardiovascular system. Computer simulations of these assist techniques were conducted to predict physiologic responses. Hemodynamic parameters, ventricular pressure-volume loops, and vascular impedance characteristics were calculated with AVD, continuous VAD, and asynchronous pulsatile VAD support for a range of clinical cardiac conditions (normal, failing, and recovering left ventricle). These simulation results indicate that the AVD may provide better coronary perfusion, as well as lower vascular resistance and elastance seen by the native heart during ejection compared with continuous and pulsatile VAD. Our working hypothesis is that by controlling afterload using the AVD approach, ventricular cannulation can be eliminated, myocardial perfusion improved, myocardial compliance and resistance restored, and effective weaning protocols developed that promote myocardial recovery.

Physiologic Control of Rotary Blood Pumps: An In Vitro Study

Rotary blood pumps (RBPs) are currently being used as a bridge to transplantation as well as for myocardial recovery and destination therapy for patients with heart failure. Physiologic control systems for RBPs that can automatically and autonomously adjust the pump flow to match the physiologic requirement of the patient are needed to reduce human intervention and error, while improving the quality of life. Physiologic control systems for RBPs should ensure adequate perfusion while avoiding inflow occlusion via left ventricular (LV) suction for varying clinical and physical activity conditions. For RBPs used as left ventricular assist devices (LVADs), we hypothesize that maintaining a constant average pressure difference between the pulmonary vein and the aorta (deltaPa) would give rise to a physiologically adequate perfusion while avoiding LV suction. Using a mock circulatory system, we tested the performance of the control strategy of maintaining a constant average deltaPa and compared it with the results obtained when a constant average pump pressure head (deltaP) and constant rpm are maintained. The comparison was made for normal, failing, and asystolic left heart during rest and at light exercise. The deltaPa was maintained at 95 +/- 1 mm Hg for all the scenarios. The results indicate that the deltaPa control strategy maintained or restored the total flow rate to that of the physiologically normal heart during rest (3.8 L/m) and light exercise (5.4 L/m) conditions. The deltaPa approach adapted to changing exercise and clinical conditions better than the constant rpm and constant deltaP control strategies. The deltaPa control strategy requires the implantation of two pressure sensors, which may not be clinically feasible. Sensorless RBP control using the deltaPa algorithm, which can eliminate the failure prone pressure sensors, is being currently investigated.

Control strategy for maintaining physiological perfusion with rotary blood pumps

We present arguments and simulation results in favor of a novel strategy for control of rotary blood pumps. We suggest that physiological perfusion is achieved when the blood pump is controlled to maintain an average reference differential pressure. In the case of rotary left ventricular assist devices, our simulations show that maintaining a constant average pressure difference between the left ventricle and aorta results in physiological perfusion over a wide range of physical activities and clinical cardiac conditions. We simulated rest, light, and strenuous exercise conditions, corresponding to cardiac demands of 4.92, 7.98, and 14.62 L/min, respectively. For different exercise levels, the clinical conditions ranged from normal to failing to asystolic heart. By maintaining a constant pressure difference of 75 mm Hg between the left ventricle and aorta, with either an axial or a centrifugal blood pump, a total cardiac output close to the physiological cardiac demand was achieved, irrespective of the heart condition. The simulations of the transitions between different levels of exercise indicate that with the same reference differential pressure, the proposed approach leads to rapid adaptation of the total cardiac output to physiological levels, while avoiding suction. Comparison with the traditional control strategy of maintaining a reference rotational speed (rpm) of the pump indicates that though the traditional approach has some degree of adaptability, it is only adequate over a narrow range of cardiac demand and clinical conditions of the patient. Our results indicate that the proposed approach is superior to the alternatives in providing an adequate and autonomous adaptation of the total cardiac output over a broad range of exercise conditions (expected when an assist device is used as a destination therapy) and clinical statuses of the native heart (such as further deterioration or recovery of cardiac function), while having the potential to improve the quality of life of patients by reducing the need for monitoring and frequent human intervention. The proposed approach can be clinically implemented using simple controllers, and requires the implantation of two pressure sensors, or estimation of the pressure difference based on other available measurements.