Patient Adaptive Feedback Controllers for Heart Assist Devices
Funded by the National Science Foundation
Collaborators
Professor Marwan A. Simaan (PI) - Electrical Engineering (UCF)
Professor James F. Antaki - BioEngineering (CMU)
Professor Robert L. Kormos – Surgery (Pitt)
|
Heart Patient with an LVAD |
Bearings
( |
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Pediatric LVAD |
Diagram of an LVAD in the
Cardiovascular System |
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Combined Model of Left Ventricle and Rotary Pump |
Rotary Pump Connected to
Heart |
Project Summary
Heart transplant candidates
often wait long periods (300 days or more on the average) before a suitable
donor heart becomes available, and many of these candidate die while awaiting
heart transplantation. Consequently, the medical community has been placing
increased emphasis on the use of mechanical devices that can substitute for, or
enhance, the function of the natural heart. A Ventricular Assist Device
(VAD) is such a device. This device if often used as a bridge to
mechanically support a patient while awaiting heart transplantation, or while
their natural heart recovers. But the ultimate use of this device is as a
long-term “cure” for heart failure. In either case, the goal of a VAD is
to provide the patient with as close to a normal lifestyle as possible.
The goal for all concerned is to allow patients to return home and/or to the
workforce.
An important challenge facing
the increased use of VADs is the development of an appropriate feedback
controller for these devices. The latest generation VADs are build using
turbo-dynamic pumps, which requires a controller that can adjust the speed of
the rotor (pump impeller) to meet the circulatory demand of the patient.
Therefore, in addition to being robust and reliable, a VAD controller should be
able to adapt to the daily activities and the physiological changes of the
patient. In this project we propose to investigate the theoretical and
fundamental issues associated with the development of such a controller.
More specifically, we will continue our ongoing work on the development of a
generalized model of a rotary blood pump which, when coupled to existing models
of the human cardiovascular systems, will serve as a simulation model for
further development; and we will develop a robust optimal feedback control
algorithm that provides the flexibility needed to incorporate various sensor
inputs as available. The principal functions of this feedback controller will
be: (1) to determine and maintain appropriate cardiac output, subject to
constraints imposed by the device and the patient’s condition including
avoiding ventricular suction; (2) to identify system variables and parameters
to monitor the patient's condition, indicating when the patient's
cardiovascular status is improving or deteriorating and detecting component
failures; (3) to recognize different operating conditions and data
environments, responding to changes in the signals available for measurement
from the patient and the assist device; (4) to monitor the control strategy
(algorithm) itself to avoid uncontrollable situations and inappropriate or
dangerous control actions; and (5) to provide a fail-safe mode of operation by
entering a preset open-loop operating mode when a hardware or algorithmic
failure occurs.
The primary intellectual merit
of the proposed research will be to increase our understanding of fundamental
technical issues related to the control of non-conventional complex systems,
such as the VADs, which involve both electromechanical as well as physiological
components. A truly interdisciplinary approach, with expertise coming from the
electrical, mechanical, and biomedical engineering fields as well as the
medical profession, is needed to develop the mathematical framework needed to
be able to effectively control such systems.
The broader impact of the
proposed research will primarily be in improving the quality of life for cardiovascular
patients awaiting heart transplantation. Any improvement in the existing
technology of the ventricular assist devices will have a tremendous effect on
the physical condition and ultimately the recovery of patients suffering from
congestive heart failure. It is hoped that this study, leading to
the development of a patient adaptive feedback controller, will provide an
opportunity for these patients to leave the hospital, return home, and re-enter
the workforce while awaiting for a donor heart. Another
important impact of this project is in training engineering graduate (and a few
undergraduate) students from the electrical, mechanical, and biomedical,
departments to work together as a team in this highly interdisciplinary
field. This project will provide an opportunity for two graduate students
to apply what they have learned in the control and signal processing courses to
a realistic (but not very well defined mathematically) problem that has a
tremendous societal impact.
Related Recent Publications
M. A. Simaan, A. Ferreira, S. Chen, J.F.
Antaki, and D.G. Galati, “A Dynamical State Space Representation
and Performance Analysis of a Feedback-Controlled Rotary Left Ventricular Assist Device,” IEEE
Transactions on Control Systems Technology, (to appear in 2008).
M.A. Simaan,
“Modeling and Control of the Heart Left Ventricle Supported with a Rotary
Assist Device,” Proc. of the 47th IEEE Conference on Decision and
Control, Cancun, Mexico, December
9-12, 2008 (to appear)
M. A. Simaan and J. F. Antaki, “Progress with Extremum-Seeking Feedback Controller for
a Rotary Blood Pump” Abstracts
of the 54th Conference of the American Society for Artificial
Internal Organs (ASAIO), San Francisco, CA, June 19 - 21, 2008.
Y-C. Yu, M. A. Simaan, S. Mushi, and N.V.
Zorn,
“Performance Prediction Of A Percutaneous Ventricular Assist System Using
Nonlinear Circuit Analysis Techniques,” IEEE Transactions on Biomedical
Engineering, Vol. 55, No. 2, 2008, pp. 419-429
Y-C Yu, M. A. Simaan, N. V. Zorn, and S. Mushi, “A
Nonlinear Model for Flow Estimation and Control in a Percutaneous Heart Assist
System,” Proc. of the 2007 American Control Conference, New York, NY, July 11-13, 2007, pp.
2018-2023.
S. Chen, A. Ferreira, M.A. Simaan, J. R.
Boston, and J. F. Antaki, “Feedback Control of an LVAD Supporting a
Failing Cardiovascular System Regulated by the Baroreflex,” Proc. of the 45th
IEEE Conference on Decision and Control, San Diego, CA, December 13-15, 2006, pp.655-660.
A.
Ferreira, S. Chen, M.A. Simaan, J. R. Boston, and J. F. Antaki, “A
Discriminant-Analysis-Based Suction Detection System for Rotary Blood Pumps”, Proc.
of the 28th IEEE Annual International Conference of Engineering in Medicine and
Biology , August 30 - September 3, 2006 in New York, NY, 2006, pp.
5382-5385
P.D.
Wearden, V.O. Morell, B.B. Keller, S.A. Webber, H.S. Borovetz, S. F. Badylak,
J.R. Boston, R.L. Kormos, M.V. Kameneva, M.A. Simaan, T.A. Snyder, H. Tsukui,
W.R. Wagner, J.F. Antaki, C. Diao, S. Vandenberghe, J, Gardiner, C.M. Li, D.
Noh, D. Paden, B. Paden, J. Wu, G.B. Bearnson, G. Jacobs, J. Kirk, P.
Khanwilkar, J.W. Long, S. Miles, J.A. Hawkins, P.C. Kouretas, and R.E. Shaddy, “The
PediaFlowTM Pediatric Ventricular Assist Device,” Seminars in
Thoracic and Cardiovascular Surgery: Pediatric Cardiac Surgery Annual, Vol.
9, No. 1, 2006, pp. 92-98
S.
Chen, A. Ferreira, M. A. Simaan, and J. F. Antaki, “A
Mathematical Model of a Cardiovascular System Regulated by the Baroreflex,” Proc.
of the 2006 American Control Conference, Minneapolis, MN, June
14-17, 2006, pp. 701-706.
H.S.
Borovetz, S. Badylak, J.R. Boston, C. Johnson, R. Kormos, M.V. Kameneva, M. A.
Simaan, T.A. Snyder, H. Tsukui, W. R. Wagner, J. Woolley, J. Antaki, C. Diao,
S. Vandenberghe, B. Keller, V. Morell, P. Wearden, S. Webber, J. Gardiner, C.M.
Li, D. Paden, B. Paden, S. Snyder, J. Wu, G. Bearnson, J.A. Hawkins, G. Jacobs,
J. Kirk, P. Khanwilkar, P. C. Kouretas, J. Long, and R.E. Shaddy, "Towards
the Development of a Pediatric Ventricular Assist Device," Cell
Transplantation, Vol. 15, pp. S69-S74, 2006
A.
Ferreira, M. A. Simaan, J.R. Boston, and J. F. Antaki, “Frequency
and Time-Frequency Based Indices for Suction Detection in Rotary Blood Pumps,” Proc.
of the 2006 IEEE International Conference on Acoustics Speech and
Signal Processing, Toulouse, France, May 14-19, 2006, Vol. II, pp.1064-1067
K-W.
Gwak, M. Ricci, S. Snyder, B.E. Paden, J.R. Boston, M. A. Simaan, and J.F.
Antaki,
"In Vitro Evaluation of Multiobjective Hemodynamic Control of a
Heart-Assist Pump,” The American Society for Artificial Internal
Organs(ASAIO) Journal, Vol. 51, No. 4, 2005, pp. 329-335.
A.
Ferreira, M. A. Simaan, J.R. Boston, and J. F. Antaki, “A
Nonlinear State Space Model of a Combined Cardiovascular System and a Rotary
Pump,” Proc. of the 44th IEEE Conference on Decision and Control
and European Control Conference, Seville, Spain, Dec. 12-15, 2005,
pp. 897-902
A. Ferreira, S. Chen, D.G. Galati, M. A.
Simaan, and J. F. Antaki, “A Dynamical State Space Representation of
a Feedback Controlled Rotary Left Ventricular Assist Device,” Proc. of the
2005 ASME International Mechanical Engineering Congress, Orlando,
FL, November 5-11, 2005, Paper IMECE2005-80973
Y-C Yu,
M. A. Simaan, N. V. Zorn, and S. Mushi, “Model-based Prediction of a
Percutaneous Ventricular Assist Device Performance,” Proc. of the
2005 American Control Conference, Portland, OR, June 8-10, 2005, pp.
3835-3840.
S.
Chen, J. F. Antaki, M. A. Simaan, and J. R. Boston, “Physiological
Control of Left ventricular Assist Devices Based on Gradient of Flow,” Proc.
of the 2005 American Control Conference, Portland, OR, June 8-10,
2005, pp. 3829-3834.
K-W
Gwak, M. Ricci, S. Snyder, B. E. Paden, J. R. Boston, M. A. Simaan, and J.F.
Antaki,
“In-Vitro Evaluation of Multi-Objective Hemodynamic Control of a Heart-Assist
Pump,” The American Society for Artificial Internal Organs (ASAIO) Journal,
Vol. 51, No. 4, 2005, pp. 329-335.
J. Wu,
J.F. Antaki, H.S. Borovetz, J. R. Boston, C. Diao, J.A. Hawkins, J. Gardiner,
G. Jacobs, M.V. Kameneva, B.B. Keller, P. Khanwilkar, J. Kirk, R. L. Kormos, J.
W. Long, C.M. Li, S. Miles, V. Morell, E. Prem, B.E. Paden, D. Paden, R. E.
Shaddy, M. A. Simaan, T. A. Snyder, H. Tsukui, S. Vandeberghe, W. R. Wagner, and
S. A. Webber, , “Progress
with Pediaflow Maglev Pump for Infants and Small Childern: Form to Function,” Abstracts
of the 51th Anniversary Conference of the American Society for
Artificial Internal Organs, Washington, DC, June 7-9, 2005.
H.
Borovetz, S. Badylak, J.R. Boston, R. Kormos, M. Kameneva, M. A. Simaan, T.
Snyder, H. Tsukui, W. Wagner, J.F. Antaki, C. Diao, S. Vandeberghe, B. Keller,
V. Morell, S. Weber, J. Gardiner, C.M. Li, D. Paden, B. Paden, J. Wu, G.
Bearneson, J. Hawkins, G. Jacobs, J. Kirk, P. Khanwilkar, J. Long, S. Miles,
and R. Shaddy,
"The Pediatric ventricular Assist Device (Pediaflow)," Abstracts
of the First International Conference on Pediatric Mechanical Circulatory
Support Systems and Pediatric Cardiopulmonary Perfusion, Hershey, PA, May
19-22, 2005, p. 48
B.
Uber, L.C. Santelices, B. Keller, S. Webber, V. Morell, R.L. Kormos, H.S.
Borovetz, M.A. Simaan and J.F, Antaki, "Systematic
Decision Support for Optimal Management of PVAD Patients”" Abstracts of
the First International Conference on Pediatric Mechanical Circulatory Support
Systems and Pediatric Cardiopulmonary Perfusion, Hershey, PA, May 19-22,
2005, p. 68
S.
Mushi, Y-C. Yu, M. A Simaan, and N. V. Zorn, “Flow Rate Prediction
of a Percutaneous Ventricular Assist Device using Nonlinear Circuit Analysis,” Proc.
of the 31st Annual NorthEast BioEngineering Conference, Hoboken,
NJ, April 2-3, 2005, pp. 61-62
K-W
Gwak, M. Ricci, S. Snyder, B. E. Paden, J. R. Boston, M. A. Simaan, and J. F.
Antaki,
“In-Vitro Evaluation of Multi-Objective Hemodynamic Control of a Heart-Assist
Pump,” Proc. of the 43rd IEEE Conference on Decision and Control,
Paradise Island, Bahamas, Dec. 14-17, 2004, pp. 1069-1074.
M. Y.
Tabaksblat, A. Z. Hunsberger, M. A. Simaan, R.L. Kormos, J. Gorcsan, S. G. Shroff,
and J. F. Antaki, “Towards
the Development of a Computer Simulator for Left Ventricular Recovery” Abstracts
of the 50th Anniversary Conference of the American Society for
Artificial Internal Organs, Washington, DC, June 17-19, 2004, ASIAO
Journal, Vol. 50, No. 2, March-April 2004, p. 139.
L. C.
Santelices, J. F. Antaki, M. A. Dew, M. B. Holm, M. A. Mathier, M. A. Simaan,
K. Desai, and R. L. Kormos, “Mobile Decision Support System For
Management of LVAD Patients” Abstracts of the 50th Anniversary
Conference of the American Society for Artificial Internal Organs,
Washington, DC, June 17-19, 2004, ASIAO Journal, Vol. 50, No. 2,
March-April 2004, p. 121.
J. R.
Boston, J. F. Antaki, and M. A. Simaan, "Hierarchical Control
for Hearts Assist Devices," IEEE Robotics and Automation
Magazine, Vol. 10, No.1, March 2003, pp. 54-64.
J. F.
Antaki, J. R. Boston and M. A. Simaan, “Control of Heart Assist
Devices,” Proc. of the IEEE Conference on Decision and Control, Maui,
HI, December 9-12, 2003, pp. 4084-4089.
L. A.
Baloa, J. R. Boston, M. A. Simaan, and J. F. Antaki, “Performance
of an Extended Certainty Weighted Detection Model,” IEEE Transactions on Systems, Man, and Cybernetics, Part A:
Systems and Humans, Vol. 33, No. 1, January 2003, pp. 12-22.
Y-C. Yu
and M. A. Simaan,
“Performance Prediction of a Percutaneous Ventricular Assist System – A
Nonlinear Circuit Analysis,” Proc. of the 28th Annual Northeast
Bioengineering Conference, Philadelphia, PA, April 20-21, 2002, pp.19-20.
Y-C.
Yu, J. R. Boston, M. A. Simaan, and J. F. Antaki,
"Minimally Invasive Estimation of Systemic Vascular Parameters for
Artificial Heart Control,” Control Engineering Practice, Vol. 10,
March 2002, pp. 277-285.
L.
Baloa, J. R. Boston, M. A. Simaan, and J. F. Antaki, “A Certainty-Weighted
Decision Model for the Detection of Suction in VADs,” Proc. of the IEEE
Conference on Control Applications and International Symposium on Intelligent
Control, Mexico City, Mexico, September 5-7, 2001, pp. 696-701.
J. F. Antaki,
Z. Wu, D. Liu, M. A. Simaan, and J. R. Boston, “A Multi-Objective
Control Algorithm for Turbodynamic Blood Pumps,” Abstracts of the 9th
Congress of the International Society for Rotary Blood Pumps, Seattle,
Washington, August 17-20, 2001, pp A6.
Y-C.
Yu, J.R. Boston, M. A. Simaan, and J.F. Antaki,
"Minimally Invasive Estimation of Systemic Vascular Parameters,” Annals
of Biomedical Engineering, Vol. 29, No. 7, July 2001, pp. 595-606.
Y-C.
Yu, J. R. Boston, M. A. Simaan, P. J. Miller, and J. F. Antaki,
"Pressure-Volume Relationship of a Pulsatile Blood Pump for Ventricular
Assist Device Development,” The American Society for Artificial Internal
Organs Journal, Vol. 47, No. 3, May-June 2001, pp. 293-301
Y-C.
Yu,
J. R. Boston, M. A. Simaan, and J. F. Antaki, “Minimally Invasive
Identification of Ventricular Recovery Index for Weaning Patients from
Artificial Heart Support,” Proc. of the IEEE Conference on Decision and
Control, Sydney, Australia, December 12-15, 2000, pp. 1799-1803.
D. Liu,
J. R. Boston, M. A. Simaan, and J. F. Antaki, “Multi-Objective
Optimal Control of a Heart Assist Device,” Proc. of the IEEE Conference on
Decision and Control, Sydney, Australia, December 12-15, 2000, 4857-4858.
J. R.
Boston, J. F. Antaki, and M. Simaan, "Hierarchical Control
for Artificial Hearts," Proc. of the IEEE International Conference on
Bio-Informatics and Biomedical Engineering, Arlington, VA, November 8-10,
2000, pp. 376-383.
J. R.
Boston, L. Baloa, Dehou Liu, M. A. Simaan, S. Choi, and J. F. Antaki, “Combination
of Data Approaches to Heuristic Control and Fault Detection,” Proc. of the
IEEE Conference on Control Applications and International Symposium on
Computer-Aided Control Systems Design, Anchorage, AK, September
25-27, 2000, pp. 98-103
Y-C.
Yu, J. R. Boston, M. A. Simaan, P.J. Miller, and J.F. Antaki,
"Modeling and Simulation of a Blood Pump for the Development of a Left
Ventricular Assist System Controller,” Kybernetika ,
Vol.
35, No. 6, October 1999, pp. 651-664.
Y-C.
Yu, J. R. Boston, M. A. Simaan, and J. F. Antaki,
"Estimation of Systemic Vascular Bed Parameters for Artificial Heart
Control," IEEE Transactions on Automatic Control, Vol.
43, No. 6, June 1998, pp. 765-778.