Method and apparatus for real-time control of physiological parameters
First Claim
1. A method for controlling glucose level in real time comprising the acts of:
- receiving an estimated glucose level;
receiving a reference signal indicative of a desired glucose level;
providing the estimated glucose level and the reference signal to a Kalman control algorithm in real time;
determining a control command in real time using the Kalman control algorithm; and
providing the control command to a dispenser which outputs medication in response to the control command.
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Abstract
A real-time controller operating as an artificial pancreas uses a Kalman control algorithm to control glucose level of a patient in real time. The real-time controller receives an estimate of the patient glucose level and a reference glucose level. The estimate of the patient glucose level can be provided by an optimal estimator implemented using a linearized Kalman filter. The estimated glucose level and the reference glucose level are processed by the Kalman control algorithm to determine a control command in real time. The Kalman control algorithm has a dynamic process forced by the control command a cost function determining a relative level of control. The control command is provided to a dispenser which secretes insulin or glucagon in response to the control command to correct a relatively high glucose level or a relatively low glucose level.
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Citations
24 Claims
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1. A method for controlling glucose level in real time comprising the acts of:
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receiving an estimated glucose level;
receiving a reference signal indicative of a desired glucose level;
providing the estimated glucose level and the reference signal to a Kalman control algorithm in real time;
determining a control command in real time using the Kalman control algorithm; and
providing the control command to a dispenser which outputs medication in response to the control command. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for close-loop control of a physiological parameter comprising the acts of:
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obtaining a measurement of the physiological parameter from a patient;
providing the measurement to an optimal estimator in real time, wherein the optimal estimator outputs a best estimate of the physiological parameter in real time based on the measurement;
providing the best estimate of the physiological parameter to an optimal controller in real time, wherein the optimal controller outputs a control command in real time based on the best estimate of the physiological parameter and a control reference; and
providing the control command to an actuator, wherein the actuator provides an output to adjust the physiological parameter. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 20, 21, 22, 23, 24)
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18. A real-time optimal glucose controller comprising:
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a first input configured to receive an estimated glucose level in real time;
a second input configured to receive a reference glucose level;
a Kalman control algorithm configured to determine a control command based on the estimated glucose level and the reference glucose level, wherein the Kalman control algorithm has a dynamic process model forced by the control command and a cost function defining a desired level of control; and
an output configured to provide the control command to a pump, wherein the pump provides medication in response to the control command to minimize a difference between the estimated glucose level and the reference glucose level.
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19. An artificial pancreas for controlling glucose level in real time comprising:
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a glucose sensor to provide a measurement of the glucose level;
an optimal glucose estimator, wherein the optimal glucose estimator uses a stochastic model to describe a physiological process relating to the glucose level and uses a linearized Kalman filter to estimate the glucose level in real time based on the measurement from the glucose sensor;
an optimal glucose controller, wherein the optimal glucose controller uses a substantially identical stochastic model as the optimal glucose estimator and uses a Kalman control algorithm to determine a control command to adjust the glucose level in real time; and
a medical dispenser to provide medication to a patient in response to the control command.
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Specification