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.
741 Citations
20 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)
computing a Kalman control gain to minimize the cost function; and
adjusting the control command based on the Kalman control gain and a difference between the estimated glucose level and the desired glucose level.
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7. The method of claim 1, wherein the dispenser secretes insulin or glucagon in response to the control command to correct a relatively high or a relatively low estimated glucose level.
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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 wherein the optimal estimator and the optimal controller are implemented as a joint Kalman algorithm; and
providing the control command to an actuator, wherein the actuator provides an output to adjust the physiological parameter.
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9. 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, and wherein the optimal estimator outputs best estimate of additional physiological parameters to the optimal controller in real time, and the optimal controller controls the additional physiological parameters by outputting additional control commands.
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10. 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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11. 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, and wherein the optimal estimator is implemented using a linearized Kalman algorithm;
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 wherein the optimal controller is implemented using a Kalman control algorithm; and
providing the control command to an actuator, wherein the actuator provides an output to adjust the physiological parameter. - View Dependent Claims (12, 13, 14)
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15. 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. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification