Method and apparatus for real-time control of physiological parameters

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.

What is claimed is:  
     
         1 . A method for close-loop control of a physiological parameter comprising the acts of: 
 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.    
     
     
         2 . The method of  claim 1 , wherein the measurement is obtained using a sensor.  
     
     
         3 . The method of  claim 1 , wherein the optimal estimator is implemented using a linearized Kalman algorithm.  
     
     
         4 . The method of  claim 1 , wherein the control reference is provided by a patient health monitor.