Integrated closed-loop medication delivery with error model and safety check

Abstract

A closed-loop system for insulin infusion overnight uses a model predictive control algorithm (“MPC”). Used with the MPC is a glucose measurement error model which was derived from actual glucose sensor error data. That sensor error data included both a sensor artifacts component, including dropouts, and a persistent error component, including calibration error, all of which was obtained experimentally from living subjects. The MPC algorithm advised on insulin infusion every fifteen minutes. Sensor glucose input to the MPC was obtained by combining model-calculated, noise-free interstitial glucose with experimentally-derived transient and persistent sensor artifacts associated with the FreeStyle Navigator® Continuous Glucose Monitor System (“FSN”). The incidence of severe and significant hypoglycemia reduced 2300- and 200-fold, respectively, during simulated overnight closed-loop control with the MPC algorithm using the glucose measurement error model suggesting that the continuous glucose monitoring technologies facilitate safe closed-loop insulin delivery.

1 . A system for the delivery of insulin to a patient, the system comprising:
 a glucose sensor configured to provide a sensor glucose measurement signal representative of sensed glucose;   an insulin delivery device configured to deliver insulin to a patient in response to control signals; and   a controller programmed to receive the sensor glucose measurement signal and to provide a delivery control signal to the delivery device as a function of the received sensor glucose measurement signal in accordance with a control model and a glucose measurement error model;   wherein the glucose measurement error model is derived from actual glucose sensor measurement data.   
     
     
         2 . The system for the delivery of insulin of  claim 1 , wherein the glucose measurement error model is derived solely from actual glucose sensor measurement data. 
     
     
         3 . The system for the delivery of insulin of  claim 1 , wherein the glucose measurement error model is derived solely from actual glucose sensor error data, excluding sensor noise data. 
     
     
         4 . The system for the delivery of insulin of  claim 1 , wherein the glucose measurement error model is derived solely from actual glucose sensor measurement data to the exclusion of randomly-generated variable data. 
     
     
         5 . The system for the delivery of insulin of  claim 1 , wherein the glucose measurement error model is derived solely from a fixed time history of error data from actual use of a glucose sensor of the same type as the sensor of the system. 
     
     
         6 . The system for the delivery of insulin of  claim 1 , wherein the glucose measurement error model is derived from actual glucose sensor measurement data from a glucose sensor of the same type as the sensor of the system. 
     
     
         7 . The system for the delivery of insulin of  claim 1 , wherein the glucose measurement error model is derived solely from a fixed time history of error data from actual use of a glucose sensor of the same type as the sensor of the system, to the exclusion of randomly-generated variable data and to the exclusion of sensor noise data. 
     
     
         8 . The system for the delivery of insulin of  claim 1 , wherein the control model comprises a model predictive controller that is programmed to provide the delivery control signals to the delivery device as a function of a model predictive control. 
     
     
         9 . The system for the delivery of insulin of  claim 1 , wherein the glucose measurement error model is derived from calibration error of the glucose sensor. 
     
     
         10 . The system for the delivery of insulin of  claim 9 , wherein the calibration error in the glucose measurement error model comprises the difference between a plasma glucose level and the sensor glucose level signal of the glucose sensor. 
     
     
         11 . The system for delivering insulin of  claim 1 , wherein the glucose measurement error model is derived from a glucose sensor dropout. 
     
     
         12 . The system for the delivery of insulin of  claim 10 , wherein the controller is further programmed to recalibrate the system when the difference between the received sensor glucose level signal and a plasma glucose level exceeds a predetermined level. 
     
     
         13 . The system for delivering insulin of  claim 1 , wherein the delivery control signal is also a function of weight of a patient, a total daily insulin dose, and a basal insulin profile, and wherein:
 the controller is also programmed to calculate from the control model an accepted value;   the controller is also programmed to calculate from the glucose level signal an inferred value;   the controller is also programmed to forecast a future plasma glucose level excursion based on the accepted value and inferred value; and   the controller is also programmed to adjust the delivery control signal in accordance with the forecast future plasma glucose level excursion.   
     
     
         14 . The system for delivering insulin of  claim 13 , wherein the accepted value comprises an insulin sensitivity of the patient, a glucose distribution volume, and an insulin distribution volume. 
     
     
         15 . The system for delivering insulin of  claim 13 , wherein the inferred value comprises glucose flux and a carbohydrate bioavailability. 
     
     
         16 . The system for delivering insulin of  claim 1 , wherein the controller is also programmed to adjust a value of the delivery control signal in accordance with a safety check. 
     
     
         17 . The system for delivering insulin of  claim 16 , wherein the controller is also programmed to adjust a value of the delivery control signal in accordance with the safety check to include at least one of:
 imposing a maximum infusion rate related to a basal rate depending on a current sensor glucose level, time since a previous meal, and carbohydrate content of a meal;   shutting off insulin delivery at a predetermined low sensor glucose value;   reducing insulin delivery when sensor glucose is decreasing rapidly; and   capping the insulin infusion to a pre-programmed basal rate if an insulin delivery pump occlusion is inferred.   
     
     
         18 . The system for delivering insulin of  claim 1 , wherein the glucose sensor, the insulin delivery device, and the controller are virtual devices, each being programmed for in silica testing of a system for delivery of insulin to a virtual patient. 
     
     
         19 . A method for delivering insulin to a patient, the method comprising:
 sensing a glucose level and providing a glucose measurement signal representative of the sensed glucose;   providing a control signal as a function of the glucose measurement signal in accordance with a control model and a glucose measurement error model, wherein the glucose measurement error model is derived from actual glucose sensor measurement data; and   delivering insulin in response to the control signal.   
     
     
         20 . The method for delivering insulin of  claim 19 , wherein the glucose measurement error model is derived solely from actual glucose sensor measurement data. 
     
     
         21 - 35 . (canceled)