Patent Grant
11565043
The described examples provide safety constraints for a drug delivery system that provides automatic delivery of a drug based on sensor input to ensure that users do not over or under deliver medication provided automatically based on the control algorithm.
Medication delivery systems typically delivery a medication to a user based on health conditions of the user. For example, a control algorithm-based drug delivery systems can monitor a user's glucose levels, determine an appropriate level of medication, such as insulin, for the user based on the monitored medical conditions, such as glucose levels, and subsequently dispense the medication to the user. The control algorithms used in control algorithm-based drug delivery systems and other medication delivery systems generally rely on data provided by users and/or expected glucose and medication levels determined by different means, such as insulin deliveries and the provided user data. However, the provided data or expected levels may be incorrect or erroneous, which may lead to incorrect medication dosages and incorrect medication delivery schedules. Data and measurement errors may result due to many different reasons, such as user confusion (e.g., have incorrect time, input incorrect numbers, or the like), glucose sensor drift or bias (which may be due to many different factors related to the glucose sensor), errors in the medication delivery system, or the like. As a result, conventional medication delivery systems do not provide safety constraints that enable automated medication delivery systems to respond to incorrect data and measurement errors. A need therefore exists for a medication delivery system, such as an insulin management system, that includes such features as safety constraints, alerts and remedial actions.
Disclosed is a non-transitory computer readable medium embodied with programming code executable by a processor. The processor when executing the programming code is operable to perform functions, including functions to receive at regular time intervals a value of a glucose measurement via a wireless connection with a glucose monitor. The glucose measurement is performed by the glucose monitor. Future glucose values may be predicted based on prior glucose measurement values. An insulin basal delivery rate may be adjusted to be provided by a medical device based on the predicted future glucose values. Insulin may be delivered via the medical device according to the adjusted insulin basal delivery rate.
Disclosed is a method performed by a processor coupled to a glucose monitor via a wireless connection. The method includes receiving, by the processor from the glucose monitor, a number of glucose measurement values. Each glucose measurement value of the number of glucose measurement values is received at a regular time interval over a period of time and the regular time interval is less than the period of time. A number of future glucose measurement values may be predicted using at least one of the number of received glucose measurement values. It may be determined that a subsequent glucose measurement value has not been received within a next regular time interval. In response to the determination that the subsequent glucose measurement value has not arrived, a total daily insulin-based basal delivery rate may be adjusted to be provided by a medical device based on at least one of the predicted number of future glucose measurement values. Insulin may be delivered via the medical device according to the adjusted total daily insulin-based basal delivery rate.
Disclosed is another method in which a processor coupled to a medical device determines that the medical device has delivered more than a preset volume of insulin over a set amount of time. The preset volume of insulin is based on one or more of: a user input basal rate, a rate calculated by an artificial pancreas algorithm using an average daily delivery rate, a rate based on user weight and/or user age, a total daily insulin delivered, or a total daily basal delivered. In response to the determination, an amount of insulin to be delivered by the medical device as an adjusted basal dosage is adjusted based on a calculation using a volume of insulin delivered over the set amount of time and a total daily insulin to be delivered as calculated by an artificial pancreas algorithm.
Disclosed is a system that includes a medical device, a sensor and a management device. The medical device includes a pump, a reservoir configured to contain insulin, a processor and a transceiver, and the medical device is operable to deliver insulin in response to outputs from the processor. The sensor may include a transmitter, a processor and a cannula. The sensor is operable to measure blood glucose and output a blood glucose value. The management device may include a processor, a memory configured to store an artificial pancreas algorithm and a transceiver. The artificial pancreas algorithm is operable to determine times and dosages of insulin to be delivered to a user, the times and dosages may be calculated based on a user's sex, a user's age, a user's weight, a user's height, and/or on glucose levels provided by the sensor. The processor of the management device upon execution of the artificial pancreas algorithm is operable to determine an occurrence of a hypoglycemic event. In response to the determination of the occurrence of the hypoglycemic event, a glucose rate of change filter may be implemented for a predetermined period of time. The rate of change filter limits a rate of change in measured blood glucose values used by the artificial pancreas algorithm in the determination of a time for delivery of insulin and a dosage of the insulin being delivered. The processor instructs the medical device deliver the determined dosage of the insulin at the determined time for delivery.
Disclosed is yet another method including determining, by a processor of a medical management device in response to receipt of a glucose measurement value from a sensor, that a medical device has been delivering insulin below a fixed personalized basal rate for a period of time of insulin delivery history. A result of delivering insulin below a fixed personalized basal rate is a negative insulin on board value. The processor may determine that the negative insulin on board value is greater than three times a user's total daily insulin-based hourly basal value. In response to the negative insulin on board value being greater than a multiple of a user's total daily insulin-based hourly basal value, delivery of insulin by the medical device may be altered to deliver a total daily-based basal or a personalized volume of insulin. A notification message may be output requesting the user to acknowledge the altered delivery of insulin or a requirement for a new calibration value for use by the processor in calculating a calibrated amount of insulin for delivery.
Disclosed is another example of a non-transitory computer readable medium embodied with programming code executable by a processor. The processor when executing the programming code is operable to perform functions, including functions to obtain a series of glucose concentration values as measured at regular time intervals by a glucose monitor. The processor may detect a rapid rate of increase in a glucose concentration. In reaction to the detection of the rapid rate of increase in the glucose concentration, the processor may implement a response to the rapid rate of increase in the glucose concentration.
An example of another method is disclosed in which a processor coupled to a glucose sensor determines insulin delivery is not attenuating at a rate suitable to recover from a hypoglycemic event. In response to the determination, a likelihood of suspension of insulin may be increasing by either: reducing a penalty of estimated outcomes within an artificial pancreas algorithm such that a requested insulin delivery is below a user-inputted basal delivery or scaling deviations of insulin delivery that are below the user-inputted basal delivery to be proportional to the user-inputted basal delivery.
A further example of a method is disclosed in which a processor coupled to a glucose sensor determines during exercise or other activity that may induce increased hypoglycemic risk that insulin delivery is not attenuating at rate suitable to maintain glucose concentrations. In response to the determination, either the control target glucose value may be increasing to a glucose value higher than the current target glucose value or the input basal delivery may be reduced to an input basal value lower than a current input basal value.
Various examples provide safety constraints for a control algorithm-based drug delivery system, also referred to as an “artificial pancreas” algorithm-based system or more generally an artificial pancreas algorithm, that provides automatic delivery of a drug based on sensor input. For example, the artificial pancreas (AP) algorithm when executed by a processor enables a system to monitor a user's glucose levels, determine an appropriate level of insulin for the user based on the monitored glucose levels (e.g., glucose concentrations or glucose measurement values) and other information, such as user-provided information, and subsequently dispense insulin to the user. In addition, the AP algorithm utilizes the monitored glucose levels and other information to generate and send a command to a medical device, such as a pump, to control, for example, deliver a bolus dose of insulin to the user, change the amount or timing of future doses, or other controllable functions. The safety constraints described herein provide safe operation of the drug delivery system during various operational scenarios including, for example, during times when the sensor input is missing or erroneous, unexpected events such as an unplanned meal. The disclosed safety constraints mitigate under-delivery or over-delivery of the drug while not overly burdening the user of the drug delivery system and without sacrificing performance of the drug delivery system.
The medical device 102 can include a number of components to facilitate automated delivery of a drug (also referred to as a therapeutic agent) to the user. The medical device 102 can store and provide any medication or drug to the user. In various examples, the medical device 102 can be an automated, wearable insulin delivery device. For example, the medical device 102 can include a reservoir 125 for storing the drug (such as insulin), a needle or cannula for delivering the drug into the body of the user, and a pump mechanism (mech.) 124 or other drive mechanism for transferring the drug from the reservoir 125, through the needle or cannula (not shown), into the body of the user. The medical device 102 can also include a power source 128 such as a battery for supplying power to the pump mechanism 124 and/or other components (such as the processor 121, memory 123, and the communication device 126) of the medical device 102. The medical device 102 is often referred to as a pump, or an insulin pump, in reference to the operation of expelling a drug from the reservoir 125 for delivery to the user. The reservoir 125 may be configured to store insulin, morphine, or another drug suitable for automated delivery.
The medical device 102 can provide the stored therapeutic agent to the user based on information provided by the sensor 104 and/or the management device (PDM) 106. For example, the medical device 102 can also contain analog and/or digital circuitry that may be implemented as a processor 121 (or controller) for controlling the delivery of the medication. The circuitry may be used to implement the processor 121, and may include discrete, specialized logic and/or components, an application-specific integrated circuit, a microcontroller or processor that executes software instructions, firmware, programming instructions (such as artificial pancreas algorithm 129) stored in memory devices (such as memory 123), or any combination thereof. In various examples, the processor 161 can be configured to cause the pump to deliver doses of the medication to a user at predetermined intervals. For example, the processor 161 may execute a control algorithm, such as an artificial pancreas algorithm (AP Algo) 169. The size and/or timing of the doses may be programmed, for example, into an artificial pancreas algorithm 169 using a wired or wireless link by the user or by a third party (such as a health care provider, medical device manufacturer, or the like).
Instructions for determining the delivery of the medication to the user (e.g., the size and/or timing of any doses of the medication) can originate locally (e.g., based on programming instructions, such as an instance of the artificial pancreas algorithm 129, stored in the memory 123 that is coupled to the medical device 102 used to make determinations by the medical device 102) or can originate remotely and be provided to the medical device 102. Remote instructions can be provided to the medical device 102 over a wired or wireless link by the electronic device (PDM) 106, which executes the artificial pancreas algorithm 169. The medical device 102 can execute any received instructions (originating internally or from the management device 106 for the delivery of the medication to the user. In this way, under either scenario, the delivery of the medication to a user can be automated.
In various examples, the medical device 102 can communicate via a wireless link 110 with the management device 106. The management device 106 can be any electronic device such as, for example, an Apple Watch®. The management device 106 can be a wearable wireless accessory device. The wireless links 108, 110 and 112 may be any type of wireless link provided by any known wireless standard. As an example, the wireless links 108, 110 and 112 may enable communications between the medical device 102, the management device 106 and sensor 104 based on Bluetooth®, Wi-Fi®, a near-field communication standard, a cellular standard, or any other wireless optical or radio-frequency protocol.
The sensor 104 may be a glucose sensor operable to measure blood glucose and output a blood glucose value or data that is representative of a blood glucose value. For example, the sensor 104 may be a glucose monitor or a continuous glucose monitor (CGM). The sensor 104 may include a processor 141, a memory 143, a sensing/measuring device 144, and communication device 146. The communication device 146 of sensor 104 can include one or more sensing elements, an electronic transmitter, receiver, and/or transceiver for communicating with the management device 106 over a wireless link 112 or with medical device 102 over the link 108. The sensing/measuring device 144 may include one or more sensing elements, such as a glucose measurement, heart rate monitor, or the like. For example, the sensor 104 can be a continuous glucose monitor (CGM). The processor 141 may include discrete, specialized logic and/or components, an application-specific integrated circuit, a microcontroller or processor that executes software instructions, firmware, programming instructions stored in memory devices (such as memory 143), or any combination thereof. For example, the memory 143 may store an instance of an AP algorithm 149 that is executable by the processor 141. Although the sensor 104 is depicted as separate from the medical device 102, in various examples, the sensor 104 and medical device 102 may be incorporated into the same unit. That is, in various examples, the sensor 104 can be a part of the medical device 102 and contained within the same housing of the medical device 102 (e.g., the sensor 104 can be positioned within or embedded within the medical device 102). Glucose monitoring data (e.g., measured glucose values) determined by the sensor 104 can be provided to the medical device 102 and/or the management device 106 and can be used to adjust automated delivery of insulin by the medical device 102. The management device 106 can be a personal diabetes manager.
The sensor 104 can also be coupled to the user by, for example, adhesive or the like and can provide information or data on one or more medical conditions and/or physical attributes of the user. The information or data provided by the sensor 104 may be used to adjust drug delivery operations of the medical device 102. The management device 106 can be used to program or adjust operation of the medical device 102 and/or the sensor 104. The management device 106 can be any portable electronic device including, for example, a dedicated controller, such as processor 161, a smartphone, or a tablet. In an example, the management device (PDM) 106 may include a processor 161, a management device memory 163, and a communication device 164. The management device 106 may contain analog and/or digital circuitry that may be implemented as a processor 161 (or controller) for executing processes to manage a user's glucose and for controlling the delivery of the medication. The processor 161 may also be operable to execute programming code stored in the management device memory 163. For example, the management device memory 163 may be configured to store an artificial pancreas algorithm 169 that may be executed by the processor 161. The processor 161 may when executing the artificial pancreas algorithm 169 may be operable to perform various functions, such as those described with respect to the examples in the figures. The communication device 164 may be a receiver, a transmitter or a transceiver that operates according to one or more radio-frequency protocols.
The medical device 102 and the sensor 104 may communicate over a wireless link 108. The medical device 102 and the management device 106 may communicate over a wireless link 110. The sensor 104 and the management device 106 may communicate over a wireless link 112. The wireless links 108, 110, and 112 may be any type of wireless link provided by any known wireless standard. As an example, the wireless links 108, 110, and 112 can provide communication links based on Bluetooth, Wi-Fi, a near-field communication standard, a cellular standard, or any other wireless protocol via the respective communication devices 126, 146 and 164. In some examples, the medical device 102 and/or the management device 106 may include a user interface, such a keypad, a touchscreen display, buttons, a microphone, a speaker, a display or the like, that is operable to allow a user to enter information and allow the management device to output information for presentation to the user.
In various examples, the drug delivery system 100 can be an insulin drug delivery system. In various examples, the medical device 102 can be the OmniPod® (Insulet Corporation, Billerica, Mass.) insulin delivery device as described in U.S. Pat. Nos. 7,303,549, 7,137,964, or U.S. Pat. No. 6,740,059, each of which is incorporated herein by reference in its entirety.
In various examples, the drug delivery system 100 can implement the artificial pancreas (AP) algorithm (and/or provide AP functionality) to govern or control automated delivery of insulin to a user (e.g., to maintain euglycemia—a normal level of glucose in the blood). The AP algorithm can be implemented by the medical device 102 and/or the sensor 104. The AP algorithm can be used to determine the times and dosages of insulin delivery. In various examples, the AP algorithm can determine the times and dosages for delivery based on information known about the user, such as the user's sex, age, weight, or height, and/or on information gathered about a physical attribute or condition of the user (e.g., from the sensor 104). For example, the AP algorithm may determine an appropriate delivery of insulin based on glucose level monitoring of the user through the sensor 104. The AP algorithm may also allow the user to adjust insulin delivery. For example, the AP algorithm may allow the user to issue (e.g., via an input) commands to the medical device 102, such as a command to deliver an insulin bolus. In some examples, different functions of the AP algorithm may be distributed among two or more of the management device 106, the pump 102 or the sensor 104. In other examples, the different functions of the AP algorithm may be performed by one device, such the management device 106, the pump 102 or the sensor 104. In various examples, the drug delivery system 100 can operate according to or can include any of the features or functionalities of the drug delivery systems described in U.S. patent application Ser. No. 15/359,187, filed Nov. 22, 2016, which is herein incorporated by reference in its entirety.
As described herein, the drug delivery system 100 or any component thereof can be considered to provide AP functionality or to implement an AP algorithm. Accordingly, references to the AP algorithm (e.g., functionality, operations, or capabilities thereof) are made for convenience and can refer to and/or include operations and/or functionalities of the drug delivery system 100 or any constituent component thereof (e.g., the medical device 102 and/or the management device 106). The drug delivery system 100—for example, as an insulin delivery system implementing an AP algorithm—can be considered to be a drug delivery system or an AP algorithm-based delivery system that uses sensor inputs (e.g., data collected by the sensor 104).
Since the drug delivery system 100 relies on sensor input for proper operation of drug delivery, the drug delivery system 100 may impose delivery limits for safety reasons. While delivery constraints may be imposed to ensure safe automatic delivery of a drug (e.g., insulin) to the user, it may be, in some examples, desirable to not have the constraints overly reduce AP algorithm control performance or to overly burden the user. Techniques described herein enable the drug delivery system 100 to maximize user safety while optimizing glucose control performance and minimizing any additional burden or inconvenience placed on the user.
The sensor 104—for example, as a CGM—can operate with or otherwise exhibit sensor bias, drift, or other discrepancies of determined data values that could lead to over-delivery or under-delivery of a drug to the user. The techniques described herein provide safety constraints for operation of the drug delivery system 100 that include safety mitigations in case of failure of the sensor 104, errant values provided by the sensor 104, and/or missing data from the sensor 104, as well as from other risks associated with relying on the sensor 104. The techniques described herein also provide safety constraints specific to higher risk conditions such as lower glucose values and a response of the implemented AP algorithm to outside perturbations, such as rescue carbohydrates or the like.
The drug delivery system 100, in some examples, may be a wearable, automated drug delivery system that includes the medical device 102, the sensor 104, and a management device 106. In one example of a wearable, automated drug delivery system, the medical device 102 may be a wearable insulin delivery device, the management device 106 may be a handheld electronic computing device, and the sensor 104 may be a continuous glucose monitor. The management device 106 can be a mobile device or cellphone or can be a dedicated custom electronic device. As part of a wearable, automated drug delivery system, the medical device 102 and the sensor 104 may each be directly coupled to a user.
The sensor 104 can provide sensor data to the medical device 102 and/or the management device 106. The management device 106 can include a controller or processor and a memory. The memory can store instructions that can be executed by the controller or processor. The instructions can implement an “artificial pancreas” algorithm when executed. In general, the management device 106 can include a controller for determining a delivery of insulin to the user (e.g., in terms of dosage amounts and times) based on data from the sensor 104 and providing a corresponding instruction regarding the determined delivery of the insulin to the medical device 102.
In various examples, as mentioned above, the sensor 104 can be provided as part of or embedded within the wearable insulin delivery device 102. Additionally, in various examples, as mentioned above, the system 100 can include an intermediate wireless device (e.g., the management device 106) that can relay information wirelessly between the devices depicted in
In general, the system 100 can automatically monitor glucose levels of the user, automatically determine a delivery of insulin to the user based on the monitored glucose levels, and automatically provide the determined amount of insulin to the user. Each of these steps can be performed without any user input or interaction. In various examples, a user confirmation can be required before the insulin is provided to the user as discussed above. For example, when management device 106 is implemented as a cellphone, for added security, the user can be required to confirm or acknowledge the determined delivery of insulin to the user. Without receiving such confirmation, the insulin delivery may be blocked or prevented. This security feature can mitigate hacking or other cybersecurity risks.
In various examples, the drug delivery system 100 can operate such that glucose values are regularly provided by the sensor 104 to the AP algorithm executing on a processor (e.g., to the medical device 102 and/or the management device 106). For example, glucose values can be provided periodically such as, for example, approximately every 5 minutes (e.g., corresponding to a control cycle of the system 100) or the like. The medical device 102 can adjust an amount of insulin for delivery based on the received glucose values.
It may be helpful to briefly describe an operational example performed by system 100 with reference to
The process 700 of the example of
Techniques described herein provide safety constraints for the delivery of insulin based on known or unknown failures or inaccuracies of the sensor 104. Various operational scenarios and examples of response thereto by the system 100 are described herein.
In an operational example, the system 100 may react with an automatic suspension of insulin deliver when a blood glucose measurement id below a glucose threshold according to the following discussion. In the operational example, regardless of predictions made by the AP algorithm, the AP algorithm can enter an automatic suspension mode when a glucose level determined by the sensor 104 is below a threshold (e.g., below 60 mg/dL). The AP algorithm can automatically resume delivering insulin based on model prediction control (MPC) algorithms when glucose values rise above the threshold. In various examples, when hypoglycemia is detected (e.g., based on glucose levels being below a predetermined threshold), the drug delivery system 100 can stop delivery of insulin to the user. Automatically resuming delivery to the user can be provided when the glucose levels rise above the threshold. MPC algorithms—operating as part of the AP algorithm—can be used for automatic start-up.
In other operational examples, the system 100 may react with to constrain the AP algorithm to a basal below a threshold according to the following discussion. In various examples, the AP algorithm can be constrained to deliver no more than a fixed rate of insulin when glucose values are below a predetermined threshold.
As an example, a “TDI-based basal” can be calculated by multiplying the user's total daily insulin requirement, or the sum of insulin deliveries of the user for a past time period, such as 24 hours, by 0.5 (assuming that the basal would naturally be covered by half of the user's total insulin requirements per day, while the other half of the user's total insulin requirements per day is covered by insulin provided at meal time, or as a bolus), then dividing that value by 24 (i.e. number of hours in a day). For instance, if the user's TDI is 48, the user's TDI-based basal is 48*0.5/24, or 1 U/h. This gives an estimate of the total basal the user may actually need, daily, with reduced susceptibility to any erroneously user-entered basal values.
The predetermined threshold may be a fixed (e.g., hard wired) threshold, a user set threshold, or a user set threshold adjusted by a fixed (positive or negative) deviation value (e.g., the user set target glucose less a fixed 10 mg/dL adjustment). As an example, the fixed rate of insulin delivery can be roughly half of a set basal delivery when glucose levels are below the predetermined threshold.
Techniques described herein can account for sensor values provided to the AP algorithm/the drug delivery system 100 that may be incorrect or erroneous for any number of reasons by providing sensor independent safety constraints. In such instances, the system 100 may implement a glucose independent safety constraint for maximum delivery of insulin over a period of time as described below.
For example,
The AP algorithm may attenuate or suspend insulin delivery in this case but is constrained to a maximum insulin delivery.
In other instances, the system 100 may implement a glucose independent safety constraint for maximum delivery of insulin at one time as described below. In various examples, the AP algorithm can be constrained to deliver no more than a fixed volume of insulin personalized to the user over any one control cycle. For example, the AP algorithm can deliver no more than 6 times the user's basal divided in 5-minute increments (e.g., often referred to as the 6× rule), or 50% of the hourly basal rate in one algorithm delivery (e.g., basal rate of 1.2 u/hr/2=0.6 units). The fixed volume of insulin delivery can be personalized to the user and can be determined by the user's entered basal rate, a rate calculated by the AP algorithm-based on average AP algorithm-based daily delivery, a rate based on weight, age, total daily insulin delivered, total daily basal delivered, or other metrics.
In further instances, the system 100 may implement a glucose independent safety constraint to limit under delivery of insulin as described below. In various examples, the AP algorithm/the drug delivery system 100 can implement a negative insulin on board (JOB) constraint. The AP algorithm can enter a fixed rate of insulin delivery mode personalized to the user if the AP algorithm under-delivers insulin by more than a volume of insulin personalized to the user over a period of time incorporating the JOB. For example, 2.5 times the user's basal in the past 4 hours, after applying an IOB decay curve. The AP algorithm calculates the remaining IOB at each control cycle. A negative IOB determination can indicate that the algorithm has been delivering below a fixed personalized rate (i.e., basal) for a period of time of insulin delivery history. The negative IOB value can be the cumulative “under basal” delivery accounting for IOB decay.
The process 905 may continue at 955 the process 905 determines whether a user acknowledgment of request for a new calibration value has been received. In response to receipt of user acknowledgement of the altered delivery of insulin, the medical device continues the altered delivery of insulin (962). In response to receipt of the new calibration value, the processor generates the new calibration value (965) and the new calibration value is applied by the processor to calculate the calibrated amount of insulin for delivery (975).
In various examples, if this negative IOB determination is greater than 3 times the user's TDI-based hourly basal value, the AP algorithm can revert to delivering the TDI-based basal or personalized volume of insulin and inform the user of the same. User input can be required via a notification message for the user to acknowledge the system state or requirement for a new calibration value. The system 100 can deliver basal until the notification message is acknowledged or the calibration entered. Further, the system 100 can resume operating in a manner prior to the negative IOB determination in response to a user acknowledgement and/or performance of a calibration of sensor 104, which in this example, may be a continuous glucose monitor (CGM).
Disclosed are examples that relate to determining and resolving communication issues, such as those between any of a sensor, such as 104, and a pump 102 and/or a management device, such as 106 in a drug delivery system, such as that described with reference to
In a further example, the insulin may be delivered via the medical device according to the adjusted total daily insulin-based basal delivery rate for a trusted prediction period of time. In the further example, the processor may further determine to suspend delivery of insulin in response to a last-received glucose measurement value being within a particular range of previous glucose measurement values and the trusted prediction period of time spanned a duration of time corresponding to a predetermined number of regular time intervals. The time period during which delivery of insulin is to be suspended may be determined based on a value of the last-received glucose measurement value falling within a particular range of a plurality of ranges of glucose measurement values. In response, a time period for suspending the delivery of insulin may be selected from a number of pre-set time periods, and the processor may suspend deliver of insulin for the selected time period.
Alternatively, the medical device may deliver the insulin using the prior predicted future glucose values (and corresponding insulin dosage values) for an allowed “trusted prediction” period of time. In yet another example, the insulin delivery can continue if the last received value from the sensor 104 was above a threshold and is predicted to deliver above a baseline rate of insulin, and predictions can be used for 15 minutes or longer.
If the values from the sensor 104 do not resume before the trusted prediction period of time ends, then the AP algorithm response may depend on the last received value (or values) from the sensor 104 and the predictions based thereon by the AP algorithm. In various examples, the AP algorithm can respond with insulin delivery and possibly a notification to the user via the management device 106, for example, according to the following table:
In various examples, each cycle (e.g., control cycle) referred to above can be of any duration including, but not limited to, approximately 5 minutes, 8 minutes or the like.
In various examples, the AP algorithm may permanently or temporarily attenuate the extended portion of an extended bolus in response to glucose level alone, glucose level and AP algorithm predictions, or AP algorithm predictions alone. In various examples, the AP algorithm may automatically cancel an extended portion of an extended bolus in response to glucose levels alone, glucose levels and AP algorithm predictions, or AP algorithm predictions alone. The extended portion of the extended bolus may be applied to correction or meal IOB for future automated or manual insulin dosing decisions. If applied to correction IOB, the AP algorithm may be more conservative in low glycemia. If applied to correction IOB, the AP algorithm may be more conservative in high glycemia.
In other instances, the system 100 may limit the system's response to a hypoglycemic event response such as ingesting rescue carbohydrates as described below. For example, in the case where the user experiences a hypoglycemic event (e.g., glucose concentration is below a 70 mg/dL hypoglycemic threshold), the user may act by ingesting fast acting carbohydrates to quickly increase the user's blood glucose. This is an unannounced meal to the system 100 which has the potential to be viewed by the system 100 as a very rapid increase in glucose. In response, the system 100 may respond by delivering additional insulin to compensate for these carbohydrates. However, this may not be a preferred response as the carbohydrates were taken specifically to increase the glucose levels of the user and the user may not want to receive insulin to counteract these carbohydrates.
In an example, the processor, by executing programming code stored in a memory, may perform a function to determine, based on a measurement provided by a glucose monitor (such as sensor 104 of
For example, techniques for detecting such a scenario (e.g., the system 100 detecting an ingestion of fast acting carbohydrates to address a hypoglycemic event) are described herein and may include the following detection techniques: 1) Detection of a rapid rate of increase in glucose concentrations beyond a certain threshold (e.g., 2 mg/dL per minute); 2) Detection of a rapid rate of increase in glucose concentration across a certain series of glucose concentration values when the first value of the series is below a first threshold (e.g., detecting a rapid rate of change as in (1) when the first value of the series is below the hypoglycemic threshold of 70 mg/dL); 3) Detection of a rapid rate of increase in glucose concentration when any value of the series is below a second threshold (e.g., detecting a rapid rate of change as in (1) when any value in the series is below the system target glucose of 120 mg/dL); and/or 4) Detection of a rapid change in the second derivative (e.g., acceleration) of the glucose concentration higher than a predetermined threshold (e.g., finding a significant change in the rate of change of glucose concentrations across any number of points—e.g., from a glucose concentration decrease of 2 mg/dL per minute to an increase of 2 mg/dL per minute).
For example, in response to detecting (using, for example, the above the detection techniques) a rapid rate of increase in glucose concentration that is indicative of the ingestion of fast acting carbohydrates to address a hypoglycemic event, a response to detection of the ingestion of fast acting carbohydrates to address a hypoglycemic event (e.g., by the system 100) may be implemented (1030). In an example, a processor within system 100, upon executing the programming code, may be operable to perform functions when implementing a response to the rapid rate of increase in the glucose concentration such as those described below. Examples of techniques implemented by the system via the processor executing programming code may implement a response the detection of the ingestion of fast acting carbohydrates (based on the rapid rate of increase in glucose concentration) in response to the rapid rate of increase in the glucose concentration are described below and may include one or more of the following:
i. Limit the AP algorithm recommended delivery to a delivery maximum personalized to the user (e.g., no greater than basal) for a specified duration of time (e.g., 25 minutes) after the event.
ii. Limit the AP algorithm recommended delivery to a delivery maximum personalized to the user (e.g., no greater than basal) until a rate of change decreases below a predetermined threshold after a hypoglycemic event.
iii. Limit the AP algorithm recommended delivery to a delivery maximum personalized to the user (e.g., no greater than basal) until the glucose is above a predetermined threshold after a hypoglycemic event.
iv. Limit the AP algorithm delivery of insulin with any combination of techniques i., ii., or iii.
v. Reduce the AP algorithm gain, cost function, and/or aggressiveness for a predetermined period of time after the hypoglycemic event. The AP algorithm gain, for example, may be the model gain, which is an indication of how much a user's glucose will change per unit of insulin. A cost function may, for example, be a measure of the excursion of the glucose error value from the set point. The set point may be, for example, a target glucose value (e.g., 113 mg/dL), which may be, in the example, a setting within a range of approximately 110-120 mg/dL, or the like. In general, the further away a glucose measurement value is (either higher or lower) from the target glucose value, the higher the cost value generated by the cost function, while a glucose measurement value closer to the target glucose value has a lower cost value. In an example, the cost function may be related to deviations in the measured glucose and expected glucose and/or deviations in an expected amount of insulin and the basal insulin amount. Aggressive may be related to the responsiveness of the AP algorithm to deviations in the cost function. Aggressiveness may be viewed as how quickly the AP algorithm aims to reduce the cost function and drive the glucose measurement value to the set point. A high aggressive setting may attempt to drive the glucose measurement value to the set point quickly, while a low aggressive setting may correct the glucose value more smoothly.
vi. Reduce the AP algorithm gain, cost function, and/or aggressiveness until the glucose is above a predetermined threshold after a hypoglycemic event.
vii. Reduce the AP algorithm gain, cost function, and/or aggressiveness until the rate of change decreases below a predetermined threshold after a hypoglycemic event.
viii. Limit the AP algorithm delivery of insulin with any combination of techniques v, vi, or vii.
ix. Implement a glucose rate of change filter for a predetermined period of time following a hypoglycemic event.
x. Implement a glucose rate of change filter following a hypoglycemic event until the rate of change decreases below a predetermined threshold.
xi. Implement a glucose rate of change filter following a hypoglycemic event until the glucose is above a predetermined threshold.
xii. Implement a glucose rate of change filter at all times.
xiii. The rate of change filter may be for both positive and negative rate of change or a positive rate of change only.
xiv. Implement a glucose rate of change filter using any combination of techniques ix, x, xi, xii, or xiii.
xv. The system 100 can set a reduced target blood glucose value that can be used for dosing calculations for a predetermined period of time following a hypoglycemic event.
xvi. The system 100 can set a reduced target blood glucose value that can be used for dosing calculations until a glucose rate of change decreases below a predetermined threshold after a hypoglycemic event.
xvii. The system 100 can set a reduced target blood glucose value that can be used for dosing calculations until the glucose is above a predetermined threshold.
xviii. The system 100 can set a reduced target blood glucose value for any combination of techniques xv, xvi, or xvii above.
All aforementioned predetermined thresholds may be user-defined, fixed, adapted over time using AP algorithm parameters, or personalized to the user based on TDI or a TDI derivative. In addition, other responses, such as reducing a temporary basal rate that is used for dosing calculations are described in more detail with reference to other examples.
Returning to the system example of
In an example, the management device processor 161 may determine an occurrence of a hypoglycemic event. In response to the determination of the occurrence of the hypoglycemic event, the management device processor may implement a glucose rate of change filter for a predetermined period of time. The glucose rate of change filter may limit a rate of change in measured blood glucose values used by the artificial pancreas algorithm in the determination of a time for delivery of insulin and a dosage of the insulin being delivered. The management device processor may instruct the medical device via wireless link 110 to deliver the determined dosage of the insulin at the determined time for delivery. The management device processor 161 may limit a duration of time for implementation of the glucose rate of change filter by applying one or more limitations, including: a time when a measured glucose value first went below a predetermined threshold related to the hypoglycemic event, from a time that a measured glucose value comes above another predetermined threshold after the occurrence of the hypoglycemic event, until the glucose rate of change decreases below a further predetermined threshold, or until the glucose is above an additional predetermined threshold.
The management device processor 161 may be further operable to apply the glucose rate of change filter at one of: at all times, when both a positive and a negative glucose rate of change are determined, or only when a positive glucose rate of change is determined.
In another example, the management device processor 161 upon execution of the artificial pancreas algorithm is further operable to perform one of: change from closed loop operation modes to open loop operation mode; constrain a maximum insulin delivery according to a basal delivery rate personalized for a user for a set period of time after detection or until an event is over, wherein the event is an event different from the hypoglycemic event; deliver a set personalized basal rate for a set period of time after detection or until the hypoglycemic event is over; limit the rate of change as used by the processor for a set period of time after detection or until the event is over; or the rate of change filter is applied to limit the response by the artificial pancreas algorithm at all times or following a hypoglycemic event.
In some scenarios, insulin delivery may not be attenuated as rapidly as desired (e.g., at a rate suitable to recover), for example, in case of the occurrence of, or the impending occurrence of, a hypoglycemic event. For example, the system 100 may attenuate insulin delivery at or below the quantity of insulin the user may receive without the system 100 if the user's glucose value is below a threshold or is trending to being reduced below a threshold. However, there may be a risk that the system 100 may not attenuate insulin delivery as rapidly as desired, leading the processor, for example, to cause the medical device to deliver insulin even when the user has an impending hypoglycemic risk.
For example, the processor may address this slower attenuation utilizing the foregoing techniques that modify the processor reaction via the AP algorithm and the described safety constraints executed by the processor. At 1120, the processor may address such a scenario in the following manner:
a. In various examples, calculations made by the artificial pancreas algorithm may increase the likelihood of suspension of insulin by reducing the penalty of estimated outcomes where the insulin delivery request is below a user-inputted basal delivery; or
b. In various examples, calculations made by the artificial pancreas algorithm may increase the likelihood of suspension of insulin by scaling the deviations of insulin delivery below the user input basal to be proportional to the user-inputted basal delivery.
In other examples, the system 100 may manage other scenarios in which insulin delivery is not being attenuated during exercise or other activity that may induce increased hypoglycemic risk using a number of techniques. For example, the system 100 can attenuate insulin delivery when an external disturbance to the system 100 such as exercise or an activity causes reduction in glucose concentrations and increase in hypoglycemic risk. The system 100 may automatically detect this external disturbance. Alternatively, the external disturbance may be announced or indicated to the system 100 by a user (e.g., through a user interface on the medical device 102 and/or the management device 106 (not shown)).
In some examples, the system 100 may not have sufficient insulin history related to the user. In response, insulin delivery history data and glucose value history data can be used by the system 100 to operate effectively within a closed loop mode of operation. If there is no known insulin history when in closed loop mode, then there may be a risk that the user has IOB and the AP algorithm may deliver more insulin than necessary. Techniques herein can address such a scenario where the system 100 may not have sufficient historical operating data.
In various examples, if the system 100 does not have sufficient glucose history when starting closed loop operation, the system 100 may respond in one of the following ways:
I. Prompt the user with a query of whether non-basal insulin was delivered in a previous duration of time. If the answer is yes, limit the AP algorithm maximum delivery of insulin to a predetermined value for a set amount of time (e.g., limit delivery to 1.5 times the user's basal for 2 hours);
II. Request a user response to a query of whether a non-basal insulin dose was delivered within a previous duration of time. If the answer is yes (i.e., an affirmative response), have the user enter in the amount of insulin delivered and optionally also the time it was taken. Using this information, the user's IOB can be calculated and provided to the AP algorithm to safely deliver insulin. The IOB may be used by a predictive algorithm or directly limit the amount of insulin to be delivered while the IOB remains; or
III. Limit the maximum delivery by the AP algorithm to a predetermined value (such as for example 100-120 mg/dL) for a set amount of time if there is not sufficient insulin history when starting into closed loop mode.
Returning to the system example of
For example, the management device processor 161 may determine, upon starting closed loop operation of the artificial pancreas algorithm, that sufficient glucose history is unavailable (i.e., the glucose history is insufficient) for use by the artificial pancreas algorithm. In response to the determination sufficient glucose history is unavailable, the management device processor may request the user enter into the management device an amount of insulin delivered. The request may also include a request for a time when, or an estimated elapsed time since, the insulin was delivered. In response to receiving an amount of insulin delivered, a user's insulin on board may be calculated based on the amount of insulin delivered. Optionally, if the time when the insulin was delivered or the estimated elapsed time since the insulin was delivered is provided, these respective time or elapsed time may be included in the calculation. For example, the management device processor may be operable to determine elapsed time if only the time when the insulin was delivered is provided. The management device processor may use the calculated user's insulin on board to determine utilizing a user-personalized insulin decay curve when the user's calculated insulin on board is to fall below a predetermined threshold. Alternatively, the management device processor may, in response to the determination sufficient glucose history is unavailable, either limit maximum delivery of insulin to a predetermined value for a set amount of time or request a user response to a query of whether a non-basal insulin dose was delivered within a previous duration of time.
In some examples, the AP algorithm/system setpoint changes in response to various inputs or events (e.g., exercise or eating a meal). The system 100 can operate to maintain a user at a specific target, or setpoint (e.g., desired glucose level). In various examples, the system 100 may allow the user to set or change the setpoint of the system 100 under certain scenarios or for certain instances. In various examples, the system 100 may allow the user to set or change the setpoint of the system 100 temporarily for a user defined amount of time, after expiration of which the system 100 can revert to the previous target.
In various examples, the setpoint may be defined as a profile with different setpoints being set for different time segments of the day. The target blood glucose level may change automatically at each time segment. In various examples, in the case of a setpoint change, the system 100 may respond abruptly to the step change and deliver too much or too little insulin. To prevent the system 100 from responding to the step change, the prediction by the AP algorithm can be shifted by the amount of the target change. This can prevent the prediction from being impacted by the step change in target.
In some examples, safety constraints implemented via the AP algorithm may enable the AP algorithm to respond to sensor aberrations—noise and value step changes—such as those represented in
In various examples, upon detection of any of the above listed events A-E, the system 100 may respond in any of the following ways: AA) The AP algorithm may change modes such as changing from closed loop operation to open loop operation; BB) Constrain the system 100 to a maximum delivery personalized to the user (e.g., basal) for a set period of time after detection or until the event (i.e., one of listed events A-E above) is over; CC) Deliver a set personalized rate (e.g., basal rate) for a set period of time after detection or until the event is over; DD) The AP algorithm may limit the rate of change as used by the system 100 for a set period of time after detection or until the event is over, or EE) A rate of change filter may be implemented to limit the response by the AP algorithm at all times or following a hypoglycemic event.
Safety constraints as applied to the AP algorithm and executed by a processor in system 100 may control system responses to sensor calibrations, particularly when the sensor is a continuous glucose monitor. For example, under certain situations where sensor calibrations may be required, there may be a resulting step change in a sensor value. In response, the system 100 may deliver a drug in response to such a step change. For example, the current state of the system 100 upon which a prediction can be based can depend on the input sensor values at each control step. These sensor values can be dependent on user-input reference calibration values (e.g., finger-sticks), and may change significantly if there is a significant discrepancy between the sensor readings and the finger-stick values used for calibration.
These rapid changes in sensor values can introduce an artificial step-change in the glucose trajectory (e.g., a calibration jump as shown in
In various examples, this reinitialization may be implemented for positive and negative step changes. In various examples, this reinitialization may be limited to positive step change in the blood glucose values due to calibration only, as a negative step change in blood glucose values may induce a reduction or suspension in insulin delivery for a few cycles which may be acceptable.
For example, in system 100 of
In some examples, prior to modifying the adjusted insulin basal delivery rate based on the identified discrepancy, the processor may calibrate the glucose monitor based on the identified discrepancy. The processor may further determine the identified discrepancy is a positive step change in an amount of insulin being delivered. A positive step change may be, for example, an increase in a delivered amount of insulin. In response to the identified discrepancy being a positive step change, the processor may obtain a current, new blood glucose measurement value from the calibrated glucose monitor. After obtaining the current new blood glucose measurement value, the processor may use the current, new blood glucose value to modify the adjusted insulin basal delivery rate based on the identified discrepancy. Alternatively, the identified discrepancy may be determined to be a negative step change, which is a decrease in a delivered amount of insulin. In response to the identified discrepancy being a negative step change, the processor may provide an instruction to suspend delivery of insulin for a predetermined amount of time prior to modifying the adjusted insulin basal delivery rate based on the identified discrepancy.
The techniques described herein for providing safety constraints for a drug delivery system (e.g., the system 100 or any component thereof) can be implemented in hardware, software, or any combination thereof. For example, the system 100 or any component thereof can be implemented in hardware, software, or any combination thereof. Software related implementations of the techniques described herein can include, but are not limited to, firmware, application specific software, or any other type of computer readable instructions that can be executed by one or more processors. Hardware related implementations of the techniques described herein can include, but are not limited to, integrated circuits (ICs), application specific ICs (ASICs), field programmable arrays (FPGAs), and/or programmable logic devices (PLDs). In some embodiments, the techniques described herein, and/or any system or constituent component described herein can be implemented with a processor executing computer readable instructions stored on one or more memory components.
Some embodiments of the disclosed device may be implemented, for example, using a storage medium, a computer-readable medium or an article of manufacture which may store an instruction or a set of instructions that, if executed by a machine (i.e., processor or microcontroller), may cause the machine to perform a method and/or operation in accordance with embodiments of the disclosure. Such a machine may include, for example, any suitable processing platform, computing platform, computing device, processing device, computing system, processing system, computer, processor, or the like, and may be implemented using any suitable combination of hardware and/or software. The computer-readable medium or article may include, for example, any suitable type of memory unit, memory device, memory article, memory medium, storage device, storage article, storage medium and/or storage unit, for example, memory (including non-transitory memory), removable or non-removable media, erasable or non-erasable media, writeable or re-writeable media, digital or analog media, hard disk, floppy disk, Compact Disk Read Only Memory (CD-ROM), Compact Disk Recordable (CD-R), Compact Disk Rewriteable (CD-RW), optical disk, magnetic media, magneto-optical media, removable memory cards or disks, various types of Digital Versatile Disk (DVD), a tape, a cassette, or the like. The instructions may include any suitable type of code, such as source code, compiled code, interpreted code, executable code, static code, dynamic code, encrypted code, programming code, and the like, implemented using any suitable high-level, low-level, object-oriented, visual, compiled and/or interpreted programming language. The non-transitory computer readable medium embodied programming code may cause a processor when executing the programming code to perform functions, such as those described herein.
Certain examples, or embodiments, of the present disclosure were described above. It is, however, expressly noted that the present disclosure is not limited to those embodiments, but rather the intention is that additions and modifications to what was expressly described herein are also included within the scope of the disclosed examples. Moreover, it is to be understood that the features of the various examples described herein were not mutually exclusive and can exist in various combinations and permutations, even if such combinations or permutations were not made express herein, without departing from the spirit and scope of the disclosed examples. In fact, variations, modifications, and other implementations of what was described herein will occur to those of ordinary skill in the art without departing from the spirit and the scope of the disclosed examples. As such, the disclosed examples are not to be defined only by the preceding illustrative description.
This application claims priority to U.S. Provisional Patent Application No. 62/667,118, filed on May 4, 2018, the entire contents of which are hereby incorporated by reference.
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| Number | Date | Country | |
|---|---|---|---|
| 20190336683 A1 | Nov 2019 | US |
| Number | Date | Country | |
|---|---|---|---|
| 62667118 | May 2018 | US |
