Patent Description:
Hemodialysis is a treatment used to support a patient with insufficient renal function. During hemodialysis, a patient's blood is passed through a dialyzer of a dialysis machine while also passing a dialysis solution or dialysate through the dialyzer. Dialyzers include a housing and a semi-permeable membrane contained within the housing of the dialyzer. The semi-permeable membrane separates the blood from the dialysate within the dialyzer and allows diffusion and osmosis exchanges to take place between the dialysate and the blood stream. An arterial blood line is typically connected at one end to the dialyzer and at the opposite end to a patient to carry the blood from the patient to the dialyzer during hemodialysis. A venous blood line is typically connected at one end to the dialyzer and at the opposite end to the patient to carry the filtered blood from the dialyzer back to the patient during hemodialysis.

<CIT> describes a device and a method for monitoring access to a patient for a device by means of which a liquid is withdrawn from the patient and/or supplied to the patient via a flexible line, in particular for monitoring vessel access during extracorporeal blood treatment, in which blood of a patient is withdrawn from the patient via a flexible arterial line having an arterial puncture cannula and supplied to the patient via a flexible venous line having a venous puncture cannula.

<CIT> describes a device for detecting a tip part of a puncture needle attached on a tubular member's tip to make liquid pass through having changed from a predetermined puncture state in which the tip part of the puncture needle is inserted into a patient's puncture region to a needle removal state. The device includes: a first marker positioned at the puncture needle's exposed part that is exposed in the puncture state or the tubular member's tip; an imaging device for collecting positional relation between the patient's predetermined region and the first marker, as image data; an image data processing device that compares previously stored reference image data in the predetermined puncture state with image data collected at the time of liquid passing through and acquires a difference amount between the positional relation between the patient's predetermined region and the first marker in the predetermined puncture state and positional relation at the time of the liquid passing through; and a reporting device for performing reporting when the difference amount has exceeded a preset threshold.

<CIT> describes a device for holding a dialyzer, a plasma filter or an adsorber, for blood treatment, to a system having such a device. A storage device is configured to rotatably mount the disposable article, and a drive device is configured to rotate the rotatably mounted disposable article about a longitudinal axis which extends substantially in one direction, in which blood flows through the disposable article during operation of the disposable article.

In one aspect of the invention, a blood treatment machine is as defined in claims <NUM> to <NUM>.

The blood treatment machine can be part of a blood treatment system as defined in claims <NUM>-<NUM>, which includes a dialyzer configured to be coupled to the blood treatment machine, a blood line having a first end configured to be connected to the dialyzer and a second end configured to be connected to a needle for insertion into a patient, and one or more sensors operable to transmit, to the blood treatment machine, data related to tension along the blood line. The blood treatment machine is configured to take action in response to the data received from the one or more sensors.

Embodiments can include one or more of the following features in any combination.

In certain embodiments, the blood treatment machine includes a treatment module including a structure for coupling with the dialyzer, a blood treatment machine console configured to control the treatment module, and an arm coupled to and extending between the treatment module and the blood treatment machine console. The blood treatment machine console is configured to control movement of the arm to automatically reposition the treatment module in response to the data received from the one or more sensors.

In some embodiments, the arm is configured to move the treatment module in a direction determined, based on the data related to tension along the blood line, to prevent disconnection of the blood line from the dialyzer or dislodgement of the needle from the patient.

In certain embodiments, the one or more sensors are configured to wirelessly transmit the data related to tension along the blood line to the blood treatment machine console.

In some embodiments, the arm includes one or more adjustable joints by which the arm can be articulated into multiple differing positions relative to the blood treatment machine console. In certain embodiments, the arm is configured to be manually articulated into multiple differing positions relative to the blood treatment machine console.

In some embodiments, the one or more sensors are configured to detect strain along the blood line.

In certain embodiments, the one or more sensors are attached to a treatment module of the blood treatment machine, and each of the one or more sensors is in contact with the blood line.

In some embodiments, at least one of the one or more sensors is coupled to the treatment module.

In certain embodiments, at least one of the one or more sensors is positioned along the blood line proximate a patient end of the blood line.

In some embodiments, the one or more sensors are embedded within the blood line.

In certain embodiments, at least one of the one or more sensors is coupled to a joint of an arm that extends from and is coupled to a treatment module of the blood treatment machine.

In some embodiments, the one or more sensors are configured to detect a position of a portion of the blood line.

In certain embodiments, the one or more sensors include one or more accelerometers coupled to the blood line.

In some embodiments, the one or more sensors include one or more image sensors configured to detect the position of the portion of the blood line.

In certain embodiments, the one or more sensors are configured to detect a position of a patient connected to the blood line.

In some embodiments, the one or more sensors include an image sensor configured to detect light reflected by a reflective material.

In certain embodiments, the blood treatment system further includes a device that includes the reflective material, the device being configured to be positioned on an arm of the patient proximate the blood line.

In some embodiments, the one or more sensors include an image sensor configured to track movement of an arm of the patient.

In certain embodiments, moving the blood treatment module includes controlling a robotic arm coupled to the blood treatment module to reposition the blood treatment module.

In some embodiments, moving the blood treatment module includes extending the robotic arm towards the patient to generate slack in the blood line.

In certain embodiments, moving the blood treatment module includes moving the blood treatment module in a direction that reduces tension in the blood line.

In some embodiments, moving the blood treatment module includes moving the blood treatment module in three dimensions.

In certain embodiments, moving the blood treatment module includes moving the blood treatment module at a speed determined based on the signal indicating the status of the blood line.

In some embodiments, the signal indicates strain along the blood line.

In certain embodiments, the method further includes following receiving the signal indicating strain along the blood line and before moving the blood treatment module, receiving a second signal indicating a decreased strain in the blood line; and in response to receiving the second signal, controlling a blood pump fluidly coupled to the blood line to cease pumping.

In some embodiments, the method further includes in response to receiving the second signal, transmitting an alert indicating disconnection of the blood line or dislodgement of the needle.

In certain embodiments, the method further includes after moving the blood treatment module, receiving a second signal indicating a change in strain in the blood line below a threshold amount; and in response to receiving the second signal, transmitting an alert indicating a snag in the blood line.

In some embodiments, the signal indicates a strain in the blood line above a threshold strain.

In certain embodiments, the signal indicates a position of an arm of the patient connected to the blood line.

In some embodiments, moving the blood treatment module includes moving the blood treatment module towards the detected position of the arm of the patient.

In certain embodiments, wherein the signal indicates a position of a patient end of the blood line.

In some embodiments, moving the blood treatment module includes moving the blood treatment module towards the detected position of the patient end of the blood line.

In certain embodiments, the method further includes receiving a signal indicating completion of a dialysis treatment; and in response to receiving the signal indicating completion of the dialysis treatment, moving the blood treatment module to a predetermined position.

Advantages of the systems, devices, and methods described herein can include reduced risk of disconnection of blood lines from a dialyzer of a blood treatment machine during hemodialysis treatment. In addition, the systems, devices, and methods described herein can reduce the risk of dislodgement of needles connected to the blood lines from the patient during treatment. For example, by using sensors to detect strain within one or more of the blood lines attached to a patient and to a dialyzer during hemodialysis treatment, the position of a treatment module coupled to the dialyzer can be dynamically adjusted to reduce tension along the blood lines, which reduces the risk of disconnection of the blood lines from the dialyzer and/or dislodgement of needles from the patient. In addition, by using a system of sensors to detect strain in the blood lines and a robotic arm operable to dynamically adjust the position of the treatment module in response to detected strain, the blood lines can be quite short compared to blood lines used in conventional blood treatment systems. This reduction in blood line length reduces the cost of the blood lines, as well as reduces the volume of blood outside the body of the patient, which provides for improved control of patient blood pressure and reduced risk of complications related to reduced blood volume. In addition, by enabling the use of shorter blood lines, the systems and methods described herein reduce the risk of snags along the blood lines, which further reduces the risk of dislodgement of needles from the patient or disconnection of the blood lines from the dialyzer.

Other aspects, features, and advantages of the invention will be apparent from the description and drawings, and from the claims.

With reference to <FIG>, a patient <NUM> is depicted as receiving an extracorporeal blood treatment using a blood treatment system <NUM> that includes a disposable set connected to a blood treatment machine <NUM>. The disposable set includes a dialyzer <NUM> that is coupled to a treatment module <NUM> of the blood treatment machine <NUM>. The system <NUM> can be used to provide one or more types of treatment to the patient <NUM>, including hemodialysis (HD), hemodiafiltration (HDF), or some other type of blood treatment. For such treatments, blood is withdrawn from the patient <NUM> via an arterial line <NUM> and, after passing through the dialyzer <NUM>, treated blood is returned to the patient <NUM> via a venous line <NUM>. The patient <NUM> is connected to the arterial line <NUM> and venous line <NUM> using needles <NUM> and <NUM>, respectively. The dialyzer <NUM>, arterial line <NUM>, venous line <NUM>, and needles <NUM>, <NUM> are single-use disposable items, whereas the blood treatment machine <NUM> is a durable reusable system. In some cases, a single dialyzer <NUM> may be reused two or more times for a particular individual patient.

In addition to the treatment module <NUM>, the blood treatment machine <NUM> includes a blood treatment machine console <NUM> and an arm <NUM> that connects the treatment module <NUM> to the blood treatment machine console <NUM>. The blood treatment machine <NUM> can be used in both outpatient treatment centers and home settings. The blood treatment machine console <NUM> includes a user interface <NUM>, a control system, facilities for making dialysate, and the like.

A first end of the arm <NUM> of the blood treatment machine <NUM> is coupled to and extends from the blood treatment machine console <NUM> and a second end of the arm <NUM> is coupled to the treatment module <NUM>. As such, the treatment module <NUM> is cantilevered from the blood treatment machine console <NUM> by the arm <NUM>. The arm <NUM> is coupled to the blood treatment machine console <NUM> and the treatment module <NUM> using any suitable mechanical fasteners, including, but not limited to, screws and bolts.

The arm <NUM> includes one or more adjustable joints that enable the arm <NUM> to be manually articulated to position the treatment module <NUM> in various positions/orientations relative to the blood treatment machine console <NUM> and/or relative to the patient <NUM>. For example (as depicted in <FIG>), the arm <NUM> can be extended so that the treatment module <NUM> is positioned close to the patient <NUM>. In some cases the adjustable joints of the arm <NUM> enable three dimensional movement such that the arm <NUM> can be extended and retracted, as well as move the treatment module <NUM> up and down and side to side. As such, the arm <NUM> is fully articulated with three degrees of freedom. Accordingly, the arterial line <NUM> and the venous line <NUM> (also referred to as blood lines <NUM>, <NUM>) can be quite short as compared to blood lines used with most conventional blood treatment systems. For example, in some embodiments, the arterial line <NUM> and the venous line <NUM> have a length less than one meter (e.g., less than <NUM>, less than <NUM>, less than <NUM>, less than <NUM>, less than <NUM>, less than <NUM>, less than <NUM>, or less than <NUM>).

In some implementations, the arm <NUM> is configured to allow the treatment module <NUM> to be tilted upwards or downwards on the end of the arm <NUM>. For example, the treatment module <NUM> may be tilted about the end of the arm <NUM> to allow an operator of the blood treatment machine <NUM> to have improved access to the treatment module <NUM>.

As depicted in <FIG>, the blood treatment system <NUM> also includes an arterial line sensor <NUM> and a venous line sensor <NUM>. The sensors <NUM>, <NUM> are each positioned on and electrically coupled to the treatment module <NUM>. As shown in <FIG>, the arterial line sensor <NUM> is coupled to the treatment module <NUM> and positioned on the treatment module <NUM> such that when the arterial line <NUM> is connected to the dialyzer <NUM>, the arterial line sensor <NUM> is in physical contact with the arterial line <NUM>. Similarly, the venous line sensor <NUM> is coupled to the treatment module <NUM> and is positioned on the treatment module <NUM> such that when the venous line <NUM> is connected to the dialyzer <NUM>, the venous line sensor <NUM> is in physical contact with the venous line <NUM>.

The arterial line sensor <NUM> and venous line sensor <NUM> are each configured to detect tension along a respective blood line <NUM>, <NUM>. For example, the arterial line sensor <NUM> detects strain along the arterial line <NUM> when the arterial line <NUM> is in contact with the arterial line sensor <NUM> while the venous line sensor <NUM> detects strain along the venous line <NUM> when the venous line <NUM> is in contact with the venous line sensor <NUM>. The sensors <NUM>, <NUM> can include any suitable type of sensor for detecting strain including, but not limited to, strain gauges, resistors, load cells, etc..

The strain detected by the sensors <NUM>, <NUM> along the arterial line <NUM> and the venous line <NUM> can be transmitted by the sensors <NUM>, <NUM> to the blood treatment machine console <NUM>. For example, the sensors <NUM>, <NUM> can be electrically wired to the treatment module <NUM> to communicate signals indicating the detected strain to the treatment module <NUM>, and the treatment module <NUM> can be electrically wired to, or otherwise communicably coupled with, the blood treatment machine console <NUM> and can transmit the signal received from the sensors <NUM>, <NUM> to the blood treatment machine console <NUM>. In some implementations, the sensors <NUM>, <NUM> are electrically wired directly to the blood treatment machine console <NUM> to communicate signals indicating the detected strain to the blood treatment machine console <NUM>. In some implementations, for example, the sensors <NUM>, <NUM> are wireless sensors configured to wirelessly communicate signals indicating the detected strain to the blood treatment machine console <NUM> (e.g., via Bluetooth or WiFi). As will be described in further detail herein, the blood treatment machine console <NUM> can control the arm <NUM> to reposition the treatment module <NUM> in a position that reduces the strain detected along blood lines <NUM>, <NUM> detected by the sensors <NUM>, <NUM>.

<FIG> is a schematic diagram of the dialyzer <NUM>. As depicted in <FIG>, the housing <NUM> of the dialyzer <NUM> includes a first end cap <NUM>, a second end cap <NUM>, and a middle housing portion <NUM> that extends between the first end cap <NUM> and the second end cap <NUM>. The middle housing portion <NUM> contains the majority of the length of a bundle of hollow fibers <NUM>. As depicted in <FIG>, the arterial line <NUM> is connected to the first end cap <NUM> of the dialyzer <NUM> and the venous line <NUM> is connected to the second end cap <NUM> of the dialyzer <NUM>.

Still referring to <FIG>, the first end cap <NUM> includes a pump housing <NUM>. A rotatable centrifugal pump rotor <NUM> is enclosed or encased within the pump housing <NUM>. Accordingly, the pump rotor <NUM> is contained at a fixed position relative to the bundle of hollow fibers <NUM>. The pump rotor <NUM> is operated and controlled by interfacing with a controller <NUM> of the blood treatment machine <NUM>. That is, the pump rotor <NUM> can be levitated and rotated by magnetic fields that are caused to emanate from the pump drive unit during use. The depicted embodiment includes an arterial pressure detection chamber <NUM> and a venous pressure detection chamber <NUM>. The pressure detection chambers <NUM> and <NUM> are each configured to interface with a respective pressure transducer of the treatment module <NUM>.

The dialyzer <NUM> is configured to receive blood from the patient <NUM>, and to direct the blood to flow through the housing <NUM> of the dialyzer <NUM>. For example, blood flows into the first end cap <NUM> via the arterial line <NUM> (shown in <FIG>). The fluid flow path entering the first end cap <NUM> is transverse to a longitudinal axis of the dialyzer <NUM>. The blood flow path transitions to parallel to the longitudinal axis of the dialyzer <NUM> to deliver the blood to the pump rotor <NUM>. The blood is directed to a center of the pump rotor <NUM>. Rotations of the centrifugal pump rotor <NUM> force the blood radially outward from the pump rotor <NUM>. Then, after flowing radially outward from the pump rotor <NUM>, the blood turns and flows longitudinally toward the middle housing portion <NUM>. The blood enters the lumens of the bundle of hollow fibers <NUM> and continues flowing longitudinally toward the second end cap <NUM>. After passing through the middle housing portion <NUM>, the blood exits the bundle of hollow fibers <NUM>, enters the second end cap <NUM>, and flows transversely out of the second end cap <NUM> via the venous line <NUM>.

The dialyzer <NUM> is also configured to receive dialysate, and to direct the dialysate to flow through the housing <NUM>. For example, in the depicted embodiment, the second end cap <NUM> defines a dialysate inlet port <NUM> and the first end cap <NUM> defines a dialysate outlet port <NUM>. The dialysate flows into the second end cap <NUM> via the dialysate inlet port <NUM>, and then enters the middle housing portion <NUM> containing the bundle of hollow fibers <NUM>. The dialysate flows through the middle housing portion <NUM> via the spaces defined between the outer diameters of the fibers of the bundle of hollow fibers <NUM>. While the blood flows within the lumens of the fibers of the bundle of hollow fibers <NUM>, the dialysate liquid flows along the outsides of the fibers. The semi-permeable walls of the fibers of the bundle of hollow fibers <NUM> separate the dialysate liquid from the blood. The dialysate liquid flows out of the middle housing portion <NUM> and into the first end cap <NUM>. The dialysate liquid exits the first end cap <NUM> via the dialysate outlet port <NUM>. The dialyzer <NUM> depicted in <FIG> and certain other features of the blood treatment system <NUM> are described in further detail in <CIT>, filed on November <NUM>, <NUM> and entitled "Blood Treatment System".

Referring to <FIG> and <FIG>, a method of performing hemodialysis using the blood treatment system <NUM> will now be described.

Before hemodialysis treatment is initiated, the dialyzer <NUM> is attached to the control module <NUM> and one end of each of the blood lines <NUM>, <NUM> is attached to the dialyzer <NUM>. The opposite ends of the blood lines <NUM>, <NUM> are attached to the patient <NUM> using needles <NUM>, <NUM>. Once the dialyzer <NUM> is connected to the treatment module <NUM> and the blood lines <NUM>, <NUM> are attached to both the dialyzer <NUM> and the patient <NUM> (via connection to needles <NUM>, <NUM>), hemodialysis treatment can be initiated. The patient <NUM> or another operator of the blood treatment machine <NUM> can, for example, use a user interface <NUM> of the blood treatment machine console <NUM> to initiate the hemodialysis treatment.

During hemodialysis treatment, the pump rotor <NUM> of the dialyzer is driven such that blood in the arterial line <NUM> is drawn from the patient <NUM>, directed through the dialyzer <NUM>, and through the venous line <NUM> back into the patient <NUM>. For example, upon initiating the hemodialysis treatment, blood flows from the patient <NUM> through the arterial line <NUM>, into the first end cap <NUM> of the dialyzer <NUM>, and through an arterial pressure detection chamber <NUM> towards the pump rotor <NUM> in the pump housing <NUM>. As previously discussed, the pump rotor <NUM> is operated and controlled by interfacing with a pump drive unit of the treatment module <NUM>. The rotation of the pump rotor <NUM> generates increased pressure within the dialyzer <NUM>, which causes the blood within the dialyzer <NUM> to be pushed through the interior spaces (or lumens) of each of the hollow fibers of the bundle of hollow fibers <NUM>.

As blood flows through the dialyzer <NUM>, dialysate flows from the second end cap <NUM> of the dialyzer <NUM> to the first end cap <NUM> of the dialyzer <NUM> along the outer surfaces of the hollow fibers <NUM>, such as within the spaces defined between the hollow fibers <NUM>. Dialysis takes place across the semipermeable fiber membranes with the dialysate flowing (in a counterflow direction) in the space surrounding the fibers <NUM>, with waste substances from the blood diffusing across the semipermeable fiber membranes of the hollow fibers <NUM> into the dialysate. The blood then flows, still within the hollow fibers <NUM>, through a venous pressure detection chamber <NUM> in the second end cap <NUM>. The blood exits the dialyzer <NUM> via the venous line <NUM>, which conveys the dialyzed or filtered blood back to the patient <NUM>. The spent dialysate flows to the first end cap <NUM> and exits the dialyzer <NUM> via a spent dialysate tube into a spent dialysate conduit of the treatment module <NUM>. This hemodialysis process is continued until the treatment is complete.

Throughout the hemodialysis treatment, sensors <NUM>, <NUM> monitor tension along the blood lines <NUM>, <NUM>, respectively, and transmit signals in real-time to the blood treatment machine console <NUM> indicating detected tension along the blood lines <NUM>, <NUM>. For example, during hemodialysis treatment, sensors <NUM>, <NUM> monitor the amount of strain along the blood lines <NUM>, <NUM>, respectively, and transmit signals in real-time to the blood treatment machine console <NUM> indicating the amount of strain detected along the blood lines <NUM>, <NUM>. For example, if a patient <NUM> receiving the hemodialysis treatment moves his or her arm <NUM> away from the treatment module <NUM>, the strain along the arterial line <NUM> and along the venous line <NUM> attached to the patient may increase as a result of the movement. In addition, if the arterial line <NUM> or the venous line <NUM> snag or catch on surrounding objects, strain in the arterial line <NUM> and the venous line <NUM> may increase. To detect these increases in strain along the blood lines <NUM>, <NUM>, the sensors <NUM>, <NUM> continuously monitor the strain along the blood lines <NUM>, <NUM> throughout the hemodialysis treatment and transmit signals indicating the strain along the respective blood lines <NUM>, <NUM> in real-time to the blood treatment machine console <NUM>.

The signals transmitted by the sensors <NUM>, <NUM> to the blood treatment machine console <NUM> can indicate both the magnitude and the direction of the strain detected along the blood lines <NUM>, <NUM>. For example, the arterial line sensor <NUM> is configured to detect strain along the X axis, Y axis, and Z axis of the arterial line <NUM>, and can transmit the εx, εy, and εz strain components to the blood treatment machine console <NUM>, which indicate the amount of strain experienced by the arterial line <NUM> along each of the axes. Similarly, the venous line sensor <NUM> is configured to detect strain along the X axis, Y axis, and Z axis of the venous line <NUM>, and transmits the εx, εy, and εz strain components to the blood treatment machine console <NUM>, which indicate the amount of strain experienced by the venous line <NUM> along each of the axes.

Based on the signals received from one or more of the sensors <NUM>, <NUM>, the blood treatment machine console <NUM> moves the treatment module <NUM> to prevent disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> or dislodgement of the needles <NUM>, <NUM> from the patient <NUM>. For example, in response to detecting increased strain along the blood lines <NUM>, <NUM> based on the signals received from the sensors <NUM>, <NUM>, the blood treatment machine console <NUM> controls the arm <NUM> to reposition the module <NUM> to relieve the strain in the blood lines <NUM>, <NUM>. For example, based on the magnitude and direction of the strain along the arterial line <NUM> detected by the arterial line sensor <NUM>, a control unit <NUM> of the blood treatment machine <NUM> determines the direction and distance the treatment module <NUM> must be moved in order to reduce the strain along the arterial line <NUM> by an amount sufficient to prevent disconnection of the arterial line <NUM> from the dialyzer <NUM> or dislodgement of needle <NUM> from the patient <NUM>. Similarly, based on the magnitude and direction of the strain detected along the venous line <NUM> by the venous line sensor <NUM>, the control unit <NUM> of the blood treatment machine console <NUM> determines the direction and distance the treatment module <NUM> must be moved in order to reduce the strain along the venous line <NUM> by an amount sufficient to prevent disconnection of the venous line <NUM> from the dialyzer <NUM> or dislodgement of needle <NUM> from the patient <NUM>.

In some implementations, the control module of the blood treatment machine console <NUM> determines whether strain along one or more of the blood lines <NUM>, <NUM> as detected by the sensors <NUM>, <NUM> exceeds a threshold strain. In response to determining that the strain along one or more of the blood lines <NUM>, <NUM>, as detected by the sensors <NUM>, <NUM>, exceeds a threshold strain, the blood treatment machine console <NUM> can determine the direction and distance the treatment module <NUM> must be moved to reduce the strain along the blood(s) lines <NUM>, <NUM> by an amount sufficient to prevent disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> or dislodgement of the needles <NUM>, <NUM> from the patient <NUM>.

In some implementations, after receiving the first signal from the sensor(s) <NUM>, <NUM> indicating strain along one or more of the blood lines <NUM>, <NUM>, and before moving the arm <NUM> to relieve the detected strain, the blood treatment machine console <NUM> receives a second signal from the respective sensor(s) <NUM>, <NUM> indicating an updated strain measurement along the respective blood line(s) <NUM>, <NUM>. In response to receiving the second signal from the sensor(s) <NUM>, <NUM>, the blood treatment machine console <NUM> determines whether further action is required.

For example, in some implementations, if the first signal received by the blood treatment machine console <NUM> from the arterial line sensor <NUM> indicates strain along the arterial line <NUM>, and the second signal received from the arterial line sensor <NUM> prior to movement of arm <NUM> indicates that the strain along the arterial line <NUM> has increased, the blood treatment machine console <NUM> will determine whether the strain along the arterial line <NUM> has increased more than a threshold amount. In response to detecting that the strain along the arterial line <NUM> has increased more than a threshold amount in the time between receiving the first and second signals (i.e., before moving the arm <NUM>), the blood treatment machine console <NUM> recomputes the distance and direction the treatment module <NUM> must be moved to reduce the strain along the arterial line <NUM> indicated in the second signal by an amount sufficient to prevent disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> or dislodgement of the needles <NUM>, <NUM> from the patient <NUM>.

Similarly, in some implementations, if the first signal received by the blood treatment machine console <NUM> from the venous line sensor <NUM> indicates strain along the venous line <NUM>, and a second signal received from the venous line sensor <NUM> prior to movement of arm <NUM> indicates that the strain along the venous line <NUM> has increased, the blood treatment machine console <NUM> will determine whether the strain along the venous line <NUM> has increased more than a threshold amount. In response to detecting that the strain along the venous line <NUM> has increased more than a threshold amount in the time between receiving the first and second signals (i.e., before moving the arm <NUM>), the blood treatment machine console <NUM> recomputes the distance and direction the treatment module <NUM> must be moved to reduce the strain along the venous line <NUM> indicated in the second signal by an amount sufficient to prevent disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> or dislodgement of the needles <NUM>, <NUM> from the patient <NUM>.

In some implementations, if the first signal received by the blood treatment machine console <NUM> from the arterial line sensor <NUM> indicates strain along the arterial line <NUM>, and the second signal received from the arterial line sensor <NUM> prior to movement of arm <NUM> indicates that there is no longer strain along the arterial line <NUM> or that the strain along the arterial line <NUM> is reduced beyond a threshold amount, this second signal can indicate that the arterial line <NUM> has disconnected from the dialyzer <NUM> or that a needle <NUM> coupled to the arterial line <NUM> has dislodged from the patient <NUM>. For example, if the arterial line <NUM> has disconnected from the dialyzer <NUM> or the needle <NUM> coupling the arterial line <NUM> to the patient <NUM> has dislodged from the patient <NUM> (e.g., due to high levels of strain along the arterial line <NUM>), any previously-detected strain along the arterial line will be relieved as a result of the disconnection or dislodgement. Therefore, upon determining, based on comparing the first and second signals received by the blood treatment machine console <NUM> from the arterial line sensor <NUM>, that the previously-detected strain along the arterial line <NUM> has been eliminated or reduced prior to moving the treatment module <NUM>, the blood treatment machine console <NUM> controls a pump drive unit of the treatment module <NUM> coupled to the pump rotor <NUM> to cease pumping in order to stop or pause the hemodialysis treatment. In some implementations, in response to determining, based on the second signal, that the strain along the arterial line <NUM> has been eliminated or reduced prior moving the treatment module <NUM>, the blood treatment machine console <NUM> transmits an alert to the operator of the blood treatment machine <NUM> indicating a disconnection of the arterial line <NUM> or a dislodgement of the needle <NUM>. In some implementations, the signal indicating reduced strain along the arterial line <NUM> prior to movement of arm <NUM> can be correlated with other sources of data, such as pumping pressure characteristics, to identifying potential disconnection of the arterial line <NUM> from the dialyzer <NUM> or dislodgement of the needle <NUM> coupled to the arterial line <NUM> from the patient <NUM>.

Similarly, if the first signal received by the blood treatment machine console <NUM> from the venous line sensor <NUM> indicates strain along the venous line <NUM>, and the second signal received by the blood treatment machine console <NUM> from the venous line sensor <NUM> prior to movement of arm <NUM> indicates that there is no longer strain along the venous line <NUM> or that the strain along the venous line <NUM> has been reduced beyond a threshold amount, then it is determined that the venous line <NUM> has either disconnected from the dialyzer <NUM> or a needle <NUM> coupled to the venous line <NUM> has dislodged from the patient <NUM>. As a result, upon determining, based on comparing the first and second signals received by the blood treatment machine console <NUM> from the venous line sensor <NUM>, that the previously-detected strain along the venous line <NUM> has been eliminated or reduced prior to moving the treatment module <NUM>, the blood treatment machine console <NUM> controls a pump drive unit of the treatment module <NUM> coupled to the pump rotor <NUM> to cease pumping in order to stop or pause movement the hemodialysis treatment. In some implementations, in response to determining, based on the second signal, that the strain along the venous line <NUM> has been eliminated or reduced prior moving the treatment module <NUM>, the blood treatment machine console <NUM> transmits an alert to the operator of the blood treatment machine <NUM> indicating a disconnection of the venous line <NUM> or a dislodgement of the needle <NUM>. In some implementations, the signal indicating reduced strain along the venous line <NUM> prior to movement of arm <NUM> can be correlated with other sources of data, such as pumping pressure characteristics, to identifying potential disconnection of the venous line <NUM> from the dialyzer <NUM> or dislodgement of the needle <NUM> coupled to the venous line <NUM> from the patient <NUM>.

Upon determining the direction and distance that the treatment module <NUM> must be moved in order to reduce the strain along the blood lines <NUM>, <NUM> by an amount sufficient to prevent disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> or dislodgement of the needles <NUM>, <NUM> from the patient <NUM>, the blood treatment machine console <NUM> controls the arm <NUM> to move the treatment module <NUM> the determined distance in the determined direction. For example, extending the arm <NUM> to move the treatment module <NUM> in the direction in which the strain is occurring along blood lines <NUM>, <NUM> reduces the strain in the blood lines <NUM>, <NUM> by decreasing the distance between the patient end of the blood lines <NUM>, <NUM> and the treatment module <NUM>, which creates slack in the blood lines <NUM>, <NUM>. In some implementations, the blood treatment machine console <NUM> controls the arm <NUM> to continue to move the treatment module <NUM> in the direction of the detected strain until the blood treatment machine console <NUM> receives a signal from the sensors <NUM>, <NUM> indicating that the strain detected along the blood lines <NUM>, <NUM> is below a threshold level of strain, or until the arm <NUM> is fully extended.

As previously discussed, the arm <NUM> has three degrees of motion, which allows the treatment module to be moved along each of the axes in which strain is detected by the sensors <NUM>, <NUM> (e.g., X, Y, and Z planes of the arterial line <NUM> and X, Y, and Z planes of the venous line <NUM>). By allowing for motion in three dimensions, the arm <NUM> can accurately position the treatment module <NUM> to alleviate strain along the blood lines <NUM>, <NUM>. For example, based on receiving a signal from arterial line sensor <NUM> indicating the components (εx, εy, and εz) of strain along the X axis, Y axis, and Z axis of the arterial line <NUM>, the arm <NUM> can move the treatment module <NUM> the appropriate distance along each axis to alleviate the strain along the arterial line <NUM> detected by the arterial line sensor <NUM>. Similarly, in response to receiving a signal from venous line sensor <NUM> indicating the components (εx, εy, and εz) of strain along the X axis, Y axis, and Z axis of the venous line <NUM>, the arm <NUM> can move the treatment module <NUM> the appropriate distance along each axis to alleviate the strain along the venous line <NUM> detected by the venous line sensor <NUM>.

In addition to controlling the distance and direction that the arm <NUM> moves to reposition the treatment module <NUM> in response to strain detection, the blood treatment machine console <NUM> can also control the speed at which the arm <NUM> moves to reposition the treatment module <NUM>. For example, in response to receiving a signal from one or more of the sensors <NUM>, <NUM> indicating strain along one or more of the blood lines <NUM>, <NUM>, the blood treatment machine console <NUM> can determine an appropriate speed to move the arm <NUM> based on the detected strain. In some implementations, the blood treatment machine console <NUM> controls the arm <NUM> to move at a speed proportional to the amount of detected strain, such that the arm <NUM> moves at a higher speed in response to increased levels of strain along the blood lines <NUM>, <NUM>. For example, high levels of strain along the blood lines <NUM>, <NUM> can result in a high risk of disconnection of the respective blood line <NUM>, <NUM> or dislodgement of the needles <NUM>, <NUM> from the patient <NUM>. In order to combat the increased risk of dislodgement and disconnection caused by high levels of strain along the blood lines <NUM>, <NUM>, the arm <NUM> can be controlled to move at an increased speed whenever a high level of strain is detected along the blood lines <NUM>, <NUM> as compared to the speed of the arm <NUM> movement when a lower level of strain is detected.

After moving the arm <NUM> in the direction and distance determined by the blood treatment machine console <NUM>, the blood treatment machine console <NUM> receives another signal from each of the sensors <NUM>, <NUM>. In response to receiving the second signal from the sensors <NUM>, <NUM>, the blood treatment machine console <NUM> determines whether further action is required to reduce strain along one or more of the blood lines <NUM>, <NUM> by an amount sufficient to prevent disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> or dislodgement of the needles <NUM>, <NUM> from the patient <NUM>. For example, if the second signal received from each of the sensors <NUM>, <NUM> indicates that there is no strain along either of the blood lines <NUM>, <NUM> (or indicates that the strain along the blood lines <NUM>, <NUM> is below a threshold level) then the blood treatment machine console <NUM> ceases movement of the arm <NUM>. Further, if the second signal received from each of the sensors <NUM>, <NUM> indicates that the strain along the blood lines <NUM>, <NUM> is less than a threshold amount of strain, and thus does not pose a risk of disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> or dislodgement of the needles <NUM>, <NUM> from the patient <NUM>, then the blood treatment machine console <NUM> ceases movement of the arm <NUM>.

However, if the second signal received by the blood treatment machine console <NUM> from either of the sensors <NUM>, <NUM> indicates that there is still strain along one or more of the blood lines <NUM>, <NUM> above a threshold amount, and thus poses a risk of disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> and/or dislodgement of the needles <NUM>, <NUM> from the patient <NUM>, the blood treatment machine console <NUM> determines the change in strain along the blood lines <NUM>, <NUM>. For example, the blood treatment machine console <NUM> can compare the strain indicated in the first signal received from the sensor(s) <NUM>, <NUM> prior to moving the treatment module <NUM> with the strain indicated in second signal received from the sensors(s) <NUM>, <NUM> after moving the treatment module <NUM> in order to determine the amount of strain reduced along the blood lines <NUM>, <NUM> as a result of moving the treatment module <NUM>.

In some implementations, a change in strain along the blood lines <NUM>, <NUM> resulting from movement of the treatment module <NUM> below a threshold amount of change indicates a snag along the respective blood line <NUM>, <NUM>. For example, if one of the blood lines <NUM>, <NUM> is snagged or otherwise caught on an object near the blood treatment machine <NUM>, such as the chair the patient <NUM> is sitting in, movement of the treatment module <NUM> may be ineffectual in reducing the strain along the snagged line. As such, movement of the treatment module <NUM> via the arm <NUM> may result in an amount of change in the strain along the snagged blood line102, <NUM> that is less than a threshold amount of change. As a result, upon determining, based on comparing the first signal and the second signal, that the strain along one or more of the blood lines <NUM>, <NUM> has decreased less than a threshold amount following repositioning of the treatment module <NUM>, the blood treatment machine console <NUM> transmits an alert to an operator of the blood treatment machine <NUM> indicating a snag in the respective blood line(s) <NUM>, <NUM>. For example, in response to detecting a potential snag along a blood line <NUM>, <NUM>, an alert message can be displayed on the user interface <NUM> of the blood treatment machine <NUM>. In some implementations, in response to detecting a potential snag along a blood line <NUM>, <NUM>, the blood treatment machine <NUM> produces an audible signal that is emitted from a speaker of the blood treatment machine <NUM>. In some implementations, an alert message is transmitted to one or more computing devices (e.g., mobile phones, tablets, laptop computers, etc.) of the patient <NUM> or another user associated with the blood treatment machine <NUM>. In some implementations, in response to determining that the strain along one or more of the blood lines <NUM>, <NUM> has decreased less than a threshold amount following repositioning of the treatment module <NUM>, the blood treatment machine console <NUM> controls a pump drive unit of the treatment module <NUM> coupled to the pump rotor <NUM> to cease pumping in order to stop the hemodialysis treatment.

The sensors <NUM>, <NUM> continue to monitor the strain along the blood lines <NUM>, <NUM> and transmit signals to the blood treatment machine console <NUM> in real-time throughout the hemodialysis treatment. The blood treatment machine console <NUM> repositions the treatment module <NUM> in real-time throughout the hemodialysis treatment in response to strain detected along the blood lines <NUM>, <NUM> by the sensors <NUM>, <NUM>.

In some embodiments, once the hemodialysis treatment is complete, the blood treatment machine console <NUM> receives a signal indicating the completion of the treatment, and, in response, controls arm <NUM> to move the blood treatment module to a predetermined position. For example, receiving signals one or more sensors of the treatment module <NUM> indicating that the blood treatment is complete, the controller <NUM> can transmit a signal to the blood treatment machine console <NUM> indicating that the treatment is complete. In some implementations, the patient <NUM> or another user of the blood treatment machine <NUM> uses the user interface <NUM> of the blood treatment machine <NUM> to select a control indicating that the treatment is complete, and in response to this selection, the controller <NUM> transmits a signal to the blood treatment machine console <NUM> indicating that the treatment is complete. In some embodiments, after the hemodialysis treatment has been completed, an operator of the blood treatment machine <NUM> can use a controller <NUM> to adjust the position of the treatment module <NUM>. For example, an operator of the blood treatment machine <NUM> can use the user interface <NUM> of the blood treatment machine console <NUM> to position the treatment module <NUM> in a "home position" after hemodialysis treatment has been completed. In some implementations, an operator of the blood treatment machine <NUM> can select an option using the user interface <NUM> of the blood treatment machine console <NUM> to position the treatment module <NUM> in a position close to the patient after hemodialysis treatment has been completed in order to make the disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> and the patient <NUM> more convenient.

While certain embodiments have been described above, other embodiments are possible.

For example, while the arterial line sensor <NUM> and the venous line sensor <NUM> have been described as being located on and coupled to the treatment module <NUM>, other configurations of the strain sensors may alternatively be provided. <FIG>, for example, illustrates a blood treatment system <NUM> in which an arterial line sensor <NUM> is positioned along and in contact with the arterial line <NUM> proximate an end of the arterial line <NUM> coupled to the needle <NUM> used to attach the arterial line <NUM> to the patient <NUM>. Like the arterial line sensor <NUM> of <FIG>, the arterial line sensor <NUM> is configured to detect strain along the arterial line <NUM> during hemodialysis treatment. Similarly, a venous line sensor <NUM> of the blood treatment system <NUM> is positioned along and in contact with the venous line <NUM> proximate an end of the venous line <NUM> coupled to the needle <NUM> used to attach the venous line <NUM> to the patient <NUM>. The venous line sensor <NUM> is configured to detect strain along the venous line <NUM> during hemodialysis treatment. By positioning the sensors <NUM>, <NUM> proximate the needles <NUM>, <NUM> connecting the blood lines <NUM>, <NUM> to the patient <NUM>, the strain along the blood lines <NUM>, <NUM> near the insertion point of the needles <NUM>, <NUM> into the patient <NUM> can be more accurately detected, which allows for improved detection and prevention of dislodgement of the needles <NUM>, <NUM> from the patient <NUM>. The sensors <NUM>, <NUM> can include any suitable type of sensor for detecting strain including, but not limited to, strain gauges, resistors, load cells, etc..

The sensors <NUM>, <NUM> are communicably coupled to the blood treatment machine console <NUM> and transmit signals indicating the tension along the blood lines <NUM>, <NUM> in real-time during treatment to the blood treatment machine console <NUM>. In some implementations, the sensors <NUM>, <NUM> are wireless strain sensors that communicate signals indicating the strain along the blood lines <NUM>, <NUM> using any suitable form of wireless communication, including, but not limited to, WiFi, Bluetooth, etc. By wirelessly communicating with the blood treatment machine console <NUM> to transmit strain signals, the arterial line sensor <NUM> and the venous line sensor <NUM> can be positioned anywhere along the arterial line <NUM> and the venous line <NUM>, respectively, between the treatment module <NUM> and the needles <NUM>, <NUM>. In some embodiments, the sensors <NUM>, <NUM> are wired to the blood treatment machine console <NUM> and communicate signals to the blood treatment machine console <NUM> over the wiring between the sensors <NUM>, <NUM> and the blood treatment machine console <NUM>.

While the blood treatment system has been described as including a single arterial line sensor and a single venous line sensor, other numbers of arterial line sensors and venous line sensors can be used to monitor tension along the arterial line <NUM> and the venous line <NUM> during hemodialysis treatment. For example, <FIG> depicts a blood treatment system <NUM> that includes two arterial line sensors <NUM>, <NUM> and two venous line sensors <NUM>, <NUM>. As depicted in <FIG>, a first arterial line sensor <NUM> can be coupled to the treatment module <NUM>. A second arterial line sensor <NUM> can be coupled to the arterial line <NUM> proximate the end of the arterial line <NUM> that is connected to the needle <NUM> attaching the arterial line <NUM> to the patient <NUM>. Similarly, a first venous line sensor <NUM> can be coupled to the treatment module <NUM> and contact the venous line <NUM>. A second venous line sensor <NUM> can be coupled to the venous line <NUM> proximate the end of the venous line <NUM> that is connected to the needle <NUM> attaching the venous line <NUM> to the patient <NUM>.

As previously discussed, the arterial line sensor <NUM> and the venous line sensor <NUM> positioned along the blood lines <NUM>, <NUM> near the patient ends of the blood lines <NUM>, <NUM> can be wireless sensors configured to transmit signals indicating the strain along the blood lines <NUM>, <NUM> wirelessly to the blood treatment machine console <NUM>. In contrast, the arterial line sensor <NUM> and the venous line sensor <NUM> coupled to the treatment module <NUM> can be electrically wired to the treatment module <NUM> and/or the blood treatment machine console <NUM> and transmit signals indicating the strain along the blood lines <NUM>, <NUM> to the blood treatment machine console <NUM> via the wired connections between the sensors <NUM>, <NUM> and the blood treatment machine console <NUM>. Alternatively, all of the strain sensors <NUM>, <NUM>, <NUM>, <NUM> can be wireless strain sensors configured to transmit signals indicating the strain along the blood lines <NUM>, <NUM> wirelessly to the blood treatment machine console <NUM>. In some of the embodiments, all of the strain sensors <NUM>, <NUM>, <NUM>, <NUM> are electrically wired to the treatment module <NUM> and/or the blood treatment machine console <NUM>.

While the arterial line sensor and the venous line sensor have been depicted in <FIG>, <FIG>, and <FIG> as being in contact with the surface of the arterial line <NUM> and venous line <NUM>, in some embodiments, the arterial line sensor and venous line sensor are embedded into the blood lines <NUM>, <NUM> to measure strain along the respective blood lines <NUM>, <NUM>. For example, the arterial line sensor and the venous line sensor can each be provided as wireless strain sensors that are embedded or otherwise fabricated into the blood lines <NUM>, <NUM>, respectively. As the blood lines <NUM>, <NUM> are subjected to strain, the embedded strain sensors detect and measure the strain along the blood lines <NUM>, <NUM>, and wirelessly transmit the detected strain along the blood lines <NUM>, <NUM> to the blood treatment machine console <NUM>. In some implementations, the blood lines <NUM>, <NUM> can each include embedded conductive material that forms a strain gauge along the length of each of the blood lines <NUM>, <NUM>, and based on the measuring the strain experienced by the conductive material, strain can be detected along the length of each of the blood lines <NUM>, <NUM>. In some implementations, a conductive coating or conductive outer layer is applied along the length of each of the blood lines <NUM>, <NUM>, and based on the measuring the strain experienced by the conductive coating or conductive outer layer, strain can be detected along the length of each of the blood lines <NUM>, <NUM>.

Further, while the blood treatment system has been described as including strain sensors that are coupled to or embedded in the blood lines <NUM>, <NUM>, the strain sensors of the blood treatment system can alternatively or additionally be positioned to contact other portions of the blood treatment system. For example, as depicted in <FIG>, a blood treatment system <NUM> can include strain sensors <NUM>, <NUM> that are coupled to and positioned within one or more joints of the arm <NUM> coupled to the treatment module <NUM>, and are configured to measure strain applied to one or more of the blood lines <NUM>, <NUM>.

As can be seen in <FIG>, and as previously discussed, the blood lines <NUM>, <NUM> of the blood treatment system <NUM> are each attached to the dialyzer <NUM>, which is attached to the treatment module <NUM>, and the treatment module <NUM> is coupled to the arm <NUM>. As such, when strain occurs along the blood lines <NUM>, <NUM> (e.g., due to movement of the arm <NUM> of the patient <NUM>), at least some of the force causing strain along the blood lines <NUM>, <NUM> is transferred to the dialyzer <NUM> and the treatment module <NUM>, which then transfers at least some of the force to the arm <NUM>. The strain sensors <NUM>, <NUM> are configured to detect the force applied to the joints of the arm <NUM>, and transmit signals to the blood treatment machine console <NUM> indicating the force being applied to the joints of the arm <NUM>. The blood treatment machine console <NUM> can apply a predetermined relationship between strain along the blood lines <NUM>, <NUM> and the force transferred to the joints of the arm <NUM> to the signals received from the sensors <NUM>, <NUM> in order to determine the strain along the blood lines <NUM>, <NUM> based on the sensor signals. Based on this determination of strain along the blood lines <NUM>, <NUM>, the blood treatment machine console <NUM> can determine the direction and distance the treatment module <NUM> must be moved to in order to reduce the detected strain along the blood line(s) <NUM>, <NUM> by an amount sufficient to prevent disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> or dislodgement of the needles <NUM>, <NUM> from the patient <NUM>, as described above.

While <FIG> depicts two strain sensors <NUM>, <NUM> coupled to the joints of the arm <NUM> of the blood treatment machine <NUM>, other numbers of strain sensors coupled to the arm <NUM> can be used. For example, the system <NUM> may include a strain sensor in each joint of the arm <NUM> such that the number of strain sensors is equal to the total number of joints in the arm <NUM>. In some implementations, the blood treatment system <NUM> can include strain sensors in contact with the blood lines <NUM>, <NUM>, as well as strain sensors <NUM>, <NUM> coupled to the joints of the arm <NUM>.

While the sensors for detecting tension along the blood lines <NUM>, <NUM> have been described as being strain sensors, other types of sensors can be used to detect tension along the blood lines <NUM>, <NUM> of the blood treatment system. <FIG> depict schematics of alternate blood treatment systems with one or more sensors used for detecting tension along one or more blood lines.

In some implementations, rather than using strain sensors to detect tension in the blood lines <NUM>, <NUM>, the blood treatment system can include one or more sensors configured to detect the position of a portion of the blood lines <NUM>, <NUM> in order to determine tension along the blood lines <NUM>, <NUM>. For example, as depicted in <FIG>, a blood treatment system <NUM> can include a pair of sensors <NUM>, <NUM> attached to the blood lines <NUM>, <NUM> that are configured to detect the position of the portions of the blood lines <NUM>, <NUM> coupled to the sensors <NUM>, <NUM>. The sensors <NUM>, <NUM> can be any suitable type of sensor for detecting the position and/or movement of the blood lines <NUM>, <NUM>, including, but not limited to, accelerometers (e.g., 3D accelerometers), gyroscopic sensors, ultrasonic sensors, proximity sensors, optical sensors, magnetometers, global positioning sensors, radio triangulation sensors (e.g., like in keyless access systems for cars or based on WiFi, Bluetooth or similar technologies), and the like. The sensors <NUM>, <NUM> are communicably coupled to the blood treatment machine console <NUM> and are configured to transmit signals to the blood treatment machine console <NUM> in real-time during hemodialysis treatment indicating the position, orientation, and/or motion of the portion of the blood lines <NUM>, <NUM> proximate the sensors <NUM>, <NUM>. In some implementations, the sensors <NUM>, <NUM> are configured to detect the position of the portions of the blood lines <NUM>, <NUM> coupled to the sensors <NUM>, <NUM> in three dimensional space, and transmit coordinates indicating the position of the portions of the blood lines <NUM>, <NUM> coupled to the sensors <NUM>, <NUM> in three dimensional space to the blood treatment machine console <NUM>.

For example, the first sensor <NUM> can be an accelerometer attached to the arterial line <NUM> proximate an end of the arterial line <NUM> coupled to the needle <NUM> connecting the arterial line <NUM> to the patient <NUM>. The second sensors <NUM> can be an accelerometer attached to the venous line <NUM> proximate an end of the venous line <NUM> coupled to the needle <NUM> connecting the venous line <NUM> to the patient <NUM>. The sensors <NUM>, <NUM> are configured to detect movement of the portions of the arterial line <NUM> and venous line <NUM>, respectively, proximate the sensors <NUM>, <NUM>. For example, if the patient <NUM> moves his arm <NUM>, the ends of the blood lines <NUM>, <NUM> proximate the sensors <NUM>, <NUM> will move as a result, and this movement of the blood lines <NUM>, <NUM> will be detected by the sensors <NUM>, <NUM>. In some implementations, the sensors <NUM>, <NUM> are configured to detect both the speed and the direction of the movement the portions of the blood lines <NUM>, <NUM> proximate the sensors <NUM>, <NUM>.

The sensors <NUM>, <NUM> transmit a signal indicating the position and the speed and direction of movement of the portions of the blood lines <NUM>, <NUM> proximate the sensors <NUM>, <NUM> to the blood treatment machine console <NUM> in real-time during hemodialysis. In response, the blood treatment machine console <NUM> can determine the amount of strain along each of the blood lines <NUM>, <NUM> based on the signals received from the sensors <NUM>, <NUM> indicating the position and the movement of the blood lines <NUM>, <NUM>. For example, based on the position of the portions of the blood lines <NUM>, <NUM> proximate the sensors <NUM>, <NUM> relative to the position of the treatment module <NUM>, the distance between the portions of the blood lines <NUM>, <NUM> proximate the sensors <NUM>, <NUM> and the treatment module <NUM> can be determined. In some implementations, the blood treatment machine console <NUM> determines the position of the treatment module <NUM> based on one or more position sensors <NUM>, <NUM> coupled to the treatment module <NUM> and/or the arm <NUM>. Based on the determined distance between the portions of the blood lines <NUM>, <NUM> proximate the sensors <NUM>, <NUM> and the position of the treatment module <NUM>, and the length of the blood lines <NUM>, <NUM> between the sensors <NUM>, <NUM> and the treatment module <NUM>, the blood treatment machine console <NUM> can determine the amount of strain occurring along the blood lines <NUM>, <NUM>.

Based on this determination of strain along the blood lines <NUM>, <NUM>, the blood treatment machine console <NUM> can determine a distance and direction that the treatment module <NUM> must be moved to in order to reduce the detected strain along the blood line(s) <NUM>, <NUM> by an amount sufficient to prevent disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> or dislodgement of the needles <NUM>, <NUM> from the patient <NUM>, as described above. In some implementations, in response to detecting movement of the portions of the blood lines <NUM>, <NUM> proximate the sensors <NUM>, <NUM>, the blood treatment machine console <NUM> automatically controls the arm <NUM> to move the treatment module <NUM> towards the detected position of the portions of the blood lines <NUM>, <NUM> proximate the sensors <NUM>, <NUM> in order to generate slack in the blood lines <NUM>, <NUM>.

In some implementations, the risk of disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> or dislodgement of the needles <NUM>, <NUM> from the patient <NUM> is determined based on the distance detected between the position sensors <NUM>, <NUM> and the position of the treatment module <NUM>, without requiring a calculation of the strain along the blood lines <NUM>, <NUM>. For example, as previously discussed, based on the signals received from the position sensors <NUM>, <NUM>, <NUM>, <NUM>, the blood treatment machine console <NUM> can determine the distance between the portions of the blood lines <NUM>, <NUM> proximate the sensors <NUM>, <NUM> and the treatment module <NUM> in one or more planes in real-time during treatment. In some implementations, if the blood treatment machine console <NUM> determines that the distance between the portions of the blood lines <NUM>, <NUM> proximate the sensors <NUM>, <NUM> and the treatment module <NUM> exceeds a threshold distance associated with an increased risk of dislodgement or disconnection of the blood lines <NUM>, <NUM>, the blood treatment machine console <NUM> automatically controls the arm <NUM> to move the treatment module <NUM> towards the detected position of the portions of the blood lines <NUM>, <NUM> proximate the sensors <NUM>, <NUM>. For example, the blood treatment machine console <NUM> can control the arm <NUM> to move the treatment module <NUM> towards the detected position of the portions of the blood lines <NUM>, <NUM> proximate the sensors <NUM>, <NUM> until the distance between the portions of the blood lines <NUM>, <NUM> proximate the sensors <NUM>, <NUM> and the treatment module <NUM> is less than the threshold distance.

In some implementations, based the signals received from the sensors <NUM>, <NUM>, the blood treatment machine console <NUM> can predict future movement of the portions of the blood lines <NUM>, <NUM> proximate the sensors <NUM>, <NUM>. Based on this predicted movement, the blood treatment machine console <NUM> can control the arm <NUM> to move the treatment module <NUM> in a direction that counteracts any increased strain that could be caused by the predicted movement.

While <FIG> depicts two position sensors <NUM>, <NUM> coupled to the blood lines <NUM>, <NUM>, other numbers of position sensors <NUM>, <NUM> can be used to determine the position, orientation, and/or motion of the blood lines <NUM>, <NUM>. In addition, while <FIG> depicts the position sensors <NUM>, <NUM> as being coupled to portions of the blood lines <NUM>, <NUM> proximate the patient end of the blood lines <NUM>, <NUM>, the position sensors may be positioned at other points along the blood lines <NUM>, <NUM>.

In some implementations, rather than having strain sensors coupled to the blood lines <NUM>, <NUM>, the blood treatment system includes a position sensor attached to the arm <NUM> of the patient <NUM> that is configured to track the position of the patient's arm <NUM>, and the tension along the blood lines <NUM>, <NUM> is determined based on the position of the patient's arm <NUM>. For example, as depicted in <FIG>, the patient <NUM> can wear or otherwise attach a wearable position device <NUM> on his arm <NUM> during a hemodialysis treatment carried out by a blood treatment system <NUM>. The wearable position device <NUM> can be any suitable type of sensor for detecting the position and/or movement of the patient's arm <NUM>, including, but not limited to, accelerometers (e.g., 3D accelerometers), gyroscopic sensors, ultrasonic sensors, proximity sensors, optical sensors, magnetometers, global positioning sensors, radio triangulation sensors (e.g., like in keyless access systems for cars or based on WiFi, Bluetooth or similar technologies), fitness trackers, smart watches, and the like.

The wearable position device <NUM> is configured to wirelessly transmit signals indicating the position, orientation, and/or movement of the patient's arm <NUM> to the blood treatment machine console <NUM> in real-time during hemodialysis treatment. For example, in some implementations, the wearable position device <NUM> is configured to wirelessly transmit signals indicating the position, orientation, and/or movement of the patient's arm <NUM> to the blood treatment machine console <NUM> using near-field communication. In some implementations, the wearable position device <NUM> is configured to detect the position of a portion of the patient's arm <NUM> proximate the wearable position device <NUM> (e.g., the patient's wrist) in three dimensional space, and transmit coordinates indicating the position in three dimensional space of the portion of the patient's arm <NUM> proximate the wearable position device <NUM> to the blood treatment machine console <NUM> in real-time.

Based on the signals received from the wearable position device <NUM>, the blood treatment machine console <NUM> can detect or predict tension along the blood lines <NUM>, <NUM>. For example, once the blood lines <NUM>, <NUM> are attached to the treatment module <NUM> and to the patient's arm <NUM> (via needles <NUM>, <NUM>), movement of the patient's arm <NUM> away from the treatment module <NUM> can result in increased tension along the blood lines <NUM>, <NUM>. As such, by tracking the position of the patient's arm <NUM> using a wearable position device <NUM> on the patient's wrist during hemodialysis, the tension along the blood lines <NUM>, <NUM> can be detected or predicted.

For example, based on the position of the portion of the patient's arm <NUM> proximate wearable position device <NUM> relative to the position of the treatment module <NUM>, and based on a known or approximated distance between the wearable position device <NUM> and the patient ends of each of the blood lines <NUM>, <NUM>, the distance between the patient ends of each of the blood lines <NUM>, <NUM> and the treatment module <NUM> can be determined from signals received from the wearable position device <NUM>. As previously discussed, the blood treatment machine console <NUM> can determine the position of the treatment module <NUM> based on one or more position sensors <NUM>, <NUM> coupled to the treatment module <NUM> and/or the arm <NUM>. Based on the determined distance between the patient ends of each of the blood lines <NUM>, <NUM> and the treatment module <NUM>, and the predetermined length of the blood lines <NUM>, <NUM> between patient ends of the blood lines <NUM>, <NUM> and the treatment module <NUM>, the blood treatment machine console <NUM> can determine the amount of strain occurring along the blood lines <NUM>, <NUM>.

Based on this determination of strain along the blood lines <NUM>, <NUM>, the blood treatment machine console <NUM> can determine a distance and direction that the treatment module <NUM> must be moved to in order to reduce the strain along the blood line(s) <NUM>, <NUM> by an amount sufficient to prevent disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> or dislodgement of the needles <NUM>, <NUM> from the patient <NUM>, as described above. In some implementations, in response to detecting that the patient <NUM> has moved his arm <NUM> away from the treatment module <NUM> during hemodialysis treatment based on signals received from the wearable position device <NUM>, the blood treatment machine console <NUM> automatically controls the arm <NUM> to move the treatment module <NUM> towards the patient <NUM> (e.g., towards the detected position of the wearable position device <NUM>) in order to generate slack in the blood lines <NUM>, <NUM>.

In some implementations, the risk of disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> or dislodgement of the needles <NUM>, <NUM> from the patient <NUM> is determined based on the distance detected between the wearable position device <NUM> and the position of the treatment module <NUM>, without requiring a calculation of the strain along the blood lines <NUM>, <NUM>. For example, as previously discussed, based on the known or approximated distance between the wearable position device <NUM> and the patient ends of each of the blood lines <NUM>, <NUM>, the signals received from the wearable position device <NUM>, and the signals received from the position sensors <NUM>, <NUM>, the blood treatment machine console <NUM> can determine the distance between the patient ends of each of the blood lines <NUM>, <NUM> and the treatment module <NUM> in one or more planes in real-time during treatment. In some implementations, if the blood treatment machine console <NUM> determines that the distance between the patient ends of each of the blood lines <NUM>, <NUM> and the treatment module <NUM> exceeds a threshold distance associated with an increased risk of dislodgement or disconnection of the blood lines <NUM>, <NUM>, the blood treatment machine console <NUM> automatically controls the arm <NUM> to move the treatment module <NUM> towards the detected position of the wearable position device <NUM>. For example, the blood treatment machine console <NUM> can control the arm <NUM> to move the treatment module <NUM> towards the detected position of the wearable position device <NUM> until the distance between the patient ends of each of the blood lines <NUM>, <NUM> (as determined based on the position of the wearable position device <NUM>) and the treatment module <NUM> is less than the threshold distance.

In some implementations, based the signals received from the wearable position device <NUM> and based on a known or approximated distance between the wearable position device <NUM> and the patient ends of each of the blood lines <NUM>, <NUM>, the blood treatment machine console <NUM> can predict future movement of the patient ends of each of the blood lines <NUM>, <NUM>. Based on this predicted movement, the blood treatment machine console <NUM> can control the arm <NUM> to move the treatment module <NUM> in a direction that counteracts any increased strain that could be caused by the predicted movement.

In some implementations, an image sensor may be used to determine or predict tension along the blood lines <NUM>, <NUM> of the blood treatment system. For example, as depicted in <FIG>, in some implementations, the blood treatment system <NUM> includes an image sensor <NUM> that can be used to track a portion of the patient's arm <NUM> in order to detect or predict tension along the blood lines <NUM>, <NUM>. As can be seen in <FIG>, the blood treatment system <NUM> includes an image sensor <NUM> that is positioned on the blood treatment machine console <NUM> and is directed towards the arm <NUM> of the patient <NUM>. In addition, a passive device <NUM> used to reflect light is positioned on the arm <NUM> of the patient <NUM>. The passive device <NUM> can include any suitable device or material that reflects infrared light, including, but not limited to, reflective tape, retroreflectors, etc. For example, the passive device <NUM> can include reflective tape that is used to tape down and secure the needles <NUM>, <NUM> to the arm <NUM> of the patient <NUM>. The image sensor <NUM> can include any acceptable image sensor configured to detect reflected infrared light, including, but not limited to, an infrared sensor, a digital camera, a thermographic camera, a video camera, a camcorder, etc..

During hemodialysis treatment, the image sensor <NUM> tracks the infrared light reflected by the passive device <NUM> positioned on the patient's arm <NUM>. The image sensor <NUM> is configured to transmit in real-time to the blood treatment machine console <NUM>, via a wired connection or a wireless connection, signals indicating the pattern of light reflected by the passive device <NUM> and detected by the image sensors <NUM>. Based on the pattern of light reflected off the passive device <NUM>, as detected by the image sensor <NUM>, the blood treatment machine console <NUM> can determine the location of the portion of the patient's arm <NUM> proximate the passive device <NUM>.

By tracking the position of the patient's arm <NUM> relative to the position of the treatment module <NUM> during hemodialysis treatment using an image sensor <NUM> tracking reflected light patterns produced by a passive device <NUM> on the patient's arm <NUM>, the strain along the blood lines <NUM>, <NUM> can be detected. For example, based on the position of the portion of the patient's arm <NUM> proximate passive device <NUM> relative to the position of the treatment module <NUM>, and based on a known or approximated distance between the passive device <NUM> and the patient ends of each of the blood lines <NUM>, <NUM>, the distance between the patient ends of each of the blood lines <NUM>, <NUM> and the treatment module <NUM> can be determined. As previously discussed, the blood treatment machine console <NUM> can determine the position of the treatment module <NUM> based on one or more position sensors <NUM>, <NUM> coupled to the treatment module <NUM> and/or the arm <NUM>. Based on the determined distance between the patient ends of each of the blood lines <NUM>, <NUM> and the treatment module <NUM>, and the predetermined length of the blood lines <NUM>, <NUM> between patient ends of the blood lines <NUM>, <NUM> and the treatment module <NUM>, the blood treatment machine console <NUM> can determine the amount of strain occurring along the blood lines <NUM>, <NUM>.

Based on this determination of strain along the blood lines <NUM>, <NUM>, the blood treatment machine console <NUM> can determine a distance and direction that the treatment module <NUM> must be moved to in order to reduce the detected strain along the blood line(s) <NUM>, <NUM> by an amount sufficient to prevent disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> or dislodgement of the needles <NUM>, <NUM> from the patient <NUM>, as described above. In some implementations, in response to detecting that the patient <NUM> has moved his arm <NUM> away from the treatment module <NUM> during hemodialysis treatment based on signals from the image sensor <NUM>, the blood treatment machine console <NUM> automatically controls the arm <NUM> to move the treatment module <NUM> towards the patient's arm <NUM> (e.g., towards the detected position of the passive device <NUM>) in order to generate slack in the blood lines <NUM>, <NUM>.

In some implementations, the risk of disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> or dislodgement of the needles <NUM>, <NUM> from the patient <NUM> is determined based on the distance detected between the patient ends of the blood lines <NUM>, <NUM> and the position of the treatment module <NUM>, without detected strain along the blood lines <NUM>, <NUM>. For example, as previously discussed, based on the known or approximated distance between the passive device <NUM> and the patient ends of each of the blood lines <NUM>, <NUM>, the signals from the image sensor <NUM> indicating the position of the passive device <NUM>, and the signals received from the position sensors <NUM>, <NUM>, the blood treatment machine console <NUM> can determine the distance between the patient ends of the blood lines <NUM>, <NUM> and the treatment module <NUM> in one or more planes in real-time during treatment. In some implementations, if the blood treatment machine console <NUM> determines that the distance between the patient ends of the blood lines <NUM>, <NUM> and the treatment module <NUM> exceeds a threshold distance that is associated with an increased risk of dislodgement or disconnection of the blood lines <NUM>, <NUM>, the blood treatment machine console <NUM> automatically controls the arm <NUM> to move the treatment module <NUM> towards the detected position of the passive device <NUM>. For example, the blood treatment machine console <NUM> can control the arm <NUM> to move the treatment module <NUM> towards the detected position of the passive device <NUM> until the distance between the patient ends of each of the blood lines <NUM>, <NUM> (as determined based on the position of the passive device <NUM>) and the treatment module <NUM> is less than the threshold distance.

In some implementations, based the signals received from the image sensor <NUM> and based on a known or approximated distance between the passive device <NUM> and the patient ends of each of the blood lines <NUM>, <NUM>, the blood treatment machine console <NUM> can predict future movement of the patient ends of each of the blood lines <NUM>, <NUM>. Based on this predicted movement, the blood treatment machine console <NUM> can control the arm <NUM> to move the treatment module <NUM> in a direction that counteracts any increased strain that could be caused by the predicted movement.

While <FIG> depicts the passive device <NUM> as being positioned on the arm <NUM> of the patient <NUM>, the passive device <NUM> can alternatively or additionally be positioned on other surfaces. For example, in some implementations, a passive device <NUM>, such as reflective material, may be positioned on or embedded into a portion of each of the blood lines <NUM>, <NUM>, and the image sensor <NUM> can be used to track the position of the blood lines <NUM>, <NUM> to detect tension in the blood lines <NUM>, <NUM>.

While the passive device <NUM> has been described as being a reflective material, in some embodiments the passive device is color keyed and the image sensor <NUM> is configured to detect and track the color of the passive device. For example, the image sensor <NUM> can be configured to transmit in real-time to the blood treatment machine console <NUM>, via a wired connection or a wireless connection, signals indicating the location of the passive device <NUM> as detected by the image sensor <NUM> based on the color of the passive device.

In addition, while <FIG> depicts the image sensor <NUM> as being positioned on the blood treatment machine console <NUM>, the image sensor <NUM> can be positioned on other portions of the blood treatment system <NUM>. For example, in some implementations, the image sensor <NUM> is coupled to or integrated into the treatment module <NUM>. In some implementations, the image sensor <NUM> is coupled to the chair the patient <NUM> sits in during treatment. Further, while <FIG> depicts a single image sensor <NUM>, other numbers of image sensors <NUM> may be used.

As depicted in <FIG>, for example, a blood treatment system <NUM> includes image sensors <NUM>, <NUM> that track the position of one or more objects attached to or near the blood treatment machine <NUM> in order to detect or predict tension along the blood lines <NUM>, <NUM>. For example, the image sensors <NUM>, <NUM> can capture images of the patient <NUM> and/or the blood lines <NUM>, <NUM> during hemodialysis treatment, and transmit the images to a computing device of the blood treatment machine console <NUM> (e.g., controller <NUM>). The computing device of the blood treatment machine console <NUM> can process the images received from the image sensors <NUM>, <NUM> using a trained machine learning model to detect the position of the patient <NUM> and/or the blood lines <NUM>, <NUM> based on the images captured by the image sensors <NUM>, <NUM>. The image sensors <NUM>, <NUM> can include any acceptable image sensors configured to capture images, including, but not limited to, digital cameras, video cameras, camcorders, etc..

For example, as depicted in <FIG>, the image sensors <NUM>, <NUM> can be positioned on the blood treatment machine console <NUM> and configured to capture images of the patient's arm <NUM> throughout a hemodialysis treatment. The images of the patient's arm <NUM> captured by the image sensors <NUM>, <NUM> are communicated in real-time to a computing device of the blood treatment machine console <NUM> via a wired or wireless connection. The computing device of the blood treatment machine console <NUM> processes the images of the patient's arm <NUM> received from the image sensors <NUM>, <NUM> using a trained machine learning model to determine the position of the patient's arm <NUM> in three dimensional space. Based on determining the position of the detected portion of the patient's arm <NUM> relative to the position of the treatment module <NUM>, and based on a known or approximated distance between the detected portion of the patient's arm <NUM> and the patient ends of each of the blood lines <NUM>, <NUM>, the distance between the patient ends of each of the blood lines <NUM>, <NUM> and the treatment module <NUM> can be determined. As previously discussed, the blood treatment machine console <NUM> can determine the position of the treatment module <NUM> based on one or more position sensors <NUM>, <NUM> coupled to the treatment module <NUM> and/or the arm <NUM>. Based on the determined distance between the patient ends of each of the blood lines <NUM>, <NUM> and the treatment module <NUM>, and the predetermined length of the blood lines <NUM>, <NUM> between patient ends of the blood lines <NUM>, <NUM> and the treatment module <NUM>, the blood treatment machine console <NUM> can determine the amount of strain occurring along the blood lines <NUM>, <NUM>.

Based on this determination of strain along the blood lines <NUM>, <NUM>, the blood treatment machine console <NUM> can determine a distance and direction that the treatment module <NUM> must be moved to in order to reduce the detected strain along the blood line(s) <NUM>, <NUM> by an amount sufficient to prevent disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> or dislodgement of the needles <NUM>, <NUM> from the patient <NUM>, as described above. In some implementations, in response to detecting that the patient <NUM> has moved his arm <NUM> away from the treatment module <NUM> during hemodialysis treatment based on signals from the image sensors <NUM>, <NUM> the blood treatment machine console <NUM> automatically controls the arm <NUM> to move the treatment module <NUM> towards the patient <NUM> (e.g., towards the detected position of the patient's arm <NUM>) in order to generate slack in the blood lines <NUM>, <NUM>.

In some implementations, the image sensors <NUM>, <NUM> can be used to track the position of the blood lines <NUM>, <NUM> in order to determine tension along the blood lines <NUM>, <NUM>. For example, the image sensors <NUM>, <NUM> can be positioned on the blood treatment machine console <NUM> and configured to capture images of the end of each of the blood lines <NUM>, <NUM> coupled to the needles <NUM>, <NUM> (i.e., the "patient end" of the blood lines <NUM>, <NUM>) throughout the hemodialysis treatment. The images of the patient end of each of the blood lines <NUM>, <NUM> captured by the image sensors <NUM>, <NUM> are communicated in real-time to a computing device of the blood treatment machine console <NUM> via a wired or wireless connection. The computing device of the blood treatment machine console <NUM> processes the images of the patient end of each of the blood lines <NUM>, <NUM> received from the image sensors <NUM>, <NUM> using a trained machine learning model to determine the position of the patient end of each of the blood lines <NUM>, <NUM> in three dimensional space. As previously discussed, based on determining the position of the patient end of each of the blood lines <NUM>, <NUM> relative to the position of the treatment module <NUM>, and based on the predetermined length of the blood lines <NUM>, <NUM> between patient ends of the blood lines <NUM>, <NUM> and the treatment module <NUM>, the blood treatment machine console <NUM> can determine the amount of strain occurring along the blood lines <NUM>, <NUM>.

Based on this determination of strain along the blood lines <NUM>, <NUM>, the blood treatment machine console <NUM> can determine a distance and direction that the treatment module <NUM> must be moved to in order to reduce the detected strain along the blood line(s) <NUM>, <NUM> by an amount sufficient to prevent disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> or dislodgement of the needles <NUM>, <NUM> from the patient <NUM>, as described above. In some implementations, in response to determining that the patient ends of the blood lines <NUM>, <NUM> have been moved away from the treatment module <NUM> based on signals from the image sensors <NUM>, <NUM> the blood treatment machine console <NUM> automatically controls the arm <NUM> to move the treatment module <NUM> towards the detected position of the patient ends of the blood lines <NUM>, <NUM> in order to generate slack in the blood lines <NUM>, <NUM>.

In some implementations, the risk of disconnection of the blood lines <NUM>, <NUM> from the dialyzer <NUM> or dislodgement of the needles <NUM>, <NUM> from the patient <NUM> is determined based on the distance detected between the patient ends of the blood lines <NUM>, <NUM> and the position of the treatment module <NUM>, without requiring a calculation of the strain along the blood lines <NUM>, <NUM>. For example, as previously discussed, based on the signals received from the image sensors <NUM>, <NUM> indicating the position of the patient ends of the blood lines <NUM>, <NUM>, and the signals received from the position sensors <NUM>, <NUM>, the blood treatment machine console <NUM> can determine the distance between the patient ends of the blood lines <NUM>, <NUM> and the treatment module <NUM> in one or more planes in real-time during treatment. In some implementations, if the blood treatment machine console <NUM> determines that the distance between the patient ends of the blood lines <NUM>, <NUM> and the treatment module <NUM> exceeds a threshold distance associated with an increased risk of dislodgement or disconnection of the blood lines <NUM>, <NUM>, the blood treatment machine console <NUM> automatically controls the arm <NUM> to move the treatment module <NUM> towards the detected position of patient ends of the blood lines <NUM>, <NUM>. For example, the blood treatment machine console <NUM> can control the arm <NUM> to move the treatment module <NUM> towards the detected position of the patient ends of the blood lines <NUM>, <NUM> until the distance between the patient ends of each of the blood lines <NUM>, <NUM> and the treatment module <NUM> is less than the threshold distance.

In some implementations, based the signals received from the image sensor <NUM>, the blood treatment machine console <NUM> can predict future movement of the patient ends of each of the blood lines <NUM>, <NUM>. Based on this predicted movement, the blood treatment machine console <NUM> can control the arm <NUM> to move the treatment module <NUM> in a direction that counteracts any increased strain that could be caused by the predicted movement.

While <FIG> depicts the image sensors <NUM>, <NUM> as being positioned on the blood treatment machine console <NUM>, one or more of the image sensors <NUM>, <NUM> can be positioned on other portions of the blood treatment system <NUM>. For example, in some implementations, one or more of the image sensors <NUM>, <NUM> are coupled to or integrated into the treatment module <NUM>. In some implementations, one or more of the image sensors <NUM>, <NUM> are coupled to the chair the patient <NUM> sits in during treatment. Further, while <FIG> depicts two image sensors <NUM>, <NUM>, other numbers of image sensors <NUM>, <NUM> may be used. In addition, while the image sensors <NUM>, <NUM> have been discussed as being configured to capture images of the patient's arm and the patient ends of the blood lines <NUM>, <NUM>, the image sensors <NUM>, <NUM> may additionally or alternatively capture images of other objects in or near the blood treatment system <NUM> in order to determine tension along the blood lines <NUM>, <NUM>.

While the signals from the various above-described sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> have been described as being transmitted to and processed by the blood treatment machine console <NUM> to determine tension along the blood lines <NUM>, <NUM>, the electronics and/or controls that receive and interpret output signals from the sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> can be alternatively or additionally located in the treatment module <NUM>, the arm <NUM>, and/or elsewhere.

In some implementations, one or more of above-discussed sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> are wireless sensors that communicate signals wirelessly to the blood treatment machine console <NUM>, the treatment module <NUM>, the arm <NUM>, and/or elsewhere using any suitable form of wireless communication, including, but not limited to, WiFi, Bluetooth, near field communication, etc. In some implementations, one or more of above-discussed sensors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> are wired to one of more of the blood treatment machine console <NUM>, the treatment module <NUM>, and the arm <NUM>, and communicate signals over the wired connections to the blood treatment machine console <NUM>, the treatment module <NUM>, and/or the arm <NUM>.

In some embodiments, there are additionally or alternatively sensors located in the arm <NUM> to determine the position, orientation, movement, and/or rate of movement of the treatment module <NUM>. Such sensors can be angle sensors, path sensors, range sensors, accelerometers and/or other types of sensors, and can be used to improve the accuracy of positioning and moving the treatment module <NUM>, as described above. For example, during repositioning of the treatment module <NUM> to prevent dislodgement of the blood lines <NUM>, <NUM> or disconnection of the needles <NUM>, <NUM>, sensors located in the arm <NUM> can transmit signals to the blood treatment machine console <NUM> indicating the position, orientation, movement, and/or rate of movement of the module <NUM> in real-time during movement of the arm <NUM> to ensure accurate positioning of the treatment module <NUM>.

While the arm <NUM> is depicted in <FIG>, <FIG> as being coupled to and extending from a front portion of the blood treatment machine console <NUM>, the arm <NUM> can be coupled to other portions of the blood treatment machine console <NUM>, such as a side of the blood treatment machine console <NUM> or the back of the blood treatment machine console <NUM>. Similarly, while the arm <NUM> is depicted in <FIG>, <FIG> as being coupled to and extending from back of the treatment module <NUM>, the arm <NUM> can be coupled to other portions of the treatment module <NUM>, such as a side of the treatment module <NUM>.

In addition, while the arm <NUM> is described as being capable of movement in three dimensions, the arm <NUM> may have an alternative design resulting in movement in a different number of dimensions. As such, the arm <NUM> may have a different number of degrees of freedom in its movement. For example, in some implementations, the arm <NUM> may be configured to be capable of movement along a single plane. For example, the arm <NUM> can be configured to extend outward from the blood treatment machine console <NUM> and retract inward towards the blood treatment machine console <NUM> in a single plane. In some implementations, in response to detecting strain along the blood lines <NUM>, <NUM>, the blood treatment machine console <NUM> automatically controls the arm coupled to the treatment module <NUM> to extend outward from the blood treatment machine console <NUM> along a single plane.

While the blood treatment systems discussed above have been described as including a dialyzer with an internal blood pump, the blood pump can alternatively or additionally be located external to the dialyzer. In some implementations, for example, the treatment module <NUM> includes a blood pump, such as a peristaltic pump, that interacts with the arterial line <NUM> for pumping blood through the dialyzer.

While the blood treatment systems discussed above have been described as machines that carry out hemodialysis and/or hemodiafiltration, the concepts described herein can be applied to any of various other types of blood treatment systems, including systems for carrying out hemofiltration, ultrafiltration, peritoneal dialysis, apheresis, and cardiopulmonary bypass procedures.

Claim 1:
A blood treatment machine (<NUM>) comprising:
a treatment module (<NUM>) including a structure for coupling with a dialyzer (<NUM>),
a blood treatment machine console (<NUM>) configured to control the treatment module; and
an arm (<NUM>) coupled to and extending between the treatment module and the blood treatment machine console, wherein the blood treatment machine console is configured to control movement of the arm to automatically reposition the treatment module in response to data received from one or more sensors (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>) related to tension along a blood line (<NUM>, <NUM>) coupled to the dialyzer.