CN108261607A - A kind of functional transcutaneous electrical stimulation device for motion function regulation and control - Google Patents
A kind of functional transcutaneous electrical stimulation device for motion function regulation and control Download PDFInfo
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- CN108261607A CN108261607A CN201810231965.XA CN201810231965A CN108261607A CN 108261607 A CN108261607 A CN 108261607A CN 201810231965 A CN201810231965 A CN 201810231965A CN 108261607 A CN108261607 A CN 108261607A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36014—External stimulators, e.g. with patch electrodes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/02—Details
- A61N1/04—Electrodes
- A61N1/0404—Electrodes for external use
- A61N1/0408—Use-related aspects
- A61N1/0456—Specially adapted for transcutaneous electrical nerve stimulation [TENS]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/02—Details
- A61N1/08—Arrangements or circuits for monitoring, protecting, controlling or indicating
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Abstract
The present invention relates to a kind of functional transcutaneous electrical stimulation device for motion function regulation and control, including CPGs detection units, controller and stimulating electrode；CPGs detection units for monitoring the electromyography signal of human body lower limbs CPGs generations, and send signal to controller after electromyography signal is monitored and generate instruction；Controller generates instruction, and generate stimulated current, and be input to stimulating electrode according to parameter preset for receiving signal；Stimulating electrode is positioned on the skin at subject's vertebra, and electric wave is stimulated for exporting；Stimulation electric wave is to go out the main wave of low frequency using the two-way asymmetric square waves of high frequency as carrier modulation；Generating movement tendency using CPGs detection units monitoring human body lower limbs makes the electromyography signal of generation, generates distinctive stimulation electric wave in time, synchronous sexual stimulus is given to the spinal nerve of user, to people behavior of taking a step with positive incentive；Promote the lower limb rehabilitation Walking of user.
Description
Technical field
The invention belongs to medical instruments field, more particularly to a kind of functional transcutaneous electrical nerves for motion function regulation and control
Stimulating apparatus.
Background technology
Transcutaneous electrostimulation compared to spinal nerve electro photoluminescence, Epidural Electrical stimulate etc. electrical stimulus patterns have it is non-implantation, safety,
The advantages that facilitating is widely used in treatment by medical field.Existing transcutaneous electrical stimulation device on domestic and international market at present
Often reach stimulation contraction of muscle in a manner that electro photoluminescence perceives nerve for symptoms such as insomnia, pain, hypertension, reduce
Pain domain, promote blood circulation cycle and other effects.However regulation and control of the spinal nerve to motion function are stimulated by transcutaneous electrostimulation,
When precisely effective electro photoluminescence is given with where to be but not carried out.On the other hand, current existing transcutaneous electrostimulation signal, root
According to different demands and different stimulation sites, need to be related to different electrical stimulation waveforms；Currently used electrical stimulation waveforms are
Bi-directional square wave pulse, wherein adjustable parameter have current strength, electric wave pulsewidth, wave frequency etc., however such electro photoluminescence
Mode and electrical stimulation waveforms can only realize the effect for inhibiting to perceive nervous excitation so as to reach analgesic, throe and other effects, stimulation
The parameter of electric signal waveform can not be realized to spinal nerve Motor stimulation；And the system of conventional therapy instrument does not allow user generally
Adjust the electro photoluminescence agreement of predetermined configurations.
Invention content
To solve the above-mentioned problems, the present invention provides a kind of functional transcutaneous electrical nerve thorns for motion function regulation and control
Excitation device, concrete scheme are as follows：
A kind of functional transcutaneous electrical stimulation device for motion function regulation and control, including CPGs detection units, control
Device and stimulating electrode；
CPGs detection units, for monitoring the electromyography signal of human body lower limbs CPGs generations, and after electromyography signal is monitored
Signal, which is sent, to controller generates instruction；
Controller generates instruction, and generate stimulated current according to parameter preset, and be input to stimulation electricity for receiving signal
Pole；
Stimulating electrode is positioned on the skin at subject's vertebra, and electric wave is stimulated for exporting；
Stimulation electric wave is to go out the main wave of low frequency using the two-way asymmetric square waves of high frequency as carrier modulation.
Human body lower limbs electromyography signal is monitored using CPGs detection units, when user generates walking wish, is generated in time special
Some stimulation electric waves give synchronous sexual stimulus to the spinal nerve of user, to people behavior of taking a step with positive incentive；It is more advantageous to
The Walking of taking a step of user.
Further, parameter includes amplitude, frequency, duty ratio, forward and reverse peak pulse duration and fundamental frequency.
Preferably, the ranging from 1-50mA of the amplitude of electric wave, duty ratio 10-50% are stimulated；Further preferred amplitude model
It encloses for 30-45mA, duty ratio 10-20%；
Using the stimulation electric wave of above-mentioned duty ratio and amplitude, can be realized under the premise of ensureing that user is comfortable and safe pair
The effective stimulus of spinal nerve, it is good to the control and recovery effects of user's walking ability to realize walking motion of taking a step.
Preferably, it stimulates in the frequency range of electric wave and is：1-50Hz；Fundamental frequency is ranging from：1-10kHz；
Preferably, the pulsewidth and amplitude for stimulating electric wave are inversely proportional, and forward and reverse peak pulse duration is 1:2-1:9；Further preferably
Ground is 1:5-1:7；Using above-mentioned forward and reverse peak pulse duration, the validity of spinal nerve stimulation is further improved, while can be more preferable
Balanced human in electrochemical equilibrium, prevent the generation of electrochemical reaction in prolonged electric current stimulation servant's body.
Further, stimulating electrode is positioned on the skin at subject's vertebra L3-L5, and therapeutic effect is optimal.
Further, controller includes micro-control unit, inversion unit and boosting unit；Micro-control unit includes parameter
Setup module and electric signal generation module；
Parameter setting module for providing a user the adjusting submodule for adjustment parameter, and receives set by user
Parameter；
Electric signal generation module generates instruction, and generate analog electrical signal according to preset parameter for receiving signal, and
Analog electrical signal is exported to inversion unit；
Inversion unit, for the positive voltage signal of analog electrical signal to be converted into ac signal；
Boosting unit, for the amplitude of ac signal to be amplified to the amplitude for meeting transcutaneous electrostimulation intensity；And it exports
Electric signal is stimulated to stimulating electrode.
Set using highly integrated unit, device is compact and flexible, and power consumption is low, facilitate user carry and rehabilitation
Training；The Parameter adjustable of electrical stimulation signal facilitates user to carry out personalized rehabilitation training according to self-demand.
Further, controller further includes current detecting unit, and micro-control unit further includes current comparing module and electricity
Flow adjustment module；For ensureing the validity of output current；
Current detecting unit for analog electrical signal to be AD converted acquisition digital signal, and is sent to electric current and compares
Module；
Current comparing module for the digital signal received and default output threshold value to be compared, works as comparing result
When being identical, output analog electrical signal to inversion unit；When comparing result is different, sends adjusting to current regulating module and refer to
It enables；
Current regulating module, for receiving regulating command, after parameter to digital signal is identical with default output threshold value, output
Analog electrical signal is to inversion unit.
Functional transcutaneous electrical stimulation device provided by the present invention for motion function regulation and control, according to the model of application
It encloses and stimulation electric wave is studied, obtain the waveform using the two-way asymmetric square waves of high frequency as fundamental wave, detected using CPGs and determine thorn
Swash the generation opportunity of electric wave, ensure user with subjectivity take a step tendency when give spinal nerve with synchronous suitable electro photoluminescence,
Realize that lower limb are effectively taken a step walking movement；On the other hand functional transcutaneous electrical stimulation device volume provided by the invention is small
Ingeniously, each unit is highly integrated, and power consumption is low, relative to traditional lower limb rehabilitation robot, for user's walking ability by
Walk recovery effects more preferably, use is more flexible, and the controllability of user is high, and patient compliance is good.
Description of the drawings
Each component connection diagram of the functional transcutaneous electrical stimulation device of Fig. 1 embodiments 1；
The waveform diagram of the stimulation electric wave of Fig. 2 embodiments 1；
Each component connection diagram of the functional transcutaneous electrical stimulation device of Fig. 3 embodiments 2；
Each component connection diagram of the functional transcutaneous electrical stimulation device of Fig. 4 embodiments 3；
The circuit diagram of 3 current detecting unit of Fig. 5 embodiments；
The circuit diagram of 3 boosting unit of Fig. 6 embodiments；
The circuit diagram of 3 inversion unit of Fig. 7 embodiments；
The circuit diagram of 3 load protection unit of Fig. 8 embodiments；
The sEMG figures that the lower limb of Fig. 9 volunteer are generated under the stimulation of general apparatus of electro-stimulation on the market；
The sEMG that the lower limb of Figure 10 volunteer generate under the stimulation of the percutaneous spinal nerve electrical stimulation device of the present invention
Figure；
The sEMG figures that the lower limb of Figure 11 volunteer generate under taking normal strides movement；
Figure 12 .sEMG scheme and scoring dependency diagram.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples, and the following example is only used for explaining the present invention
Invention content, be not intended to limit the scope of the invention.
Embodiment 1-6
A kind of functional transcutaneous electrical stimulation device for motion function regulation and control, as depicted in figs. 1 and 2, including
CPGs detection units 101, controller 102 and stimulating electrode 103；
CPGs detection units 101 for monitoring the electromyography signal of human body lower limbs CPGs generations, and are monitoring electromyography signal
Signal is sent to controller 102 generate instruction afterwards；
Controller 102 generates instruction, and generate stimulated current, and be input to thorn according to parameter preset for receiving signal
Swash electrode 103；
Stimulating electrode 103 is positioned on the skin at subject's vertebra, and electric wave is stimulated for exporting；
Stimulation electric wave is to go out the main wave of low frequency using the two-way asymmetric square waves of high frequency as carrier modulation, and pulsewidth and amplitude are into anti-
Than each parameter setting is shown in Table 1.
Each parameter setting of 1 embodiment 1-6 of table
Functional transcutaneous electrical stimulation device provided in this embodiment for motion function regulation and control, for spinal motor
Nerve, the parameter rationally set ensures that the electrical stimulation signal of output can be stimulated to user's taking normal strides, without being brought to patient
Serious uncomfortable influence, the lower limb rehabilitation exercise for patient provide compact easily practicability high stimulating apparatus.
Embodiment 7
As shown in figure 3, the functional transcutaneous electrical stimulation device for motion function regulation and control that the present embodiment is provided,
Difference lies in further limit, controller 102 includes micro-control unit 201, inversion unit 202, boosting list with embodiment 1
Member 203 and current detecting unit 206；Micro-control unit 201 includes parameter setting module 204, electric signal generation module 205, electricity
Flow comparison module 207 and current regulating module 208；
Parameter setting module 204 for providing a user the adjusting submodule for adjustment parameter, and receives user's setting
Parameter；
Electric signal generation module 205 generates instruction, and generate analog telecommunications according to preset parameter for receiving signal
Number；
Current detecting unit 206 for analog electrical signal to be AD converted acquisition digital signal, and is sent to electric current ratio
Compared with module 207；
Current comparing module 207, for the digital signal received and default output threshold value to be compared, when comparison is tied
When fruit is identical, output analog electrical signal to inversion unit 202；When comparing result is different, sent out to current regulating module 208
Send regulating command；
Current regulating module 208, for receiving regulating command, after parameter to digital signal is identical with default output threshold value,
Analog electrical signal is exported to inversion unit 202；
Inversion unit 202, for the positive voltage signal of analog electrical signal to be converted into ac signal；
Boosting unit 203, for the amplitude of ac signal to be amplified to the amplitude for meeting transcutaneous electrostimulation intensity；It is and defeated
Go out to stimulate electric signal to stimulating electrode 103.
Functional transcutaneous electrical stimulation device provided in this embodiment for motion function regulation and control, each component height collection
Into small, power consumption is low, and 12V DC electricity may act as power supply, and patient is facilitated to carry for Walking of taking a step；
The Parameter adjustable of waveform；It can be that software form is realized wherein to adjust submodule, can also use the shape of peripheral hardware knob or button
Formula is realized, provides the function of adjustment parameter at any time to the user, and intensity of electric stimulus and the different of pattern are needed with adapting to different user
It asks, practicability is high, and user experience is good.
Embodiment 8
As shown in Fig. 4-Fig. 8, the present embodiment provided for motion function regulation and control functional transcutaneous electrical stimulation
Device, difference lies in controller 102 further includes the light being connected with micro-control unit 201 and boosting unit 203 with embodiment 7
Coupling isolated location 301, for the high-voltage output terminal of the low-voltage control terminal of micro-control unit 201 and boosting unit 203 to be isolated,
Ensure the trouble free service of microprocessor control unit 201.Controller 102 further includes and 103 phase of boosting unit 203 and stimulating electrode
The load protection unit 302 of connection for stablizing output to the stimulation electric signal of human body, is prevented due to destabilizing factor or is done
Disturb and caused by load overcurrent phenomenon injury human body.
Reference examples 1-13
A kind of functional transcutaneous electrical stimulation device for motion function regulation and control, difference lies in ginsengs with embodiment 1
Number setting is shown in Table 2.
2 each parameter settings of reference examples 1-13 of table
| Group | Main wave frequency rate/Hz | Fundamental frequency/kHz | Amplitude/mA | Duty ratio | Forward and reverse peak pulse duration |
| Reference examples 1 | 60 | 5 | 25 | 20 | 1:5 |
| Reference examples 2 | 65 | 5 | 25 | 20 | 1:5 |
| Reference examples 3 | 30 | 12 | 25 | 20 | 1:5 |
| Reference examples 4 | 30 | 15 | 25 | 20 | 1:5 |
| Reference examples 5 | 45 | 7 | 55 | 10 | 1:7 |
| Reference examples 6 | 45 | 7 | 60 | 10 | 1:7 |
| Reference examples 7 | 45 | 7 | 37 | 6 | 1:7 |
| Reference examples 8 | 45 | 7 | 37 | 55 | 1:7 |
| Reference examples 9 | 45 | 7 | 37 | 65 | 1:7 |
| Reference examples 10 | 45 | 7 | 37 | 80 | 1:7 |
| Reference examples 11 | 30 | 5 | 25 | 20 | 1:1 |
| Reference examples 12 | 30 | 5 | 25 | 20 | 1:10 |
| Reference examples 13 | 30 | 5 | 25 | 20 | 1:20 |
Test example
Healthy volunteer 5 is convened, 1-6 of the embodiment of the present invention, reference examples 1-13 is respectively adopted and regulates and controls for motion function
Functional transcutaneous electrical stimulation device and general apparatus of electro-stimulation in the market, to volunteer into percutaneous spinal nerve electricity
Stimulation.The noncoconscious property behavior of taking a step of volunteer's lower limb is monitored, and to volunteer under percutaneous spinal nerve electro photoluminescence
The surface electromyogram signal (sEMG) of lower limb muscles group measure, measurement result is as shown in figs9-12.
In an experiment, we have recorded volunteer's lower limb (general electrical stimulation device, this hair in the market under different conditions
Bright percutaneous spinal nerve electrical stimulation device, consciousness property take a step to move) sEMG figures.According to the table of the sEMG signals of lower limb muscles
Sign, we score to the pattern of the sEMG signals of lower limb under different conditions, and result of the test is shown in Table 3；Standards of grading are as follows：
5 points；Generated sEMG patterns are taken a step with extremely strong correlation with the people's will property known：
4 points；Generated sEMG patterns are taken a step with strong correlation with the people's will property known
3 points：Generated sEMG patterns are taken a step with certain correlation with the people's will property known
2 points：Generated sEMG patterns are taken a step with little relevance with the people's will property known
1 point；With people's will know property take a step caused by sEMG pattern non-correlations.
3 result of the test of table
By above-mentioned result of the test it is found that the functional transcutaneous electrical stimulation regulated and controled provided by the present invention for motion function
Device using unique controllable waveform, can realize the stimulation for providing patient behavior of completely taking a step, wherein 4 He of embodiment
The group of embodiment 5, most apparent and lower limb muscles the sEMG correlations of behavior of taking a step are preferable.However percutaneous spinal nerve electro photoluminescence
Device and volunteer consciousness property take a step behavior lower extremity movement state and sEMG characterizations there are certain difference, and embodiment
Between have significant difference.
Claims (10)
1. a kind of functional transcutaneous electrical stimulation device for motion function regulation and control, which is characterized in that detected including CPGs
Unit (101), controller (102) and stimulating electrode (103)；
The CPGs detection units (101) for monitoring the electromyography signal of human body lower limbs CPGs generations, and are monitoring myoelectricity letter
Number backward controller (102) sends signal and generates instruction；
The controller (102) generates instruction, and generate stimulated current, and be input to according to parameter preset for receiving signal
Stimulating electrode (103)；
The stimulating electrode (103) is positioned on the skin at subject's vertebra, and electric wave is stimulated for exporting；
The stimulation electric wave is to go out the main wave of low frequency using the two-way asymmetric square waves of high frequency as carrier modulation.
2. as described in claim 1 for the functional transcutaneous electrical stimulation device of motion function regulation and control, which is characterized in that
The parameter preset includes amplitude, frequency, duty ratio, forward and reverse peak pulse duration and fundamental frequency.
3. as claimed in claim 2 for the functional transcutaneous electrical stimulation device of motion function regulation and control, which is characterized in that
The ranging from 1-50mA, duty ratio 10-50% of the amplitude of the stimulation electric wave.
4. as claimed in claim 2 for the functional transcutaneous electrical stimulation device of motion function regulation and control, which is characterized in that
The pulsewidth of the stimulation electric wave is inversely proportional with amplitude, and forward and reverse peak pulse duration is 1:2-1:9.
5. as claimed in claim 2 for the functional transcutaneous electrical stimulation device of motion function regulation and control, which is characterized in that
It is in the frequency range of the stimulation electric wave：1-50Hz；Fundamental frequency is ranging from：1-10kHz.
6. the functional transcutaneous electrical stimulation device for motion function regulation and control as described in claim 1-5 is any, special
Sign is that the stimulating electrode (103) is positioned on the skin at subject's vertebra L3-L5.
7. as described in claim 1 for the functional transcutaneous electrical stimulation device of motion function regulation and control, which is characterized in that
The controller (102) includes micro-control unit (201), inversion unit (202) and boosting unit (203)；The microcontroller list
First (201) include parameter setting module (204) and electric signal generation module (205)；
The parameter setting module (204), for providing a user the adjusting submodule for adjustment parameter, and receives user and sets
Fixed parameter preset；
The electric signal generation module (205) generates instruction, and generate analog telecommunications according to parameter preset for receiving signal
Number, and analog electrical signal is exported to inversion unit (202)；
The inversion unit (202), for the positive voltage signal of analog electrical signal to be converted into ac signal；
The boosting unit (203), for the amplitude of ac signal to be amplified to the amplitude for meeting transcutaneous electrostimulation intensity；And
Output stimulates electric signal to stimulating electrode (103).
8. as claimed in claim 7 for the functional transcutaneous electrical stimulation device of motion function regulation and control, which is characterized in that
The controller (102) further includes current detecting unit (206), and the micro-control unit (201) further includes current comparing module
(207) and current regulating module (208)；
The current detecting unit (206), for analog electrical signal to be AD converted acquisition digital signal, and is sent to electric current
Comparison module (207)；
The current comparing module (207) for the digital signal received and default output threshold value to be compared, works as comparison
When being as a result identical, output analog electrical signal to inversion unit (202)；When comparing result is different, to current regulating module
(208) regulating command is sent；
The current regulating module (208), for receiving regulating command, adjustment parameter to digital signal and default output threshold value phase
With after, output analog electrical signal to inversion unit (202).
9. as claimed in claim 7 for the functional transcutaneous electrical stimulation device of motion function regulation and control, which is characterized in that
The controller (102) further includes the light-coupled isolation unit being connected with the micro-control unit (201) and boosting unit (203)
(301), for the high-voltage output terminal of the low-voltage control terminal of micro-control unit (201) and boosting unit (203) to be isolated.
10. as claimed in claim 7 for the functional transcutaneous electrical stimulation device of motion function regulation and control, feature exists
In the controller (102) further includes the load protection unit being connected with boosting unit (203) and stimulating electrode (103)
(302), for the stimulation electric signal of stable output to human body.
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| CN110404164A (en) * | 2019-08-29 | 2019-11-05 | 苏州大学 | Spinal cord closed loop electric stimulation |
| CN113058157A (en) * | 2021-02-25 | 2021-07-02 | 国家康复辅具研究中心 | Feedback type functional electrical stimulation system with multi-signal fusion |
| WO2023142659A1 (en) * | 2022-01-27 | 2023-08-03 | 上海交通大学 | Electrical stimulation adjustment and control apparatus and method for abnormal muscle tension in patient with spastic cerebral palsy |
| CN116943032A (en) * | 2023-09-20 | 2023-10-27 | 江西省精一医疗科技有限公司 | Electrical stimulation generating device, method, electronic device, and storage medium |
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| CN109010008A (en) * | 2018-08-22 | 2018-12-18 | 深圳瑞格美科技有限公司 | Neuromuscular electric stimulation therapy method, neuromuscular electric stimulation therapy device and its host |
| CN110404164A (en) * | 2019-08-29 | 2019-11-05 | 苏州大学 | Spinal cord closed loop electric stimulation |
| CN113058157A (en) * | 2021-02-25 | 2021-07-02 | 国家康复辅具研究中心 | Feedback type functional electrical stimulation system with multi-signal fusion |
| CN113058157B (en) * | 2021-02-25 | 2022-01-18 | 国家康复辅具研究中心 | Feedback type functional electrical stimulation system with multi-signal fusion |
| WO2023142659A1 (en) * | 2022-01-27 | 2023-08-03 | 上海交通大学 | Electrical stimulation adjustment and control apparatus and method for abnormal muscle tension in patient with spastic cerebral palsy |
| CN116943032A (en) * | 2023-09-20 | 2023-10-27 | 江西省精一医疗科技有限公司 | Electrical stimulation generating device, method, electronic device, and storage medium |
| CN116943032B (en) * | 2023-09-20 | 2024-01-09 | 江西省精一医疗科技有限公司 | Electrical stimulation generating device, method, electronic device, and storage medium |
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