CN111939469A - Multi-mode electroencephalogram stimulation device and finger bending and stretching stimulation rehabilitation device - Google Patents
Multi-mode electroencephalogram stimulation device and finger bending and stretching stimulation rehabilitation device Download PDFInfo
- Publication number
- CN111939469A CN111939469A CN202010778696.6A CN202010778696A CN111939469A CN 111939469 A CN111939469 A CN 111939469A CN 202010778696 A CN202010778696 A CN 202010778696A CN 111939469 A CN111939469 A CN 111939469A
- Authority
- CN
- China
- Prior art keywords
- stimulation
- somatosensory
- stimulator
- visual
- finger
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- A61N1/36025—External stimulators, e.g. with patch electrodes for treating a mental or cerebral condition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Hospice & Palliative Care (AREA)
- Psychology (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Child & Adolescent Psychology (AREA)
- Developmental Disabilities (AREA)
- Epidemiology (AREA)
- Neurology (AREA)
- Psychiatry (AREA)
- Rehabilitation Therapy (AREA)
- Social Psychology (AREA)
- Biophysics (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a multi-mode electroencephalogram stimulation device and a finger bending and stretching stimulation rehabilitation device, wherein the electroencephalogram stimulation device comprises a somatosensory stimulator, a visual stimulator, a controller and a wireless communication unit, wherein the somatosensory stimulator is arranged on a wearable carrier and is used for generating somatosensory stimulation to a target object; the visual stimulator is arranged on the wearable carrier and used for generating visual stimulation to the target object; the controller is connected with the somatosensory stimulator and the visual stimulator and is used for controlling the somatosensory stimulator to generate somatosensory stimulation and controlling the visual stimulator to generate visual stimulation according to the stimulation instruction; the wireless communication unit is connected with the controller and used for receiving the stimulation instruction sent by the instruction generator. According to the multi-mode electroencephalogram stimulation device provided by the embodiment of the invention, two modes of somatosensory electrical stimulation and visual stimulation are integrated, and different electroencephalogram evoked potentials can be induced. In addition, the device is small in size and light in weight, and can directly stimulate a target stimulation area of a target object.
Description
Technical Field
The invention relates to a rehabilitation treatment device, in particular to a multi-mode electroencephalogram stimulation device and a finger bending and stretching stimulation rehabilitation device.
Background
Stroke patients are prone to a variety of neurological deficits, with hemiplegia and movement disorders being the most common, particularly in cases where the hands and wrists are always in flexion due to excessive flexor activation and strength imbalance between the opposing muscle groups, and the fingers and wrists are not able to stretch.
Evoked potential is a change in electrical potential produced by the brain in response to an external stimulus. Evoked potentials can be classified into auditory evoked potentials, visual evoked potentials, somatosensory evoked potentials, and the like, depending on the type of sensory stimulation. Common brain-computer interface paradigms related to stimulation include somatosensory electrical stimulation evoked P300, steady state visual evoked potential SSVEP, and the like. Because of the strict time-locking and phase-locking relationship between P300, SSVEP, etc. and stimuli, a stable stimulus source is very important for such brain-computer interface systems. The existing brain electrical stimulation device is single in function and large in size, and therefore popularization and application of brain-computer interface technology are limited to a certain extent.
The electroencephalogram stimulation device can be used for driving rehabilitation equipment to help patients to perform rehabilitation training. However, because of the limitations of the volume and design of the brain electrical stimulation device, the brain electrical stimulation device in the related art rarely directly acts on the target stimulation target area, and the effect is not good enough.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the invention aims to provide a multi-modal electroencephalogram stimulation device.
Another object of the present invention is to provide a finger flexion and extension stimulation rehabilitation device.
To achieve the above object, in one aspect, a multi-modal brain electrical stimulation apparatus according to an embodiment of the present invention includes:
the somatosensory stimulator is arranged on the wearable carrier and is used for generating somatosensory stimulation to a target object;
the visual stimulator is arranged on the wearable carrier and used for generating visual stimulation to a target object;
the controller is connected with the somatosensory stimulator and the visual stimulator and is used for controlling the somatosensory stimulator to generate the somatosensory stimulation and controlling the visual stimulator to generate the visual stimulation according to a stimulation instruction;
and the wireless communication unit is connected with the controller and used for receiving the stimulation instruction sent by the instruction generator.
According to the multi-mode electroencephalogram stimulation device provided by the embodiment of the invention, two modes of somatosensory electrical stimulation and visual stimulation are integrated, and different electroencephalogram evoked potentials can be induced. In addition, this multi-modal brain electricity stimulation device installs at wearable carrier, and is small, light in weight, and the target that can direct target object stimulates the region, is different from brain machine interface mode in the past, provides novel brain machine interface paradigm, and stimulation effect is better.
In addition, the multi-modal brain electrical stimulation apparatus according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the invention, the controller is further configured to control somatosensory stimulation parameters of the somatosensory stimulator and/or visual stimulation parameters of the visual stimulator according to the stimulation instruction, the somatosensory stimulation parameters include electrical stimulation intensity and/or duration, and the visual stimulation parameters include at least one of color, brightness and flicker frequency.
According to one embodiment of the invention, the somatosensory stimulator is an electrode mounted on a surface of the wearable carrier.
According to one embodiment of the invention, the visual stimulator is an LED lamp mounted on the wearable carrier.
On the other hand, the finger flexion and extension stimulation rehabilitation device according to the embodiment of the invention comprises:
a wearable carrier, the wearable carrier being a glove;
the multi-modal electroencephalogram stimulation device is used for applying somatosensory stimulation and/or visual stimulation to the hand of the target object so as to induce the target object to generate an electroencephalogram signal;
the finger bending and stretching actuator is arranged on the finger parts of the gloves and used for driving the fingers of the target object to perform bending action when the target object generates the electroencephalogram signals.
According to the finger bending and stretching stimulation rehabilitation device provided by the embodiment of the invention, the glove can be worn on the hand of a patient, the multi-mode electroencephalogram stimulation device can apply somatosensory stimulation and/or visual stimulation to the hand to induce a target object to generate an electroencephalogram signal, and the finger bending and stretching actuator can drive the finger of the patient to perform bending action when the target object generates the electroencephalogram signal, so that the better rehabilitation treatment effect can be achieved by applying the somatosensory stimulation and/or the visual stimulation and performing bending training on the finger when the target object generates the electroencephalogram signal by using the finger stretching actuator.
According to one embodiment of the invention, the finger flexion and extension actuator is a pneumatic actuator;
the finger flexion and extension stimulation rehabilitation device further comprises an inflation device, and the inflation device is communicated with the finger flexion and extension actuator through an air pipe so as to inflate the inside of the finger flexion and extension actuator and force the finger flexion and extension actuator to execute bending action;
the controller in the multi-modal electroencephalogram stimulation device is connected with the air charging equipment and used for controlling the air charging equipment to work.
According to one embodiment of the invention, the finger flexion and extension actuator comprises:
a bellows having a closed end and an open end, the open end adapted to be connected to an inflation device for inflation of the bellows by the inflation device, the bellows having an elliptical cross-section for bending about an axis generally parallel to a major axis of the ellipse when inflated;
the joint fixer is arranged on the corrugated pipe and is suitable for being fixed on a wearable carrier.
According to an embodiment of the present invention, the bellows comprises a plurality of corrugated portions, which are connected in series;
each of the corrugated portions has a peak circle and valley circles located on both sides of the peak circle, and a ratio of a major axis to a minor axis of each of the peak circle and the two valley circles is greater than 2: 1.
According to one embodiment of the invention, the joint fixator comprises a base end joint fixator, a middle joint fixator and a tail end joint fixator, the base end joint fixator, the middle joint fixator and the tail end joint fixator are sequentially arranged on the corrugated pipe at intervals, and one or two middle joint fixators are arranged.
According to an embodiment of the present invention, each of the proximal joint fixator, the middle joint fixator, and the distal fixator includes:
the base is suitable for being fixed to the wearable carrier and provided with a penetrating hole extending along a first direction and a clamping hole penetrating to the penetrating hole along a second direction, the second direction is perpendicular to the first direction, and the corrugated pipe penetrates through the penetrating hole;
and the buckle is clamped in the clamping hole and fixes the corrugated pipe in the penetrating hole.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a block diagram of a multi-modal electroencephalogram stimulation apparatus according to an embodiment of the present invention;
FIG. 2 is a block diagram of a finger flexion and extension stimulation rehabilitation device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a finger flexion-extension actuator in the finger flexion-extension stimulation rehabilitation device according to the embodiment of the invention;
FIG. 4 is an exploded view of the finger flexion and extension actuator of the device for stimulating rehabilitation by finger flexion and extension according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a finger flexion-extension actuator in the finger flexion-extension stimulation rehabilitation device according to the embodiment of the invention in a bending state;
FIG. 6 is a cross-sectional view of the bellows of the finger flexion and extension actuator of the device for stimulating rehabilitation by finger flexion and extension according to an embodiment of the present invention;
FIG. 7 is an enlarged view of a portion of FIG. 6 at A;
fig. 8 is a schematic view of an installation structure of the finger flexion and extension stimulation rehabilitation device according to the embodiment of the invention.
Reference numerals:
a finger flexion and extension actuator 100;
a corrugated tube 10;
closed end D10;
open end D11;
a wrinkle part 101;
a peak circle 101 a;
a trough circle 101 b;
a base end pipe section 10 a;
an intermediate pipe section 10 b;
a terminal tube section 10 c;
a joint fixer 20;
a proximal joint fixator 20 a;
a middle joint fixator 20 b;
an end joint fixator 20 c;
a base 201;
a concave arc surface S201;
a trepanning H201;
a chucking hole H202;
a first pin hole H203;
a buckle 202;
a crown portion 2021;
a second pin hole H204;
a positioning pin 203;
a wearable carrier 30;
a multi-modal brain electrical stimulation apparatus 400;
a somatosensory stimulator 401;
a visual stimulator 402;
a controller 403;
a wireless communication unit 404;
an instruction transmitter 500;
an inflator device 600;
an electroencephalogram analysis unit 700;
the finger bending and stretching stimulation rehabilitation device 1000.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "circumferential," "radial," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The multi-modal electroencephalogram stimulation device 400 and the finger flexion and extension stimulation rehabilitation device 1000 according to the embodiment of the present invention are described in detail below with reference to the drawings.
Referring to fig. 1, a multi-modal electroencephalogram stimulation apparatus 400 according to an embodiment of the present invention includes a somatosensory stimulator 401, a visual stimulator 402, a controller 403, and a wireless communication unit 404.
Specifically, the somatosensory stimulator 401 is disposed on the wearable carrier 30 to generate somatosensory stimulation to a target stimulation area of the target object. The somatosensory stimulator 401 is disposed on the wearable carrier 30 and is configured to generate visual stimulation to a target stimulation area of a target subject, which is a patient in need of treatment.
It is understood that the wearable carrier 30 may be, but is not limited to, gloves, socks, wristbands, elbows, knee pads, and the like. The somatosensory stimulator 401 and the visual stimulator 402 are mounted on the wearable carrier 30 by means of buttons, magic tapes or adhesive tapes. The positions of the somatosensory stimulator 401 and the visual stimulator 402 on the wearable carrier 30 may be selected and adjusted according to specific application scenarios, for example, the somatosensory stimulator 401 is disposed inside the wearable carrier 30 so as to contact the body surface of the target object, the visual stimulator 402 is disposed outside the wearable carrier 30 so that the target object can observe the light emitted by the visual stimulator 402, as shown in fig. 1 and 2, the dashed box indicates that the somatosensory stimulator 401 is located inside the wearable carrier 30.
The controller 403 is connected to the somatosensory stimulator 401 and the visual stimulator 402, and is configured to control the somatosensory stimulator 401 to generate the somatosensory stimulation and control the visual stimulator 402 to generate the visual stimulation according to the stimulation instruction. The wireless communication unit 404 is connected to the controller 403 for receiving the stimulation command sent by the command generator, and preferably, the wireless communication unit 404 may adopt, but is not limited to, a WIFI module or the like.
That is, the somatosensory stimulator 401 and the visual stimulator 402 are both disposed on the wearable carrier 30, and the multi-modal electroencephalogram stimulation apparatus 400 realizes wireless communication with the instruction transmitter 500 through the wireless communication unit 404. The instruction transmitter 500 may be, but not limited to, a computer or other intelligent terminal, and the like, and may transmit a stimulation instruction to the multimodal electroencephalogram stimulation apparatus 400 through the instruction transmitter 500, and after the wireless communication unit 404 receives the stimulation instruction, the controller 403 controls the somatosensory stimulator 401 and/or the visual stimulator 402 to operate according to the stimulation instruction, so that the somatosensory stimulator 401 generates somatosensory stimulation to the patient, and the visual stimulator 402 generates visual stimulation to the patient. The brain of the patient can be induced to generate an electroencephalogram signal through somatosensory stimulation or visual stimulation, and the purpose of electroencephalogram stimulation rehabilitation treatment is achieved.
It should be noted that the somatosensory stimulator 401 and the visual stimulator 402 may work independently, that is, the controller 403 may control the somatosensory stimulator 401 to apply somatosensory stimulation independently as needed, may control the visual controller 403 to apply visual stimulation independently, and may control the somatosensory stimulator 401 and the visual stimulator 402 to apply somatosensory stimulation and visual stimulation simultaneously, so that different modalities may be selected for therapy according to the needs of rehabilitation therapy.
In addition, in a specific application, the multi-modal brain electrical stimulation apparatus 400 of the present application may be installed in a target area stimulated by a target, that is, when the brain electrical stimulation apparatus is installed in the wearable carrier 30, the somatosensory stimulator 401 and the visual stimulator 402 are located in the target area stimulated by the target. For example, a housing may be configured for the controller 403 and the wireless communication unit 404, the controller 403 and the wireless communication unit 404 are disposed in the housing, and the housing is mounted on the wearable carrier 30. Each piece of wearable carrier 30 can be equipped with one multi-modal brain electrical stimulation apparatus 400.
According to the multi-modal electroencephalogram stimulation device 400 provided by the embodiment of the invention, two modes of somatosensory electrical stimulation and visual stimulation are integrated, and different electroencephalogram evoked potentials can be evoked. In addition, this multi-modal brain electrical stimulation device 400 installs at wearable carrier 30, and is small, light in weight, and the target stimulation area that can direct target object is different from the brain-computer interface mode in the past, provides novel brain-computer interface paradigm, and stimulation effect is better.
Illustratively, the somatosensory stimulator 401 is an electrode mounted on the surface of the wearable carrier 30, the number of the electrodes on each piece of wearable carrier 30 is 2, and the mounting position thereof is adjusted according to the application scenario. The visual stimulator 402 is an LED light mounted on the wearable carrier 30. The number and installation position of the LED lamps on each piece of wearable carrier 30 are adjusted according to the application scenario. That is, electrical stimulation is generated to the patient by using the electrodes as the somatosensory stimulator 401. While the visual stimulus is generated to the patient by the LED lamp as the visual stimulator 402.
In an embodiment of the present invention, the controller 403 is further configured to control, according to the stimulation instruction, a somatosensory stimulation parameter of the somatosensory stimulator 401 and/or a visual stimulation parameter of the visual stimulator 402, where the somatosensory stimulation parameter includes an electrical stimulation intensity and/or duration, and the visual stimulation parameter includes at least one of a color, a brightness, and a frequency.
That is, the somatosensory stimulation parameters of the somatosensory stimulator 401 and the visual stimulation parameters of the visual stimulator 402 are adjustable, and the somatosensory stimulation parameters and the visual stimulation parameters can be set by the command transmitter 500 during therapy, and after receiving the stimulation command, the controller 403 can control the somatosensory stimulator 401 to apply somatosensory stimulation according to the stimulation command and/or control the visual stimulator 402 to apply visual stimulation according to the set somatosensory stimulation parameters.
Preferably, the adjustment range of the color of the visual stimulator 402 is from RGB color values (0, 0, 0) to (255, 255, 255), the adjustment range of the brightness is from 0 to 255, and the adjustment range of the frequency is from 1 to 70 Hz.
In a specific application, stimulation trigger times of different somatosensory stimulators 401 are different, and stimulation intensity and duration are kept consistent. The color, brightness, and frequency of all LED lights inside the visual stimulator 402 are consistent, and the flashing frequency of different visual stimulators 402 is different.
Therefore, different requirements of rehabilitation can be met by adjusting the stimulation parameters of the somatosensory stimulator 401 and the visual stimulation parameters of the visual stimulator 402, and targeted stimulation rehabilitation is realized.
Referring to fig. 2 and 8, the finger flexion and extension stimulation rehabilitation device 1000 according to the embodiment of the invention includes a wearable carrier 30, a finger flexion and extension actuator 100, and a multi-modal electroencephalogram stimulation device 400 as described in the above embodiment.
The wearable carrier 30 is a glove, and the glove can be conveniently worn on the hand of the patient, so that the finger bending and stretching actuator 100 and the multi-modal electroencephalogram stimulation device 400 can be worn on the hand of the patient.
The multi-modal electroencephalogram stimulation device 400 is used for applying somatosensory stimulation and/or visual stimulation to the hand of a subject to induce the target subject to generate an electroencephalogram signal. The finger flexion-extension actuator 100 is arranged on the finger part of the glove and is used for driving the finger of the target object to perform bending action when the target object generates an electroencephalogram signal.
In a particular application, the brain of the target object is connected to a brain electrical analysis unit 700, and the brain electrical analysis unit 700 is connected to a command transmitter. Firstly, the somatosensory stimulator 401 and/or the visual stimulator 402 in the multi-modality electroencephalogram stimulation device 400 applies somatosensory stimulation and/or visual stimulation to the target object so as to induce the brain of the target object to generate electroencephalogram signals. The electroencephalogram analysis unit 700 performs electroencephalogram analysis on an electroencephalogram signal generated by the brain of the target object, and outputs a control signal to the command transmitter 500 according to an analysis result, for example, if it is known that the target object generates an electroencephalogram signal with a predetermined intensity through analysis, the control signal is transmitted to the command transmitter 500, the command transmitter 500 transmits a control command to the multi-modal electroencephalogram stimulation device 400 according to the control signal, and thus, the controller of the multi-modal electroencephalogram stimulation device 400 can control the finger flexion-extension actuator 100 to perform a bending training action according to the control command.
According to the finger bending and stretching stimulation rehabilitation device provided by the embodiment of the invention, the glove can be worn on the hand of a patient, the multi-mode electroencephalogram stimulation device can apply somatosensory stimulation and/or visual stimulation to the hand to induce a target object to generate an electroencephalogram signal, and the finger bending and stretching actuator 100 can drive the finger of the patient to perform bending action when the target object generates the electroencephalogram signal, so that the better rehabilitation treatment effect can be achieved by applying the somatosensory stimulation and/or the visual stimulation and performing bending training on the finger when the target object generates the electroencephalogram signal by using the finger stretching actuator.
Preferably, the finger flexion and extension actuator 100 may be adhered to the wearable carrier 30 by an AB adhesive, a hot melt adhesive, or the like. In addition, the finger flexion and extension actuators 100 can be configured in number according to the requirement, for example, in the example of fig. 8, one finger flexion and extension actuator 100 is configured for each of the thumb, the index finger, the middle finger, the ring finger and the little finger, so as to perform the bending training for each finger.
Referring to fig. 3-8, in one embodiment of the present invention, the finger flexion and extension actuator 100 is a pneumatic actuator. The finger flexion and extension stimulation rehabilitation device 1000 further comprises an inflation device 600, wherein the inflation device 600 is communicated with the finger flexion and extension actuator 100 through an air pipe so as to inflate the finger flexion and extension actuator 100, so that the finger flexion and extension actuator 100 is forced to perform a bending action.
The controller 403 in the multi-modal electroencephalogram stimulation device 400 is connected with the inflatable device 600, so as to control the inflatable device 600 to work.
That is to say, in this embodiment, the controller 403 controls the operation of the inflator 600, and the inflator 600 is used to inflate the finger flexion-extension actuator 100, so that the finger flexion-extension actuator 100 drives the finger to perform a bending motion, and thus, the controller 403 is used to conveniently perform cooperative control on the inflator 600, the somatosensory stimulator 401, and the visual stimulator 402.
In the related art, the finger flexion and extension actuator 100 is used to forcibly move the hand muscle group of the patient under the constraint condition according to the hand joint efficacy principle, however, the inventor finds that the finger flexion and extension actuator 100 in the related art has the problems of insufficient flexibility, difficulty in adapting to the narrow space of the hand and the like.
Referring to fig. 3-7, in some embodiments of the present invention, the finger flexion actuator 100 comprises a bellows 10 and a joint fixator 20, wherein the bellows 10 has a closed end D10 and an open end D11, the open end D11 is adapted to be connected to an inflation device 600 for inflation of the bellows 10 by the inflation device 600, and the cross-section of the bellows 10 is elliptical to allow the bellows 10 to bend about an axis substantially parallel to the major axis of the ellipse when inflated. Preferably, the bellows 10 can be a blow-molded bellows 10, and the blow-molded bellows 10 has a better bending effect and a better stretching effect.
A joint fixator 20 is provided on the bellows 10 and is adapted to be fixed to a wearable carrier 30. The joint fixator 20 may enable fixation of the bellows 10 to the wearable carrier 30 while providing an attachment point for the bellows 10 to push-pull forces.
It should be noted that, according to the related research of the inventor, when the cylindrical bellows 10 is used as the actuator, the cylindrical structure itself has the characteristic of uncertain bending, and when the bellows 10 is inflated, it is difficult to realize unidirectional bending around the bending direction of the finger, therefore, to realize unidirectional bending of the cylindrical bellows 10, a corresponding lateral constraint must be designed on the mechanical structure, and such a laterally constrained structure inevitably makes the structure more complicated and the size increased, while the width of the finger is limited, and the complicated structure and the larger size cause the interference which is difficult to avoid when the finger is bent.
In the embodiment, the shape of the corrugated pipe is improved, namely the shape of the cross section of the corrugated pipe is changed into an ellipse, and the cross section of the corrugated pipe has a long axis and a short axis. In the experiment, the corrugated pipe is fixed on the wearable carrier 30 through the joint fixer 20, the wearable carrier 30 is worn on the hand of a patient, the inflation device 600 is used for inflating the corrugated pipe, the corrugated pipe 10 is bent around the axis parallel to the major axis of the ellipse, namely the corrugated pipe 10 can be bent in a single direction along the bending direction of the fingers, and the bending action is soft and smooth.
In other words, the finger flexing and extending actuator 100 of the present embodiment can well replace various original actuators, and has a single bending direction without external constraint, better flexibility, and better rehabilitation training effect. In addition, because external restraint is not needed, the structure is simplified, so that the fingers can be freely bent in a narrow space of the hand part, and the problems of interference and the like are avoided.
Referring to fig. 6 and 7, in an embodiment of the present invention, the corrugated pipe 10 includes a plurality of corrugated portions 101, and the plurality of corrugated portions 101 are sequentially connected; each of the corrugation parts 101 has a peak circle 101a and valley circles 101b located at both sides of the peak circle 101a, and a ratio of a major axis to a minor axis of each of the peak circle 101a and the two valley circles 101b is greater than 2: 1.
In this embodiment, the crest circle 101a and the trough circle 101b of the corrugated portion 101 are both ellipses with the same ratio of the major axis to the minor axis, and the crest circle 101a and the trough circle 101b are connected to form a conical surface. Moreover, according to the experimental study of the inventor, when the ratio of the major axis to the minor axis of each of the peak circle 101a and the valley circle 101b is greater than 2:1, the corrugated pipe 10 can be ensured to be softer and smoother when being bent in one direction.
It can be understood that the ratio of the major axis to the minor axis of the peak circle 101a and the valley circle 101b is not larger than 4:1, so that the flexibility of the bending of the corrugated tube 10 can be considered, and at the same time, the corrugated tube 10 can be ensured to have appropriate strength, so that the corrugated tube 10 can drive the fingers to bend and can be reset.
Referring to fig. 3 to 5, in an embodiment of the present invention, the joint fixer 20 includes a proximal joint fixer 20a, a middle joint fixer 20b and a distal joint fixer 20c, the proximal joint fixer 20a, the middle joint fixer 20b and the distal joint fixer 20c are sequentially disposed on the corrugated tube 10 at intervals, wherein one or two middle joint fixers 20b are provided.
Correspondingly, when the middle joint fixer 20b is one, the corrugated tube 10 includes a base end tube section 10a and a distal end tube section 10c connected to each other, the base end joint fixer 20a is disposed at the base end of the base end tube section 10a, the middle joint fixer 20b is disposed at the joint between the base end tube section 10a and the distal end tube section 10c, and the distal end joint fixer 20c is disposed at the distal end of the distal end tube section 10 c.
When there are two middle joint fixtures 20b, the corrugated tube 10 includes a base end tube section 10a, a middle tube section 10b, and a distal end tube section 10c, which are connected in sequence, the base end joint fixture 20a is disposed at the base end of the base end tube section 10a, one of the two middle joint fixtures 20b is disposed at the joint between the base end tube section 10a and the middle tube section 10b, the other of the middle joint fixtures 20b is disposed at the joint between the distal end tube section 10c and the middle tube section 10b, and the distal end joint fixture 20c is disposed at the distal end of the distal end tube section 10 c.
According to the structure of the human palm, the fingers (index finger, middle finger, ring finger and little finger) are all composed of the "basal joint bone", the "middle joint bone" and the "distal joint bone", except the thumb, and the joints are connected with each other.
In this embodiment, the joint fixator includes a proximal joint fixator 20a, a middle joint fixator 20b, and a distal joint fixator 20c, wherein the number of the middle joint fixators 20b may be one or two.
In a specific application, when the finger flexion and extension actuator 100 is used with the thumb, the middle joint fixator 20b is provided as one piece and the bellows 10 is correspondingly configured as a two-piece structure of joined proximal 10a and distal 10c segments that fit the proximal and distal bones of the thumb. A proximal end joint fixture 20a is provided at the proximal end of the proximal end tube section 10a, a middle joint fixture 20b is provided at the junction between the proximal end tube section 10a and the distal end tube section 10c, and the distal end joint fixture 20c is provided at the distal end of the distal end tube section 10 c. When worn, the proximal joint fixator 20a is positioned at the proximal end of the proximal bone, the middle joint fixator 20b is positioned at the joint between the proximal bone and the distal bone, and the distal joint fixator 20c is positioned at the distal end of the distal bone.
When the finger flexion and extension actuator 100 is used for fingers other than the thumb, the intermediate joint holders 20b are provided in two in order to fit the fingers, and the corrugations are correspondingly configured as a three-stage structure of the connected proximal, intermediate and distal tube sections 10a, 10b, 10c, which fits the proximal, intermediate and distal bones of the fingers. The base end joint fixator 20a is provided at the base end of the base end tube section 10a, one intermediate joint fixator 20b is provided at the junction between the base end tube section 10a and the intermediate tube section 10b, another intermediate joint fixator 20b is provided at the junction between the tip end tube section 10c and the intermediate tube section 10b, and the tip end joint fixator 20c is provided at the tip end of the tip end tube section 10 c. When worn, the proximal joint fixator 20a is positioned at the proximal end of the proximal bone, one intermediate joint fixator 20b is positioned at the joint between the proximal bone and the intermediate bone, the other intermediate joint fixator 20b is positioned at the joint between the intermediate bone and the distal bone, and the distal joint fixator 20c is positioned at the distal end of the distal bone.
Therefore, each joint fixer corresponds to the joint of each joint bone, and the formed finger flexion-extension actuator 100 is matched with the finger of a human body, so that each joint bone can be conveniently driven to complete the bending action, and the aim of effectively training each finger joint is fulfilled.
Referring to fig. 3 to 4, in an embodiment of the present invention, each of the proximal joint fixator 20a, the middle joint fixator 20b and the distal joint fixator includes a base 201 and a buckle 202, the base 201 is adapted to be fixed to the wearable carrier 30, the base 201 has a through hole H201 extending along a first direction, and a buckle hole H202 penetrating through the through hole H201 along a second direction, the second direction is perpendicular to the first direction, and the corrugated tube 10 penetrates through the through hole H201. The buckle 202 is clamped in the clamping hole H202 and clamps and fixes the corrugated pipe 10 in the through hole H201.
In the example of fig. 4, the through hole penetrates or does not penetrate the base 201 along the horizontal direction, and the card hole H202 penetrates from the top surface of the base 201 to the sleeve hole H201 downward, i.e., the first direction is the horizontal direction and the second direction is the vertical direction. During assembly, a sleeve hole H201 on one middle joint fixator 20b can be sleeved on a joint between the middle pipe section 10b and the base end pipe section 10a, a sleeve hole H201 on the other middle joint fixator 20b is sleeved on a joint between the middle pipe section 10b and the tail end pipe section 10c, a sleeve hole H201 on the base end joint fixator 20a is sleeved on the base end of the base end pipe section 10a, a sleeve hole H201 on the tail end joint fixator 20c is sleeved on the tail end of the tail end pipe section 10c, and finally, the base end joint fixator 20a, the middle joint fixator 20b and the tail end fixator 202 are respectively clamped into the clamping holes H202 of the corresponding bases 201, so that the base end joint fixator 20a, the middle joint fixator 20b and the tail end fixator can be assembled and fixed with the corrugated pipe 10.
In this embodiment, the joint fixator described above is adopted, and the fastening assembly is realized by using the buckle 202, so that the assembly is simple and convenient, and the disassembly is convenient, and the corrugated pipes 10 with different rigidities can be disassembled and replaced according to different requirements, so as to meet different requirements, so that the use is more flexible and convenient, and when the corrugated pipe 10 is replaced, other structures of the finger bending and stretching actuator 100 are not damaged.
Referring to fig. 4, in an embodiment of the present invention, buckle 202 includes a crown portion 2021 and two edge portions 2022, where crown portion 2021 is detachably fixed in card hole H202, two edge portions 2022 are located at two sides of crown portion 2021 and are formed into an elliptical arc shape, and edge portion 2022 abuts against corrugated tube 10 to clamp and fix corrugated tube 10.
That is, edge and edge 2022 extends downward, and when clip 202 is snapped into card hole H202, edge and edge 2022 presses corrugated tube 10 downward in pierce hole H201, and crown 2021 is fixed to card hole H202, edge and edge 2022 and corrugated tube 10 are kept in a pressed state, and corrugated tube 10 is fastened by the clip. In this embodiment, buckle 202 having the above-described structure is easy to assemble, and ensures that corrugated tube 10 is fastened using both edge 2022.
It can be understood that, the fastening holes H202 on the base 201 may be provided in plural, correspondingly, the fasteners 202 may also be provided in plural, and the fastening effect on the corrugated pipe 10 may be improved by using the plurality of fasteners 202 to cooperate with the plurality of fastening holes H202.
Advantageously, a first pin hole H203 extending along a first direction is provided on the base 201, and a second pin hole H204 is provided on the crown portion 2021, that is, the first pin hole H203 and the second pin hole H204 extend along a horizontal direction; the clip 202 further includes a positioning pin 203, and the positioning pin 203 is inserted into the first pin hole H203 and the second pin hole H204 to fix the crown portion 2021 in the clip hole H202.
During the assembly, can will be earlier with buckle 202 card go into to calorie hole H202 in, and make second pinhole H204 on the crown 2021 align with first pinhole H203 on the base 201, insert locating pin 203 to first pinhole H203 and second pinhole H204 again, so, can still get buckle 202 to be fixed on base 201, and buckle 202 is fixed with the bellows 10 chucking, in this embodiment, adopt locating pin 203 to fix buckle 202, its simple structure, assembly and dismantlement are convenient.
More advantageously, the base 201 has a concave curved surface S201 adapted to fit the back of a finger, and the concave curved surface S201 is adapted to fit a human finger, so as to improve the wearing comfort.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A multi-modal brain electrical stimulation apparatus, comprising:
the somatosensory stimulator is arranged on the wearable carrier and is used for generating somatosensory stimulation to a target object;
the visual stimulator is arranged on the wearable carrier and used for generating visual stimulation to a target object;
the controller is connected with the somatosensory stimulator and the visual stimulator and is used for controlling the somatosensory stimulator to generate the somatosensory stimulation and controlling the visual stimulator to generate the visual stimulation according to a stimulation instruction;
and the wireless communication unit is connected with the controller and used for receiving the stimulation instruction sent by the instruction generator.
2. The multi-modality brain electrical stimulation apparatus according to claim 1, wherein the controller is further configured to control somatosensory stimulation parameters of the somatosensory stimulator and/or visual stimulation parameters of the visual stimulator according to the stimulation instruction, the somatosensory stimulation parameters include electrical stimulation intensity and/or duration, and the visual stimulation parameters include at least one of color, brightness and flicker frequency.
3. The multi-modality brain electrical stimulation apparatus of claim 1, wherein the somatosensory stimulator is an electrode mounted on a surface of the wearable carrier.
4. The multi-modality brain electrical stimulation apparatus of claim 1, wherein the visual stimulator is an LED light mounted on the wearable carrier.
5. A finger flexion and extension stimulation rehabilitation device is characterized by comprising:
a wearable carrier, the wearable carrier being a glove;
the multi-modal brain electrical stimulation apparatus of any one of claims 1 to 4 to apply somatosensory stimulation and/or visual stimulation to the hand of the target subject to induce the target subject to generate brain electrical signals;
the finger bending and stretching actuator is arranged on the finger parts of the gloves and used for driving the fingers of the target object to perform bending action when the target object generates the electroencephalogram signals.
6. The device according to claim 5, wherein the finger flexion and extension actuator is a pneumatic actuator;
the finger flexion and extension stimulation rehabilitation device further comprises an inflation device, and the inflation device is communicated with the finger flexion and extension actuator through an air pipe so as to inflate the inside of the finger flexion and extension actuator and force the finger flexion and extension actuator to execute bending action;
the controller in the multi-modal electroencephalogram stimulation device is connected with the air charging equipment and used for controlling the air charging equipment to work.
7. The finger flexion-extension stimulation rehabilitation device according to claim 5, characterized in that said finger flexion-extension actuator comprises:
a bellows having a closed end and an open end, the open end adapted to be connected to an inflation device for inflation of the bellows by the inflation device, the bellows having an elliptical cross-section for bending about an axis generally parallel to a major axis of the ellipse when inflated;
the joint fixer is arranged on the corrugated pipe and is suitable for being fixed on a wearable carrier.
8. The device according to claim 7, wherein the bellows comprises a plurality of folds, and the folds are connected in sequence;
each of the corrugated portions has a peak circle and valley circles located on both sides of the peak circle, and a ratio of a major axis to a minor axis of each of the peak circle and the two valley circles is greater than 2: 1.
9. The device for rehabilitation by stimulation of finger flexion and extension according to claim 7, wherein the joint fixator comprises a proximal joint fixator, a middle joint fixator and a distal joint fixator, the proximal joint fixator, the middle joint fixator and the distal joint fixator are sequentially arranged on the corrugated pipe at intervals, and one or two middle joint fixators are provided.
10. The finger flexion-extension stimulation rehabilitation device according to claim 9, characterized in that each of said proximal, middle and distal anchorages comprises:
the base is suitable for being fixed to the wearable carrier and provided with a penetrating hole extending along a first direction and a clamping hole penetrating to the penetrating hole along a second direction, the second direction is perpendicular to the first direction, and the corrugated pipe penetrates through the penetrating hole;
and the buckle is clamped in the clamping hole and fixes the corrugated pipe in the penetrating hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010778696.6A CN111939469A (en) | 2020-08-05 | 2020-08-05 | Multi-mode electroencephalogram stimulation device and finger bending and stretching stimulation rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010778696.6A CN111939469A (en) | 2020-08-05 | 2020-08-05 | Multi-mode electroencephalogram stimulation device and finger bending and stretching stimulation rehabilitation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111939469A true CN111939469A (en) | 2020-11-17 |
Family
ID=73338064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010778696.6A Pending CN111939469A (en) | 2020-08-05 | 2020-08-05 | Multi-mode electroencephalogram stimulation device and finger bending and stretching stimulation rehabilitation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111939469A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113332101A (en) * | 2021-06-11 | 2021-09-03 | 上海羿生医疗科技有限公司 | Control method and device of rehabilitation training device based on brain-computer interface |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7123955B1 (en) * | 1999-10-29 | 2006-10-17 | Tsinghua University | Control method and system and the sense organs test method and system based on electrical steady state induced response |
| CN105578954A (en) * | 2013-09-25 | 2016-05-11 | 迈恩德玛泽股份有限公司 | Physiological parameter measurement and feedback system |
| CN107397650A (en) * | 2017-08-15 | 2017-11-28 | 西安交通大学 | A kind of pneumatic software manipulator of the variation rigidity of achievable isometric exercise |
| CN108621129A (en) * | 2017-04-14 | 2018-10-09 | 香港中文大学 | Flexible drive formula manipulator |
| CN109077895A (en) * | 2018-08-01 | 2018-12-25 | 龚映清 | A kind of the active heavier-duty training system and its operating method of more feedback modalities |
| CN109657560A (en) * | 2018-11-24 | 2019-04-19 | 天津大学 | Mechanical arm controls online brain-computer interface system and implementation method |
| CN110665104A (en) * | 2019-09-26 | 2020-01-10 | 马超 | Multichannel stimulation wake-up promoting system |
| CN110812109A (en) * | 2019-11-18 | 2020-02-21 | 深圳扶林科技发展有限公司 | Joint movement assistor |
-
2020
- 2020-08-05 CN CN202010778696.6A patent/CN111939469A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7123955B1 (en) * | 1999-10-29 | 2006-10-17 | Tsinghua University | Control method and system and the sense organs test method and system based on electrical steady state induced response |
| CN105578954A (en) * | 2013-09-25 | 2016-05-11 | 迈恩德玛泽股份有限公司 | Physiological parameter measurement and feedback system |
| CN109875501A (en) * | 2013-09-25 | 2019-06-14 | 迈恩德玛泽控股股份有限公司 | Physiological parameter measurement and feedback system |
| CN108621129A (en) * | 2017-04-14 | 2018-10-09 | 香港中文大学 | Flexible drive formula manipulator |
| CN107397650A (en) * | 2017-08-15 | 2017-11-28 | 西安交通大学 | A kind of pneumatic software manipulator of the variation rigidity of achievable isometric exercise |
| CN109077895A (en) * | 2018-08-01 | 2018-12-25 | 龚映清 | A kind of the active heavier-duty training system and its operating method of more feedback modalities |
| CN109657560A (en) * | 2018-11-24 | 2019-04-19 | 天津大学 | Mechanical arm controls online brain-computer interface system and implementation method |
| CN110665104A (en) * | 2019-09-26 | 2020-01-10 | 马超 | Multichannel stimulation wake-up promoting system |
| CN110812109A (en) * | 2019-11-18 | 2020-02-21 | 深圳扶林科技发展有限公司 | Joint movement assistor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113332101A (en) * | 2021-06-11 | 2021-09-03 | 上海羿生医疗科技有限公司 | Control method and device of rehabilitation training device based on brain-computer interface |
| CN113332101B (en) * | 2021-06-11 | 2023-08-01 | 上海羿生医疗科技有限公司 | Control method and device of rehabilitation training device based on brain-computer interface |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9308363B2 (en) | Neurostimulation for treating pain, improving function and other nervous system related conditions | |
| CN109172265B (en) | Finger exoskeleton robot | |
| US7826900B2 (en) | Apparatus for diagnosing muscular pain and method of using same | |
| EP3650077B1 (en) | Device and system for functional electrical stimulation | |
| CN107184365B (en) | A kind of finger joint recovery movement auxiliary member | |
| US10993869B2 (en) | Finger motion aid and rehabilitation hand having same | |
| CN111821144A (en) | Oval bellows bending actuator and wearable finger bending and stretching rehabilitation device | |
| WO2012092460A2 (en) | Artificial intelligence and methods of use | |
| CN2912602Y (en) | Therapeutic equipment for hand function recovery | |
| CN111939469A (en) | Multi-mode electroencephalogram stimulation device and finger bending and stretching stimulation rehabilitation device | |
| JP6351250B2 (en) | Electrical stimulation system | |
| KR101991435B1 (en) | Rehabilitation equipment combining joint exercise therapy and functional electrical stimulation | |
| CN208426593U (en) | A kind of Neurology patient finger rehabilitation training device | |
| CN210228618U (en) | Recovered gloves and hand function rehabilitation equipment | |
| CN110693686A (en) | Arm nerve rehabilitation training device based on targeted regulation and control and training method thereof | |
| CN211272068U (en) | Wearable hand rehabilitation training device | |
| CN110123612A (en) | Healing hand function device | |
| CN212592985U (en) | Oval bellows bending actuator and wearable finger bending and stretching rehabilitation device | |
| KR101396310B1 (en) | Knee massage electrical stimulus apparatus using electrical stimulation | |
| Pinheiro et al. | Design and technical validation of a wearable biofeedback system for robotic gait rehabilitation | |
| CN112168619A (en) | Hand rehabilitation device and method based on hybrid drive multi-mode | |
| CN111888647B (en) | Wearable intelligent rehabilitation physiotherapy instrument for knee joint | |
| CN110693685A (en) | Hand nerve rehabilitation training device based on targeted regulation and control and training method thereof | |
| CN213491526U (en) | Wearable intelligent rehabilitation physiotherapy instrument for knee joint | |
| CN213553445U (en) | Hand rehabilitation device based on hybrid drive multi-mode |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |