WO2015012639A1

WO2015012639A1 - Magnetic field applying apparatus for mitigating pain felt on skin which is generated when low frequency electrical stimulation using strong magnetic field is made

Info

Publication number: WO2015012639A1
Application number: PCT/KR2014/006813
Authority: WO
Inventors: 김병철; 김철민; 이창형; 정덕영
Original assignee: 부산대학교 산학협력단
Priority date: 2013-07-26
Filing date: 2014-07-25
Publication date: 2015-01-29
Also published as: KR20150013074A; KR101755657B1

Abstract

The present invention provides a magnetic field applying apparatus for mitigating pain felt on skin generated when low frequency electrical stimulation is made. The magnetic field applying apparatus comprises: a low frequency electrical stimulation device (10) for allowing a current to deeply flow up into a muscle for activation of cells, so as to simulate the muscle; and a magnetic field generation device (20) for generating a strong magnetic field to mitigate pain due to electrical stimulation, the magnetic field generation device being phase-locked with the low frequency electrical stimulation device (10).

Description

Magnetic field applying device to alleviate the pain of skin caused by low frequency electric stimulation using strong magnetic field

The present invention relates to a magnetic field applying device to alleviate the pain of the skin generated during low-frequency electric stimulation using a strong magnetic field, more specifically, by applying a magnetic field to the epidermis and fat layer of the human body so that the current flows deeply to the muscle to stimulate In vitro non-invasive muscle stimulation apparatus using magnetic field, which causes a large amount of current flows to the epidermal layer and causes pain in the skin when excessive current is used to obtain sufficient muscle contraction.

In the case of low frequency electric stimulation and strong magnetic field, it is expected to use minimal current and induction current among pain relief methods, and by using strong magnetic field to alleviate the pain of skin caused by manual muscle contraction using electric stimulation The present invention relates to a magnetic field applying device for alleviating the pain of the skin generated during low-frequency electric stimulation using a strong magnetic field expected to be stimulated and active by the magnetic field.

In general, underwater robots are used for exploring underwater resources, lifting ships, removing oil, installing submarine cables, and repairing underwater structures. In particular, the unmanned underwater robot is equipped with a system that determines the direction and distance to be surveyed according to the topography of the seabed according to the user's programming, and transmits the surveyed data to the user from the seabed. Mainly used.

On the other hand, an example of a robot kit is disclosed in the Republic of Korea Utility Model Publication No. 20-043827 under the name "Intelligent Autonomous Mobile Robot Education Kit using a microprocessor". The intelligent autonomous mobile robot training kit using the microprocessor modularizes various control circuit components mounted on the intelligent autonomous mobile robot, thereby providing a Bluetooth communication module unit, a remote control receiving module unit, a distance measuring module unit, an illuminance temperature sensor module unit, and a robot arm module. Part, the wireless camera module part, the universal board module part, the notebook holder is separated and configured, the educational kit on the main board while allowing the various modules configured separately separated to be attached to the module mounting space provided on the main board of the kit A plurality of terminal units for connecting to the module unit and a connection jack in the communication port, a communication port consisting of RS-232C and USB ports for communication with external devices, a graphic LCD display unit for displaying the current status of the robot and commands of the robot, robot Character display unit for autonomous movement and status display of characters Line detection unit having the same structure as the line detection unit installed in the control unit, microprocessor for control, ISP port for program download, motor drive unit for motion control and motor drive, and the same as the actual wheel of the autonomous mobile robot under the control of the motor drive unit. It consists of a driving wheel that rotates.

Such a robot kit is an autonomous mobile robot kit for land, and has a problem that is not suitable for underwater movement, obstacle detection, and avoidance required by a marine robot.

Therefore, the present invention has been proposed to solve the problems of the prior art, by applying a magnetic field to the human epidermis and fat layer by utilizing the law of Fleming to create a new type of magnetic field that can flow current deeply into the muscle to stimulate An object of the present invention is to provide an in vitro non-invasive muscle stimulator.

In addition, an object of the present invention is to provide a charge / discharge current generating system of the fat layer using the fat layer as a condenser having a distribution capacity (Cf) in the equivalent circuit of biological tissue.

In addition, the charging and discharging current is applied as a pulse voltage, wherein the average value of the flowing pulsed current generates a predetermined treatment current, and an object thereof is to calculate an optimal voltage, a pulse period, and the like and develop a treatment program through clinical practice.

According to a feature of the present invention for achieving the above object, the microscopic underwater robot (10), the hull (20) having a sealed structure so that the inner space is watertight to immerse into the water; A first sonar 30 installed outside the front of the hull 20 to detect and transmit obstacle information in front of the hull 20; A second sonar 50 installed outside the hull 20 to acquire and transmit a side scan sonar image of the side of the hull 20; A first board (40) installed in the interior space of the hull (20) and connected to the first sonar (30) for processing obstacle information in the front received from the first sonar (30); A second board 60 installed in the inner space of the hull 20 and connected to the second sonar 50 for processing the side scan sonar image received from the second sonar 50; A pitch-hib unit (100) provided in the inner space of the hull (20) for adjusting the pitch and the heave; A surge / yaw unit (200) installed at the rear side in the inner space of the hull (20) to drive propellers (214) and rudders (230) to generate surges and yaws; A control board 80 connected to the first board 40 to control the pitch hib unit 100 and the surge yaw unit 200 through obstacle information transmitted from the first board 40; Outside side of the hull 20 is connected to the second board 60 and the control board 80, the side scan or image transmitted from the second board 60 is output, the microscopic underwater robot (10) to the control board 80 The control unit 90 transmits a driving program.

The hull 20 according to the present invention has a first screw coupling frame (21a) is formed at the rear end, the first sonar 30 is coupled to the outside of the front end and the second sonar 50 is coupled to the front outer side, The head body 21 having the first board 40 and the second board 60 therein and the second screw coupling frame 22a screwed with the first screw coupling frame 21a of the head body 21. Is formed at the front end, and the third screw coupling frame 22b is formed at the rear end, and the middle body 22 and the middle body 22 in which the pitch-hib unit 100 and the control board 80 are built-in are formed inside. The fourth screw coupling frame 23b, which is screwed to the third screw coupling frame 22b, is formed at the front end, and the propeller 214 and the rudder 230 are coupled to the outside of the rear end, and the surge / yo unit 200 is located inside. Is provided with a built-in table body 23, through the combination of the head body 21, the middle body 22, the tail body 23 to increase the assemblage to form the hull 20.

As described above, the head body 21 according to the present invention may be detachably coupled to the outlet tube 21d and the outlet tube 21d which communicate with the internal space, and cover the outlet tube 21d from the outside. A cap 70 is further provided to allow the outlet pipe 21d to be watertight, and a data connector is formed at the outlet pipe 21d to connect the control unit 90 and the control board 80 to be controlled from the controller 90. The microscopic underwater robot driving program is transmitted to the board 80, and a power switch for turning on / off the power of the control board 80 is formed in the drawing pipe 21d to apply the power. I can regulate it.

The head body 21 according to the present invention further includes a Bluetooth antenna 72 connected to the second board 60 and installed to be exposed to the outside, and the second board 60 wirelessly controls the controller 90. To enable communication.

The pitch-heave unit 100 according to the present invention has a bracket 104 fixed to the inner space of the hull 20 and a lower side of the first motor 106 and the bracket 104 fixed on the bracket 104. The first rack 110 and the bracket which are slidably supported on the lower surface of the first pinion gear 108 and the bracket 104 connected to the first motor 106 and are moved back and forth in engagement with the first pinion gear 108. The rod 122 is moved forward and backward by being coupled symmetrically to both sides of the 104 and each rod 122 includes a pair of cylinders 120 capable of moving back and forth in the front and rear directions of the first rack 110. However, the hive generator 105 and the hull, which are formed at the lower part of the middle body 22 through the forward and backward movement of the rod 122 and move the fluid to the fluid receiving portion 22d in which the fluid is received, generate the heave. On the bracket 104 and the bracket 104 fixed to the inner space of the The second pinion gear 109 and the second pinion gear 109 are slidably supported on the lower surface of the second pinion gear 109 and the bracket 104 connected to the second motor 107 from the lower side of the second motor 107 and the bracket 104. The center of gravity of the hull 20 is changed through the mass attachment plate 113 attached to the second rack 111 and the second rack 111 and moved forward and backward in engagement with The pitch generator 106 is provided, but the heave generator 105 and the pitch generator 106 are driven through the control of the control board 80.

The second sonar 50 according to the present invention includes an ultrasonic element for transmitting and receiving sound waves, and the sonar sensor unit 52 and the sonar sensor unit 52 in which the connection line 51 of the ultrasonic element extends to one side. The sonar attachment part 53 is coupled to the sonar sensor part 52 in the direction in which the connection line 51 is drawn out, and the sonar attachment part 53 is a plate 54 coupled in the longitudinal direction of the sonar sensor part 52. ) Is integrally coupled to the plate (54), the hollow 57 is formed so that the connecting line 51 of the sonar sensor unit 52 passes, and is coupled to the coupling screw and coupling screw rod 56 formed with a male screw on the outer circumferential surface And a nut 58 having a female thread to be inserted into the hull 20 to insert the coupling threaded rod 56 of the sonar attachment portion 53 into the hull 20, and the nut (inside the hull 20). The sonar sensor unit 52 is fixed by assembling 58 to the coupling screw rod 56.

The plate 54 according to the present invention further includes an O-ring groove 55 into which an O-ring for sealing may be inserted at the coupling surface of the plate 54 and the hull 20.

The plate 54 of the sonar attachment portion 50 according to the present invention is formed by injection molding the synthetic resin, the screw coupling rod 56 is integrated with the plate 54 by being inserted during the injection molding of the plate 54 do.

When the magnetic field applying device to alleviate the pain of the skin generated during low-frequency electric stimulation using a strong magnetic field according to the present invention, the prior art that does not apply a magnetic field current flows only to the epidermis, but the present invention to apply a magnetic field The path of electric current bends and reaches the muscles.

In addition, when the low frequency electric stimulation and the strong magnetic field are combined, excessive current flows to the epidermal layer when the excessive current is used to obtain sufficient muscle contraction movement, thereby alleviating the skin pain caused by the minimal current use and induction. The effect of efficient energy use through the generation of current can be expected.

In addition, by using such a strong magnetic field can be expected to alleviate the pain of the skin generated during manual muscle contraction using electrical stimulation, and at the same time can also be expected to activate the stimulation of cells by the magnetic field.

1 is a view for explaining the overall configuration of a magnetic field applying device for alleviating the pain of the skin generated during low-frequency electric stimulation using a strong magnetic field according to an embodiment of the present invention.

2 is a view for explaining the configuration of a magnetic field applying apparatus for alleviating the pain of the skin generated during low-frequency electric stimulation using a strong magnetic field according to an embodiment of the present invention.

3 is a view for explaining a circuit configuration of a magnetic field applying device for alleviating the pain of the skin generated during low-frequency electric stimulation using a strong magnetic field according to an embodiment of the present invention.

4 is a view for explaining a practical example of a circuit configuration of a magnetic field applying device for alleviating the pain of the skin generated during low-frequency electric stimulation using a strong magnetic field according to an embodiment of the present invention.

5 is a view for explaining a power source used in the low-frequency electric stimulation device 10 of the magnetic field applying device for alleviating the pain of the skin generated during low-frequency electric stimulation using a strong magnetic field according to an embodiment of the present invention.

6 is a view for explaining the combination of the power source used in the low-frequency electric stimulation apparatus 10 of the magnetic field applying apparatus for alleviating the pain of the skin generated during low-frequency electric stimulation using a strong magnetic field according to an embodiment of the present invention. .

Referring to Figure 1, the current flow in the electrical stimulation of the low-frequency electric stimulation device 10 (FES) flows in one direction or in a reverse direction in the reverse direction in accordance with the phase of the signal is applied always apply a magnetic field to the muscle layer In order to induce the flow of current toward the target, it is desirable to synchronize the magnetic field generating polarity of the muscle stimulation device using the magnetic field and the electrical stimulation phase of the FES.

3 and 4, the configuration of the magnetic field applying device for alleviating the pain of the skin generated during low-frequency electric stimulation using a strong magnetic field according to an embodiment of the present invention, the current flows deeply to the muscle for stimulation of the cell stimulation A low frequency electric stimulation device 10 capable of performing the same; The low frequency electric stimulation device 10 and the phase (Phase-Locked), the magnetic field generating device 20 for generating a strong magnetic field to alleviate the pain caused by the electrical stimulation; is configured to include.

In addition, the magnetic field generating device 20 includes: a power supply unit 210 for supplying DC power; A capacitor unit 220 for storing charge necessary for instantaneous large current discharge; A magnetic coil unit 230 for generating a magnetic field; A phase synchronization input unit 240; And an electronic phase shift switch 250 for converting a phase of an input power source.

DETAILED DESCRIPTION The following detailed description of the invention refers to the accompanying drawings that show, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention.

It should be understood that the various embodiments of the present invention are different but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein may be implemented with changes from one embodiment to another without departing from the spirit and scope of the invention. Accordingly, the following detailed description is not to be taken in a limiting sense, and the scope of the present invention should be taken as encompassing the scope of the claims of the claims and all equivalents thereto.

1 is a view for explaining the overall configuration of a magnetic field applying device for alleviating the pain of the skin generated during low-frequency electric stimulation using a strong magnetic field according to an embodiment of the present invention. 2 is a view for explaining the configuration of a magnetic field applying apparatus for alleviating the pain of the skin generated during low-frequency electric stimulation using a strong magnetic field according to an embodiment of the present invention. 3 is a view for explaining a circuit configuration of a magnetic field applying device for alleviating the pain of the skin generated during low frequency electric stimulation using a strong magnetic field according to an embodiment of the present invention. It is a view for explaining a practical example of the circuit configuration of the magnetic field applying device for alleviating the pain of the skin generated during low-frequency electric stimulation using a strong magnetic field according to the.

In the magnetic field applying device for the pain relief of the skin generated during low-frequency electric stimulation according to the present invention, the low-frequency electric stimulation device 10 for stimulating the current flow deep to the muscle for activation of the cell; The low frequency electric stimulation device 10 and the phase (Phase-Locked), the magnetic field generating device 20 for generating a strong magnetic field to alleviate the pain caused by the electrical stimulation; is configured to include.

In the manual muscle contraction method using electric stimulation, the current flow does not reach the deep part of the muscle layer, and in most cases, the current flows near the muscle layer or close to the epidermal layer.

As a result, when excessive current is used to obtain sufficient muscle contraction, a large amount of current flows to the epidermal layer, causing pain in the skin.

Therefore, as a method of alleviating the pain of the skin caused by excessive electric stimulation, a method of effectively delivering a minimum current to the muscle side, a method of directly inducing a direct current to the muscle side having a lower resistance than the epidermal layer, or a drug or massage on There is a method such as cooling.

On the other hand, when the low frequency electric stimulation and the application of a strong magnetic field are combined, it is expected that the use of the minimum current and the generation of the induced current can be expected among the methods of alleviating the pain. In addition, the Department of Mental Health Medicine has been using direct electric stimulation or electric shock surgery for a long time, but recently magnetic stimulation using a strong repetitive magnetic field is used due to side effects due to electric stimulation.

As a non-invasive method using a magnetic field, there is currently 'repetitive transcranial magnetic stimulation (rTMS)' using a maximum 3T (Tesla) magnetic field. By using such a strong magnetic field can be expected to alleviate the pain of the skin generated during manual muscle contraction using electrical stimulation, and at the same time can be expected to stimulate and activate the cells by the magnetic field.

Gauss (GAUSS) or T (Tesla) is used as the unit of magnetic field. The size of 1GAUSS is the magnitude of the magnetic field appearing at a distance of 1Cm from the conducting wire when a current of 5A flows through the conducting wire and has a relationship of 1T = 10000GAUSS. Earth magnetic field is 0.2 ~ 0.7GAUSS and MRI uses 1.5 ~ 3T magnetic field and TMS currently uses 3T magnetic field. In order to generate more than 1T magnetic field continuously, megawatt power supply and special core Materials, shapes and cooling devices are needed.

In the embodiment of the present invention, the magnetic field generating device satisfies the turn-on time of about 100us and the repetitive operation of several hundred Hz for the reason of interlocking with the electrical stimulation signal of the low frequency electric stimulation device 10 (FES). Magnetic field generating device.

The electrical stimulation signal of the low frequency electric stimulation device 10 (FES) is divided into biphasic (Biphasic) and monophasic (Monophasic), the pulse width is 10us to 1ms, the frequency of 1 to 500hz Use square waves.

In Fig. 6, the form of the electrical stimulation signal produced by combining the current control with the two representative signals is described.

On the other hand, the magnetic field generating device 20 is characterized by generating a magnetic field of up to 1T (tesla) at the moment.

The low frequency electric stimulation apparatus 10 is composed of a combination of waveforms of biphasic and monophasic, and has a pulse width of 10 us to 1 ms and a frequency of 1 to 500 hz square wave.

Meanwhile, the capacitor unit 220 connects aluminum capacitors having low equivalent serial resistance (ESR) in parallel to secure a discharge capacity, and acquires low ES due to parallel connection to secure instantaneous discharge current. It is preferable.

3 and 4, a plurality of IGBT G80N60s, which are large current switching elements, are connected in parallel to switch the instantaneous maximum current 1000A and supply the same to the magnetic coil unit 230.

On the other hand, as a power supply, a 24V power supply with a continuous supply current of 60A is used to supply continuous power to a capacitor, which is a charge storage device for instant-to-current discharge. 282000 uF is used.

Although the charge / discharge test was conducted by securing a large capacity capacitor of over 300F through actual tests, it was confirmed that it was difficult to obtain sufficient instantaneous discharge current due to relatively high ESR (Equivalent Serial Resistance). It was confirmed that the discharge capacity can be secured by multiple parallel connection and low ESR can be obtained through parallel connection.

The control of the IGBT, which is a switching element for supplying power to the magnetic coil unit 230, is linked to the DC pulse output of the low frequency electric stimulation device 10 in the current flow direction to effectively reach the pulse current flowing to the human body surface to the muscle layer. Force the Lorentz force perpendicularly.

In the case of continuous pulses in which the current direction of the low frequency electric stimulation device 10 is the same, the same stimulus accumulates in the muscles, so that resistance to the stimulus is generated, and the movement of the muscles gradually becomes dull.

For the same reason, the output current direction of the low frequency electric stimulation device 10 is appropriately switched during operation. Accordingly, the direction of the magnetic field supplied from the magnetic coil unit 230 is also compared with the output of the low frequency electric stimulation device 10. In synchronization, the Lorentz force is always applied from the skin side to the muscle layer.

Claims

In the magnetic field applying device for the pain relief of the skin generated during low-frequency electric stimulation,

A low frequency electric stimulator 10 for stimulating a current flowing deeply into a muscle for activating a cell;

The low frequency electric stimulation device 10 and the phase is locked (Phase-Locked), generating a strong magnetic field to reduce the pain caused by the electrical stimulation device 20; Magnetic field applying device for pain relief of the skin.
The method of claim 1,

Magnetic field generator 20,

A power supply unit 210 for supplying DC power;

A capacitor unit 220 for storing charge necessary for instantaneous large current discharge;

A magnetic coil unit 230 for generating a magnetic field;

A phase synchronization input unit 240;

Electronic phase shift switch 250 for converting the phase of the input power; Magnetic field applying device for pain relief of the skin generated during low-frequency electric stimulation, characterized in that it comprises a.
The method of claim 2,

The magnetic field generator 20,

Magnetic field applying device for pain relief of the skin generated during low frequency electric stimulation, characterized in that generating a magnetic field of up to 1T (tesla) at the moment.
The method of claim 1,

The low frequency electric stimulation device 10,

Composed of a combination of Biphasic and Monophasic waveforms, the pulse width is 10us to 1ms, and the frequency is generated during low frequency electric stimulation, using a square wave of 1 to 500hz. Magnetic field applying device for pain relief.
The method of claim 2,

The capacitor unit 220,

Skin generated during low frequency electric stimulation, characterized by securing the discharge capacity by parallel connection of aluminum capacitors with low ESR (Equivalent Serial Resistance), and obtaining the instant discharge current by obtaining low ES due to the parallel connection Magnetic field applying device for pain relief.