CN100525854C - Intelligent paralytic patient recovering aid system - Google Patents
Intelligent paralytic patient recovering aid system Download PDFInfo
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- CN100525854C CN100525854C CNB2006100148841A CN200610014884A CN100525854C CN 100525854 C CN100525854 C CN 100525854C CN B2006100148841 A CNB2006100148841 A CN B2006100148841A CN 200610014884 A CN200610014884 A CN 200610014884A CN 100525854 C CN100525854 C CN 100525854C
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Abstract
The present invention belongs to the field of medical equipment and is especially one intelligent paralytic patient recovering aid system. The intelligent paralytic patient recovering aid system can analyze the motion willing of the paralytic patient for the patient to control the motion of disabled limbs autonomously and to restore autonomous motion ability. The intelligent paralytic patient recovering aid system includes one brain electric signal acquiring system for extracting the brain electric signal of imaging the limb motion, one notebook computer for the characteristic extraction and classifying treatment of brain electric signal, and one functional electric stimulating system the notebook computer controls.
Description
Technical field
The invention belongs to medical apparatus and instruments, rehabilitation instrument field relates in particular to intelligent paralytic patient recovering aid system.
Background technology
The approach that the normal person controls limb motion is; " brain---central nervous system---peripheral nervous system---skeletal muscle---limb motion ".And for the paralytic, its central nervous system sustains damage, and the action command of brain can't be communicated to muscle by normal body inner gateway, thereby has lost the control ability to limbs.
At present massage is mainly adopted in paralytic's rehabilitation, acupuncture, the method that electricity irritation etc. are traditional.These methods are delaying the amyotrophy of patient's deformed limb, and the recovering aid aspect has played certain positive role, but these method treatment flow processs are longer, and cost is higher, and curative effect neither be fine, more can not make patient's deformed limb finish its original specific action.
The appearance of functional electric stimulation (FES) technology is for the motor function of recovering deformed limb provides a kind of new approach.It is by adding the nerve or the muscle electric stimulation of a definite form to the deformed limb specific part, thereby can make deformed limb finish certain specific action, so both can prevent the deformed limb amyotrophy, can also recover patient's componental movement function, quickens rehabilitation of patients speed.But the method can only be carried out rehabilitation to deformity by pre-set electricity irritation flow process, time length may cause subject discomfort, even producing the muscular strain phenomenon, the method more can't allow the paralytic according to oneself wish, finishes some autonomous actions and controls external environment.
Summary of the invention
For overcoming the deficiencies in the prior art, the object of the present invention is to provide a kind of motion wish that can analyze the paralytic automatically, the deformed limb motion that allows the patient independently draw oneself up, recover the autonomic movement ability, and then recover the intelligent paralytic patient recovering aid system of the control ability of environment to external world, the technical solution used in the present invention is: intelligent paralytic patient recovering aid system, comprise: the eeg collection system of EEG signals when being used to extract patient and imagining each limb action, be used for EEG signals is carried out feature extraction and the notebook computer of classifying and handling, be controlled by the functional electric stimulation system of notebook computer result.
Described eeg collection system comprises amplification, filtering and the sampling of EEG signal, and the digital signal after the sampling passes to notebook computer in real time by USB interface.
Described eeg signal acquisition comprises that 11 are led.
Describedly EEG signals is carried out feature extraction handle with classification and comprise the denoising of EEG software filtering, the feature extraction of imagination action potential, the patient moving intention classification, sorted movement instruction passes to functional electric stimulation system by the RS232 serial ports.
Described functional electric stimulation system comprises:
(1) is used to read the dutycycle of key information, display parameters, control impuls transformator driving pulse and controls the control unit that each passage stimulates output.Control unit is made up of two acp chips, and one is single-chip microcomputer, and one is programmable logic device (CPLD);
(2) power supply and booster circuit part: adopt boost module to realize boosting, the frequency of the pulse by control boost module input and the output voltage amplitude that dutycycle can be controlled boost module, adopt the DC-DC power isolation module, guarantee that each passage stimulates the independence of output;
(3) RS232 serial line interface: functional electric stimulation system receives the control command of main frame by RS232 serial line interface and host communication, is stored in the stimulus modelity that presets of system according to command calls, and the patient is carried out dynamically stimulating in order;
(4) I/O module: programme with the CPLD device and to realize that the expansion of single-chip processor i/o mouth, this part are used to drive liquid crystal display and receive the input of panel key;
(5) SPI Serial Peripheral Interface (SPI): be used for the parameter that single-chip microcomputer will be provided with and pass to CPLD, CPLD is according to the pulse of the parameter generating control booster circuit of accepting and the impulse circuit of channel selecting.
The present invention possesses following effect: because the present invention has adopted eeg collection system, the notebook computer that is used for EEG Processing, with controlled functional electric stimulation system, thereby realized that the paralytic arbitrarily controls limb motion according to the wish of oneself, and then walking freely, and the purpose of control external environment.Simultaneously, by this autonomous restorative training, neural impulse uploads to patient's impaired neural position, make the patient get the effect that the injured nerve system has also obtained corresponding exercise, quicken the rehabilitation and the interior neural reconstruction of body of patient's injured nerve system, get the dyskinesia thereby fundamentally treat the paralytic.
Description of drawings
Fig. 1 is an intelligent paralytic patient recovering aid system work sketch map of the present invention.
Fig. 2 is the composition structured flowchart of intelligent paralytic patient recovering aid system of the present invention.
Fig. 3 eeg signal acquisition system block diagram.
The position view that leads that Fig. 4 extracts for imagination action potential EEG signals of the present invention.
Fig. 5 is EEG feature extraction of the present invention and classification process chart.
Fig. 6 is a functional electric stimulation system hardware block diagram of the present invention.
Fig. 7 boosting section parallel circuit figure.
Fig. 8 single-chip microcomputer main program flow chart.
The specific embodiment
Further specify the present invention below in conjunction with drawings and Examples.
Mainly by 3 most of compositions, that is: eeg collection system is used for the notebook computer of EEG Processing and controlled functional electric stimulation system to this intelligent paralytic patient recovering aid system.Its work sketch map as shown in Figure 1.EEG signals when at first eeg collection system extraction patient imagines each limb action, carry out feature extraction and classification through the EEG Processing system, understand people's motion intention, and control a functional electrical stimulation instrument with this classification results and carry out selectively, orderly limb muscle control, arbitrarily control limb motion thereby reach sufferer, the purpose of walking freely.Simultaneously, the peripheral sensory stimulation constantly feeds back to brain by nervous pathway in the body, therefore also promotes impaired central nervous system's reconstruction and rehabilitation when tempering the paralysis kinetism.
The composition structured flowchart of intelligent paralytic patient recovering aid system of the present invention as shown in Figure 2.Brain wave acquisition comprises the amplification and the sampling of EEG signal, and the digital signal after the sampling passes to notebook computer in real time by USB interface and does signal processing, and signal processing comprises the EEG filtering and noise reduction, the feature extraction of imagination action potential, patient moving intention classification.Sorted movement instruction is passed to the functional electrical stimulation instrument by the RS232 serial ports, and the functional electrical stimulation instrument stimulates the neuromuscular of patient's corresponding site according to instruction, thereby makes the patient finish specific action.
Fig. 3 is the eeg signal acquisition system block diagram.The model that the embodiment of the invention adopts the BeiJing ZhongKe newly to open up Instr Ltd.'s production is that 40 of UE-BZ leads the collection that the USB eeg amplifier is realized EEG signals, its sample rate is 1000Hz, input range is-15mv～+ 15mv, resolution is 0.5uv, adopt USB interface directly to power, volume is 210 * 170 * 40mm, the precision that is easy to carry height.
In the present embodiment, eeg signal acquisition lead the position as shown in Figure 4, comprise that 11 are led.Adopt international 10-20 placement standards of leading, the position of selecting for use of leading is CZ, C1, C2, C3, C4, C5, C6, FC3, FC4, CP3, CP4.
The EEG Processing flow chart as shown in Figure 5.The strategy of the patient moving imagination is imagination right-hand man's grasp motion, and the flexor of imagination lower limb.Import notebook computer into after EEG signals when the patient imagines limb action is gathered through amplification and do relevant treatment.At first utilize quick ICA method that the EEG signal is carried out the software filtering denoising, use adaptive autoregressive model (AAR model) then, wavelet transformation (WT), cospace filter method methods such as (CSP) is extracted the time domain of EEG imagination action potential, the feature in frequency domain and spatial domain is classified to the patient moving intention at last.Sorted movement instruction is passed to the functional electrical stimulation instrument by the RS232 serial ports, and the functional electrical stimulation instrument stimulates the neuromuscular of patient's corresponding site according to instruction, thereby makes the patient finish specific action.
Fig. 6 is the design frame chart of functional electric stimulation instrument in this rehabilitation system.
(1) control unit: control section is made up of two acp chips, and one is the ADuC832 single-chip microcomputer of AD company, and one is programmable logic device (CPLD), employing be the MAX7000 series of Alter company.The groundwork of this part is to read the dutycycle of key information, display parameters, control impuls transformator driving pulse and control each passage to stimulate output.
(2) power supply and booster circuit part: be the key point of Analog Circuit Design part, this part adopts boost module to realize boosting, the frequency of the pulse by control boost module input and the output voltage amplitude that dutycycle can be controlled boost module.Adopt the DC-DC power isolation module, guarantee that each passage stimulates the independence of output.
(3) RS232 serial line interface: functional electric stimulation system is accepted the control command of main frame by RS232 serial line interface and host communication, is stored in the stimulus modelity that presets of system according to command calls, and the patient is carried out dynamically stimulating in order.
(4) I/O module: this part is liquid crystal display and the input of panel key, and the user can change parameter setting according to information easily by this system, and patient also can be convenient to use simultaneously.By being programmed, the CPLD device can easily realize the expansion of single-chip processor i/o mouth.
(6) SPI Serial Peripheral Interface (SPI): be used for the parameter that single-chip microcomputer will be provided with and pass to CPLD, CPLD is according to the pulse of the parameter generating control booster circuit of accepting and the impulse circuit of channel selecting.
(7) information storage system: the doctor can be provided with parameter easily according to patient's practical situation, and is set at prepattern, and patient can select different patterns according to the different situations of oneself, and parameter is stored in the single-chip microcomputer in-chip FLASH in the present embodiment.
Fig. 7 boosting section parallel circuit figure.
Because the existence of human body skin impedance, therefore, for the electrocutaneous stimulation that uses the epidermis electrode, output voltage must just can cause effective sensation or motor reaction greater than a certain lower limit.For different patients, the tolerance of stimulus intensity there is very big difference, especially to the patient of upper motor neuron such as for example apoplexy damage, its requirement to stimulus intensity almost is equivalent to 3 times of normal person.Therefore, can applicable scope wider in order to make this instrument, the upper limit of its fan-out capability can satisfy denervation patient's stimulation thresholding, require to stimulate instantaneous output bigger, between a pulse period of output, the amplitude landing will be lacked, and almost requires constant voltage to stimulate.Simultaneously, the width of boost pulse is also checked the fan-out capability of booster circuit, for pulse energy storage booster circuit, adopt pulse transformer as energy storage and transmission apparatus, the no-load voltage ratio of the frequency of driving pulse, dutycycle, transformator primary and secondary has determined the fan-out capability of booster circuit jointly.In order to keep the constant voltage fan-out capability, output boost pulse frequency can not be too high, and stimulus frequency is lower than 50 hertz, and between pulsewidth scope 0.2ms-0.6ms, instrument can guarantee constant voltage output in this frequency range.The boost module that the present invention adopts can be controlled the output pulse amplitude based on the inverter principle by the frequency and the dutycycle of regulating the input driving pulse, and its peak power output is 1W.Single channel boosting section parallel circuit figure as shown in Figure 7.One has 16 passages in the whole system, has identical circuit diagram, and each limbs uses four passages to work in coordination with stimulation.
Main program flow chart as shown in Figure 8.
(1) program begins;
(2) initialization system parameter;
(3) read the parameter of in-chip FLASH;
(4) show welcome page;
(5) enter the mastery routine circulation;
(6) keyboard scan has judged whether that key presses, and has obtained corresponding key assignments;
(7) judged whether that key presses,, otherwise carried out next step if then enter parameter and page setup;
Whether be online mode, then carry out (9), otherwise carry out (10) if (8) judging current;
(9) if online mode is then judged current serial ports whether data are arranged,, otherwise carry out circulation (5) next time if then stimulate according to serial data;
(10) if not online mode, then judge whether to carry out testing stimulus, if then stimulate, otherwise carry out circulation (5) next time according to current configuration parameter.
Beneficial effect of the present invention:
The designed intelligent paralytic patient recovering aid system of patent of the present invention has been abandoned the scheme of traditional passive treatment, walks around Impaired nervous system in the paralysis disease human body passes through to gather patient's EEG signals with the method for engineering science, analyzes patient's motion Be intended to, movement instruction assigned to the functional electrical stimulation instrument controlled relevant limb motion. This is just so that the paralytic can be according to oneself Oneself wish has been improved Quality of Life greatly from the main control limb action. Simultaneously, by this autonomous restorative Training, nerve impulse upload to patient's impaired neural position, have also obtained corresponding so that the patient gets the injured nerve system The effect of taking exercise is accelerated rehabilitation and the interior neural reconstruction of body of patient's injured nerve system, thus fundamentally treatment paralysis Patient gets dyskinesia. This method is a kind of brand-new active rehabilitation care scheme, is the once change of Concepts of Rehabilitation.
Claims (1)
1. intelligent paralytic patient recovering aid system, comprise: the eeg collection system of EEG signals when being used to extract patient and imagining each limb action, be used for EEG signals is carried out feature extraction and the notebook computer of classifying and handling, and the functional electric stimulation system that is controlled by the notebook computer result, it is characterized in that described functional electric stimulation system comprises:
(1) be used to read the dutycycle of key information, display parameters, control impuls transformator driving pulse and control the control unit that each passage stimulates output, control unit is made up of two acp chips, and one is single-chip microcomputer, and one is programmable logic device (CPLD);
(2) power supply and booster circuit part: adopt boost module to realize boosting, the frequency of the pulse by control boost module input and the output voltage amplitude that dutycycle can be controlled boost module, adopt the DC-DC power isolation module, guarantee that each passage stimulates the independence of output;
(3) RS232 serial line interface: functional electric stimulation system receives the control command of main frame by RS232 serial line interface and host communication, is stored in the stimulus modelity that presets of system according to command calls, and the patient is carried out dynamically stimulating in order;
(4) I/O module: programme with the CPLD device and to realize the expansion of single-chip processor i/o mouth, be used to drive liquid crystal display and receive the input of panel key;
(5) SPI Serial Peripheral Interface (SPI): be used for the parameter that single-chip microcomputer will be provided with and pass to CPLD, CPLD is according to the pulse of the parameter generating control booster circuit of accepting and the impulse circuit that control channel is selected.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111554376B (en) * | 2020-04-26 | 2021-01-01 | 郑州大学 | Paralyzed patient uses multi-functional compound rehabilitation system based on big data channel |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101711908B (en) * | 2009-11-30 | 2013-04-03 | 上海交通大学 | Hierarchical functional electrical stimulation recovery system for lower limbs |
| CN103394161A (en) * | 2013-07-16 | 2013-11-20 | 山西大学 | Cerebral alpha wave feedback regulation acupoint magnetic stimulation system |
| CN104473635B (en) * | 2014-12-16 | 2016-07-06 | 重庆邮电大学 | Right-hand man's Mental imagery EEG feature extraction method of hybrid wavelet and common space pattern |
| CN104548347A (en) * | 2015-01-22 | 2015-04-29 | 天津大学 | Pure idea nerve muscle electrical stimulation control and nerve function evaluation system |
| CN106237510A (en) * | 2016-08-26 | 2016-12-21 | 山东海天智能工程有限公司 | A kind of brain control actively lower limb medical rehabilitation training system |
| CN106267557A (en) * | 2016-08-26 | 2017-01-04 | 山东海天智能工程有限公司 | A kind of brain control based on wavelet transformation and support vector machine identification actively upper limb medical rehabilitation training system |
| CN109453462B (en) * | 2018-11-06 | 2022-12-23 | 苏州大学 | Functional electrical stimulation device and system |
| CN110694169A (en) * | 2019-09-16 | 2020-01-17 | 浙江大学 | Motor dysfunction nerve bridging system based on motor intention inducing central nervous system micro-electrical stimulation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111554376B (en) * | 2020-04-26 | 2021-01-01 | 郑州大学 | Paralyzed patient uses multi-functional compound rehabilitation system based on big data channel |
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