CN100536958C - Paralytic patient auxiliary nervous pathway restoring system - Google Patents
Paralytic patient auxiliary nervous pathway restoring system Download PDFInfo
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- CN100536958C CN100536958C CNB2006101298808A CN200610129880A CN100536958C CN 100536958 C CN100536958 C CN 100536958C CN B2006101298808 A CNB2006101298808 A CN B2006101298808A CN 200610129880 A CN200610129880 A CN 200610129880A CN 100536958 C CN100536958 C CN 100536958C
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Abstract
The present invention relates to an auxiliary nervous channel recovery system for paralytic patient. It includes successively-connected brain wave signal collecting device, brain-machine interface control device, functional electrostimulant signal generator device and multilead stimulation electrode, in which the brain wave signal collecting device is used for collecting and processing brain wave signal and producing digital brain wave signal; the brain-machine interface control device can be used for making spectral analysis and mode identification of digital brain wave signal and producing functional electrostimulant switching control signal; the functional electrostimulant signal generator device can be used for producing functional electrostimulant drive signal according to the received functional electrostimulant switching control signal to drive multilead stimulation electrode; and the multilead stimulation electrode can be mounted on the lower limb of patient, and can be used for driving peripheral nervus motorius of leg muscle to produce leg motion.
Description
Technical field
The invention belongs to the rehabilitation biomedical sector, relate to a kind of paralytic patient auxiliary nervous pathway restoring system.
Background technology
Paraplegia is the two severe lower extremity deformity that caused by spinal cord injury, and sickness rate is remarkable ascendant trend in recent years.Because spinal cord is responsible for the information transmission of brain and human body other parts (especially limbs), its damage will directly cause the following nervous system disorders of wound surface, cause the paralysis of corresponding limb part, its regeneration capacity is quite faint in addition, and the clinical treatment means are very limited.Aspect the recovery of paralyses patient locomotor activity, (Functional ElectricalStimulation, FES) technology is generally believed it is a kind of effective clinical tool to functional electrical stimulation.The FES technology is that stimulating apparatus is installed at the paralyzed limbs place, stimulates the muscle contraction that loses neural control by pre-programmed electrical pulse sequence, thereby produces leg exercise, with the function of rectification or alternative limb motion situation or forfeiture.
Be equivalent to manually rebuild nervus motorius (rebuilding) on the FES technological essence so the FES rehabilitation training is also referred to as nervus motorius.But up to now, the nervus motorius that the FES technology is rebuild only limits to drive the peripolesis nerve of leg muscle, and the nervus centralis domination that links to each other with patient's brain is not arranged at present as yet, can not independent, autonomous, complete at last kinetic system.So existing FES control signal can only be provided by the external world passively, its nervus motorius is rebuild control model can not express patient's subjective sports consciousness, thereby have adaptivity poor, be subject to disturb, be difficult to deadly defect such as learning and mastering, the nervus motorius that has restricted the FES technology is rebuild effect, becomes the bottleneck problem that it needs to be resolved hurrily in rehabilitation clinical expansion and application.
Imagine thus: as if reproducing a new artificial communication channel between peripolesis nerve of rebuilding at FES and the brain, the subjective sports consciousness information of paralytic patient is derived, in order to independently to control the lower extremity movement state, form complete maincenter-lower extremity movement nervous system, rebuilding control model with creating a kind of novel kinetic system, also is a kind of very good paralytic patient rehabilitation scheme.Brain-computer interface (Brain-computer interface, BCI) rise of technology and develop rapidly and make this conception become possibility in recent years.BCI is by computer monitoring, identification human thinking idea signal mode, produces may command and handles peripheral communication or the work equipment instruction, to reach anticipation operation purpose or realization and external information communication function.It is a kind of brand-new biofeedback control and communication for information technology, it needn't depend on peripheral nervous and muscle response, exactly can remedy the deficiency that has the FES control technology now and only produce brain electricity (EEG) signal according to the human thinking idea with extraneous special technique thinking of carrying out communication for information.
Summary of the invention
Purport of the present invention is to overcome the deficiencies in the prior art, proposes a kind of auxiliary nervous channel recovery system, utilizes BCI technology control FES, relies on autonomic movement consciousness to drive disability rehabilitation's training objectives of lower limb walking to realize paralytic patient.This invention can allow lower extremity paralysis but the normally functioning paralytic patient of brains has the efficient recovery lower extremity motor function, also is applicable to the hemiplegia patient training after the apoplexy.
The present invention adopts following technical scheme: a kind of paralytic patient auxiliary nervous pathway restoring system, comprise the brain wave acquisition device that connects successively, brain-machine interface control device, functional electrostimulant signal generator device and multi-lead stimulating electrode, wherein, the brain wave acquisition device gathers and handles the imagination action brain electricity that is produced when a left side/right lower limb is taken a step subjective idea operational thinking desiring to carry out at C3, C4 and the Cz place of leading, generate the pre-action of digitized brain electricity electric potential signal; Brain-machine interface control device, the pre-action of digitized brain electricity electric potential signal is carried out analysis of spectrum and pattern recognition, at first by calculating the Cz beta rhythm and pace of moving things wave band energy spectrum that leads, and read its intermediate frequency 22Hz place energy value, with take a step to move threshold ratio and discern the lower limb action intention of taking a step, calculate C3, the C4 alpha rhythm and pace of moving things wave band energy spectrum of EEG signals that leads, and read its intermediate frequency 10Hz place energy value, the two difference and direction are moved threshold ratio and are judged the direction of motion; By the preset action refractory stage single action pattern that the brain electricity identifies is carried out validity check again, and then produce the functional electrical stimulation switch controlling signal; Functional electrostimulant signal generator device according to the functional electrical stimulation switch controlling signal that receives, produces functional electrical stimulation and drives signal, drives the multi-lead stimulating electrode; The multi-lead stimulating electrode is installed on patient's lower limb, is used for driving the peripolesis nerve of leg muscle, and stimulated muscle is shunk, and produces leg exercise.
As preferred implementation, described brain wave acquisition device is made of the scalp multi-lead electrode, signal processing circuit and the analog to digital conversion circuit that connect successively.
The present invention utilizes brain-computer interface (BCI) technological system to extract paralytic patient and moves electric potential signal in advance at the brain electricity (EEG) of desiring to carry out to be produced when a left side/right lower limb is taken a step subjective idea operational thinking, in order to control functional electrical stimulation (FES) type of drive of auxiliary walking, thereby, realize that autonomic movement consciousness drives disability rehabilitation's training objectives of lower limb walking at the paralytic patient auxiliary nervous pathway restoring system of one of patient's reconstruction in vitro " consciousness (nervus centralis)-motion (periphery is neural) ".This system is not only brand-new paraplegia walking rehabilitation technique, and can promote the use of the consciousness control system of other relevant people with disability's assistive device.The present invention has created a kind of novel bioinformation system pattern; For the people with disability opens up brand-new movable information output channel, development of new man-machine system promotes the rehabilitation medicine development.
Description of drawings
Fig. 1 system structure sketch map of the present invention;
Fig. 2 paralytic patient auxiliary nervous pathway restoration methods of the present invention general flow chart;
Fig. 3 EEG signals analysis of spectrum of the present invention flow chart.
The specific embodiment
The present invention proposes to be used for the artificial sport nervous system reconstruction notion of paraplegia walking, this notion is meant after paralytic patient spinal cord injury, utilize functional electrical stimulation to rebuild the peripolesis nerve of patient's lower limb as nerve prosthesis, and between peripolesis nerve that FES rebuilds and brain, reproduce a new artificial communication channel, by brain-computer interface (Brain-computerinterface, BCI) technology derives the subjective sports consciousness information of paralytic patient, in order to independently to control the lower extremity movement state, form complete maincenter-peripolesis nervous system, at auxiliary nervous channel recovery system of patient's reconstruction in vitro, being also referred to as the artificial sport nervous system, is a kind of very good paralytic patient rehabilitation scheme.
Below in conjunction with drawings and Examples the present invention is further described.
The paralytic patient auxiliary nervous pathway restoring system that the present invention proposes as shown in Figure 1.At first utilize the scalp multi-lead electrode that is installed in the paralytic patient head to carry out EEG signals collecting, amplification and A/D conversion back input computer, produce the FES switch controlling signal through analysis of spectrum and pattern recognition.This control signal is passed to the FES stimulating apparatus that is suspended between patient's waist by BCI and FES interface after effectiveness detects, drive installation selectively is at the multi-lead stimulating electrode of patient's lower limb, and then stimulate relevant paralysis muscle contraction, and produce corresponding lower extremity movement, finish predetermined action.The general flow chart of paralytic patient auxiliary nervous pathway restoration methods as shown in Figure 2.
Imagination action can cause the specific variations of EEG signals, is one of key problem in technology of present brain-computer interface (BCI) system design by what extract that brain electrical feature parameter discerns imagination action how.Imagination limb action causes that phenomenon that dynamic EEG signals characteristic spectra power spectral density changes is referred to as that incident is relevant to desynchronize or incident related synchronization (ERD/ERS).Mainly (20-24hz) locate to cause the ERD phenomenon, and part experimenter can cause the ERS phenomenon that the same frequency band power spectrum density of homonymy main motion sensory region rises at the beta rhythm and pace of moving things of the main motion sensory region of offside for lower limb imaginary action.ERD and ERS both can be as thinking activities to having stimulated the significant response sign of incident, again the concrete moment that can in brain electric treatment in real time, take place, therefore in brain-computer interface (BCI) system design, often use ERD and ERS as critical trigger parameter based on action or imagination action potential as the characteristic parameter location response.The present invention uses alpha or beta rhythm and pace of moving things power spectrum energy as characteristic parameter, and lower limb left and right sides lower limb is taken a step to imagine that the dynamic EEG signals of action before and after carrying out analyze, and has good time domain resolution capability and distinguishes effect accurately.
The present invention utilizes a brain electric control functional electrical stimulation left side/right lower limb model process of taking a step as follows:
(1) calculates C3, the C4 alpha rhythm and pace of moving things wave band energy spectrum of EEG signals that leads, and read its intermediate frequency 10Hz place energy value; Calculate the Cz beta rhythm and pace of moving things wave band energy spectrum of EEG signals that leads, and read its intermediate frequency 22Hz place energy value.
(2) energy that leads according to Cz judges that the patient is intended to whether the needs lower limb take a step to move, and promptly distinguishes " moving " and " motionless "; If this energy value moves threshold value Va greater than taking a step, then be intended to " moving ", enter step (3); Otherwise, then be intended to " motionless ", finish; The value of direction action threshold value Vd is determined by following described method.
(3) if determine to be intended to " move ", calculate C3 and subtract the energy difference that C4 leads, judge according to the energy difference that subtracts each other that the patient is intended that and want the left lower limb right lower limb of taking a step still to take a step, promptly distinguish " left lower limb is moving " and " right lower limb moves "; If the two result who subtracts each other then can conclude the intention that the patient has right lower limb to take a step greater than direction action threshold value Vd, if the two result who subtracts each other then can conclude the intention that the patient has left lower limb to take a step less than-Vd; If the two result who subtracts each other (Vd, Vd) between, think that then the energy difference that C3 and C4 lead is in normal range, the patient is the nothing intention of taking a step temporarily; The value of direction action threshold value Vd is determined by following described method.
(4) after left and right sides lower limb was taken a step the affirmation of action intention, the effectiveness that carries out the pattern action detected.Calculate the time difference between this action intention and the last time actual act, if this time difference, thinks then that the action intention is effective greater than the action refractory stage Tn that sets; Otherwise, think that the action intention is invalid; The value of action refractory stage Tn is determined by following described method.
(5) if the intention that judgement patient left side lower limb is taken a step is effective, then export binary system control command signal " 10 ", trigger the functional electrical stimulation left side lower limb drive pattern of taking a step, produce stimulating current, stimulate related muscles to shrink by the stimulating electrode that is installed in patient's left side lower limb quadriceps femoris and muscle group surface, corresponding distally, implement true left lower limb and take a step to move.If the intention that the right lower limb of judgement patient is taken a step is effective, then export binary system control command signal " 01 ", trigger the right lower limb of the functional electrical stimulation drive pattern of taking a step, produce stimulating current, stimulate related muscles to shrink by the stimulating electrode that is installed in right lower limb quadriceps femoris of patient and muscle group surface, corresponding distally, implement true right lower limb and take a step to move.
(6) repeat (1)-(5) and can make the lower limb action of taking a step in the patient left and right sides hocket, carry out continuous walking.
Analysis of spectrum of the present invention is finished on the Labview platform.Fig. 3 is to be the analysis of spectrum flow chart of example with beta rhythm and pace of moving things wave band energy spectrum: pick up original EEG signals after the Labview capture card is input to computer by scalp electrode, the bandpass filtering through 20～24Hz keeps wherein beta rhythm and pace of moving things composition again; This signal is through being divided into two paths of signals behind root-mean-square (RMS) smoothing algorithm of 10ms: become the main control channel signal after one tunnel the average treatment through 400～500ms, be used for output control; Another road becomes the auxiliary control channel signal through after average treatment of 50ms, is used for judging that main channel signal is to operate the intention signal really or other disturbs caused noise signal by the experimenter.Its determination methods is that main channel signal and threshold voltage are compared, if surmount threshold voltage, compares to judge whether true beta rhythm and pace of moving things amplification signal with the auxiliary control channel signal again.Signal processing flow is exported to interface circuit with actual beta rhythm and pace of moving things amplification signal as control signal at last and is produced prompt tone and gives the patient.
Below to how determining that systematic parameter describes.
Need to determine four critical technical parameters for whole system of the present invention: the first takes a step to move threshold value Va, and it two is direction action threshold value Vd, and it three is action refractory stage Tn, and it four is the caused maximum background noise voltages of various interference.The difference of above-mentioned first parameter reflection patient and take a step kinestate between beta rhythm and pace of moving things wave amplitude static at lower limb; Second parameter reflection patient is in the take a step difference of beta rhythm and pace of moving things wave amplitude between the state of left and right sides lower limb; Required time was poor between the 3rd parameter reflection patient left and right sides lower limb taken a step alternately; The 4th parameter is to judging that the main control channel signal is a true beta rhythm and pace of moving things control signal or interference noise has important value.
1 takes a step moves threshold value
Beta rhythm and pace of moving things wave amplitude meansigma methods was designated as Vm when the patient was imagined that lower limb take a step to move, and beta rhythm and pace of moving things wave amplitude meansigma methods is designated as Vn during the lower limb hold part, and its difference is designated as Vd, then the patient take a step move threshold value Va and can calculate by following empirical equation:
V
a＝V
mt+0.8V
d (1)
In the formula 0.8 be patient's lower limb take a step to imagine with the hold part state under the adjustment coefficient of beta rhythm and pace of moving things wave amplitude difference.
2 directions action threshold value
Beta rhythm and pace of moving things wave amplitude meansigma methods was designated as V1 when the patient was imagined that left lower limb is taken a step, and imagined that beta rhythm and pace of moving things wave amplitude meansigma methods was designated as Vr when right lower limb was taken a step, and its difference is designated as Vz, and then patient's direction action threshold value Vd can calculate by following empirical equation:
V
d＝0.8V
z (2)
0.8 is the gain coefficient of beta rhythm and pace of moving things wave amplitude difference under two kinds of imaginations of patient operating state in the formula.The present invention adopts identical threshold value to different patients, can choose corresponding direction threshold setting scheme according to different controlled target and task.
3 action refractory stage time constants
As described above, action refractory stage time constant Tn reflected patient left and right sides lower limb take a step alternately between required time poor, the present invention adopts the identical gain coefficient value, determines taking a step and direction action threshold value of each patient as stated above, and with this system test patient's action refractory stage time value.In order to obtain more reliable and more stable data, require each patient's repetitive operation test 25 times, consider system hardware collection, signal processing required time and individual variation, the present invention chooses maximum in data record movement time as the action refractory stage time constant of system.
4 maximum background noise voltages
A lot of interference factors (comprising that eye electricity, electromyographic signal and ambient noise disturb) can appear in the operating process.The action mean values can be followed the variation of the generation of action or environment and corresponding change occur when above-mentioned interference occurs, and it is a lot of to exceed normal range.For the situation that occurs is disturbed in caution significantly, the present invention is setting an interference warning value in addition (above threshold voltage on subaisle outside the main channel, within the interference range significantly that may occur), if surpass this warning value just think the control signal of main channel may be by interference cause but not the control increase of beta rhythm and pace of moving things amplitude down consciously, thereby suppress the output of main channel control signal.
5 subject data statistics of table 1
16 experimenters use artificial lower extremity movement nervous system of the present invention to carry out the fundamental system characteristic test.This experiment purpose is by experimenter's data analysis being investigated design feasibility and the ease for operation and the control rate of system.The experimenter is adult paralytic patient (men and women half and half, and the mean age is 36.2 years old).Experiment comprises four-stage, and each stage requirement experimenter carries out 20 continuous left and right sides lower limbs and takes a step.The experimenter selects the left and right sides lower limb order of origination action task to provide at random in experiment all not through training in advance.Pick up counting from sending the origination action task order, implement to action is true, the release of taking a step, then timing stops, and carries out successively 20 times; If the psychomotor task order is sent, the action of taking a step is not implemented, and then is designated as a stroke defect; If the psychomotor task order is sent, the action of taking a step is implemented, but what take a step is not the motion lower limb that the psychomotor task order will be chosen, and then is designated as an anisotropy.The experimental period record is strict to be responsible for carrying out by same experimenter under same experimental conditions.
Each experimenter has been write down errors number in continuous 20 the goal task processes of four-stage.Table 1 is 5 experimenters' a experimental result wherein, from experimental data as can be seen each experimenter continuous experimentation, errors number obviously gradually reduces, from second stage, all drop to stroke defect rate and direction action rate below 5%, show that most experimenters have been familiar with system's control when second stage is tested, thereby reduced error level rapidly.Above-mentioned basic controlling experimental result has shown that this artificial lower extremity movement nervous system has the characteristics of easy to understand and operation.
16 experimenter's experimental results illustrate that this system has does not need complicated study or biofeedback training process, the accuracy height, easy characteristics such as grasps may be for having a normal thinking but the paralytic patient of lower extremity motor function incompleteness provides a kind of new communication for information control mode and help the disabled rehabilitation and life aid.
Claims (2)
1. a paralytic patient auxiliary nervous pathway restoring system comprises the brain wave acquisition device that connects successively, brain-machine interface control device, and functional electrostimulant signal generator device and multi-lead stimulating electrode, wherein,
The brain wave acquisition device gathers and handles the imagination action brain electricity that is produced when a left side/right lower limb is taken a step subjective idea operational thinking desiring to carry out at C3, C4 and the Cz place of leading, generate the pre-action of digitized brain electricity electric potential signal;
Brain-machine interface control device, the pre-action of digitized brain electricity electric potential signal is carried out analysis of spectrum and pattern recognition, at first by calculating the Cz beta rhythm and pace of moving things wave band energy spectrum that leads, and read its intermediate frequency 22Hz place energy value, with take a step to move threshold ratio and discern the lower limb action intention of taking a step, calculate C3, the C4 alpha rhythm and pace of moving things wave band energy spectrum of EEG signals that leads, and read its intermediate frequency 10Hz place energy value, the two difference and direction are moved threshold ratio and are judged the direction of motion; By the preset action refractory stage single action pattern that the brain electricity identifies is carried out validity check again, and then produce the functional electrical stimulation switch controlling signal;
Functional electrostimulant signal generator device according to the functional electrical stimulation switch controlling signal that receives, produces functional electrical stimulation and drives signal, drives the multi-lead stimulating electrode;
The multi-lead stimulating electrode is installed on patient's lower limb, is used for driving the peripolesis nerve of leg muscle, and stimulated muscle is shunk, and produces leg exercise.
2. paralytic patient auxiliary nervous pathway restoring system according to claim 1 is characterized in that, described brain wave acquisition device is made of the scalp multi-lead electrode, signal processing circuit and the analog to digital conversion circuit that connect successively.
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| CN104888346B (en) * | 2014-12-21 | 2020-10-13 | 徐志强 | Method and device for performing nerve stimulation on coma brain |
| JP6751881B2 (en) * | 2015-03-13 | 2020-09-09 | 学校法人東海大学 | Spinal cord electrical stimulator for walking training |
| CN113209470A (en) * | 2021-04-07 | 2021-08-06 | 北京脑陆科技有限公司 | Spine injured motor nerve control method and system based on invasive BCI |
| CN114191260B (en) * | 2021-11-25 | 2023-12-15 | 天津大学 | Highly integrated brain-controlled nerve electric stimulation exoskeleton robot system and control method |
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Non-Patent Citations (2)
| Title |
|---|
| "脑-机接口"的研究进展. 华小梅等.国外医学生物医学工程分册，第27卷第2期. 2004 |
| "脑-机接口"的研究进展. 华小梅等.国外医学生物医学工程分册，第27卷第2期. 2004 * |
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