CN101496748A - Functional electric stimulation FES walking-assisting artificial nerve prosthesis device - Google Patents
Functional electric stimulation FES walking-assisting artificial nerve prosthesis device Download PDFInfo
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- CN101496748A CN101496748A CNA2008101531252A CN200810153125A CN101496748A CN 101496748 A CN101496748 A CN 101496748A CN A2008101531252 A CNA2008101531252 A CN A2008101531252A CN 200810153125 A CN200810153125 A CN 200810153125A CN 101496748 A CN101496748 A CN 101496748A
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Abstract
The invention belongs to medical and rehabilitation appliances, in particular to a functional electric stimulation FES walking artificial neural prosthesis device. In order to provide the functional electric stimulation FES walking artificial neural prosthesis device, and help patients suffering from spinal cord injury and paralysis of lower limbs with certain condition realize short-distance autonomous walking or rehabilitation training, the device adopts a technical proposal that the functional electric stimulation FES walking artificial neural prosthesis device comprises a singlechip, a D/A converter, a constant current source, a wave form turning unit, a stimulation electrode which are connected in sequence, and also comprises a functional key connected with the singlechip and a display unit; the singlechip is connected with the wave form turning unit; and the constant current source is connected with a power supply module which provides electricity for the constant current source. The functional electric stimulation FES walking artificial neural prosthesis device is mainly used for rehabilitation treatment of spinal cord injury and paralysis of lower limbs.
Description
Technical field
The invention belongs to medical treatment, rehabilitation appliances, specifically relate to the functional electric stimulation FES walking-assisting artificial nerve prosthesis device.
Background technology
2007, relevant department estimated that the patient of U.S.'s spinal cord injury is people more than 250,000, also has about 1.2 ten thousand newly-increased case every year.According to incompletely statistics, all kinds of spinal cord injury patients in China's Mainland have reached 1,000,000 people, and just with annual speed increment more than 100,000.After the spinal cord injury, neural transmission is obstructed, and sensation that the damage plane is following and motor function will decay even disappear and very easily cause paralysis.To the huge paralysed patient of quantity, its body movement inconvenience, life is rough to take care of oneself, and family and society have been brought greatest burden, we can say, and paralysed patient has become a special social group who needs concern badly and look after who lives in ours at one's side.
Artificial neuron prosthese (Neuroprosthesis) is the electronic installation of restore funcitons after the class help nerve injury.It is the basis with functional electric stimulation (Functional Electrical Stimulation is abbreviated as FES) technology usually, and structure prosthese and orthosis replace brain to send neural impulse, thereby reaches the active purpose of control limb muscle.Aspect the paralysed patient functional rehabilitation, generally believe that FES is a kind of effective clinical auxiliary device.In addition, a lot of evidences show and utilize FES good effect also to be arranged aspect healthy improving paralytic patient body constitution and promote, such as the influence of the improvement of cardio-pulmonary function, bone density and metabolic perfect etc.With the auxiliary paralytic's walking of electricity irritation is the importance that the FES nerve prosthesis is used.Its reason is after the paralytic paralyses, and in considerable time, the muscle of peroneal nerve and domination thereof the function of still can bringing into normal play is if might recover the function that the patient loses with electrical stimulation when taking a step.
Summary of the invention
For overcoming the deficiencies in the prior art, a kind of functional electric stimulation FES walking-assisting artificial nerve prosthesis device is provided, help to possess the spinal cord injury of certain condition and lower extremity paralysis patient and realize that short distance independently walks or carry out rehabilitation training.
The technical solution used in the present invention is, a kind of functional electric stimulation FES walking-assisting artificial nerve prosthesis device, comprise the single-chip microcomputer, D/A converter, constant-current source, waveform roll-over unit, the stimulating electrode that link to each other successively, also comprise the function key, the display unit that link to each other with single-chip microcomputer, described single-chip microcomputer is connected to the waveform roll-over unit, and described constant-current source is connected to the power module of its power supply.
D/A converter is 48 bit resolution D/A conversion integrated chips, single-chip microcomputer is connected to 4 D/A chips by a slice 74 serial decoders, 4 D/A chips output to constant-current source, waveform roll-over unit, the stimulating electrode that connects separately respectively, form the autonomous channel of 4 corresponding left thighs of difference, right thigh, left leg, right leg.
Constant-current source adopts a constant-current source that the high voltage coupling is arranged as stimulation level, also adopts Wilson Wilson constant-current source to carry out the secondary constant current, and the pass of output current and input voltage is:
I
O=V
I/ R
S, R wherein
SBe sampling resistor, V
IBe the voltage that is converted to through D/A converter.
The waveform roll-over unit comprises: control end is connected to the controllable silicon optocoupler of single-chip microcomputer, being that of being connected in series is withstand voltage between two outfans of controllable silicon optocoupler is the alminium electrolytic condenser of 630V and a resistance, the output termination stimulating electrode that connects electric capacity, another output termination constant-current source.
Single-chip microcomputer comprises:
Be used for initialization, wait for the primary module that interrupts;
Be used to select stimulation channels and export the timing interrupt module of stimulus intensity, cycle, pulsewidth;
Be used to judge that button increases or reduce the external interrupt module of respective channel stimulation levels, demonstration stimulus intensity grade;
Being used for input signal according to button gives the respective channel stimulation levels and increases 1 or subtract 1 external interrupt response submodule;
Be used for submodule according to the corresponding relation control D/A converter of stimulation levels and size of current;
By exporting high and low level, be used for the submodule of control waveform roll-over unit;
Be used to control the submodule of display unit.
The present invention can bring following technique effect:
Adopt the functional electric stimulation walk help artificial neuron prosthetic appliance of single-chip microcomputer modulation and control waveform, output improves adjustable Lilly stimulus wave sequence, realizes helping the purpose of the autonomous walking of paralytic;
Simple to operate, controllability is good, the precision of control and highly sensitive, and have liquid crystal display screen, and show the stimulus intensity of 4 autonomous channels, the layman also can be operated very easily, alleviated patient and family members' burden greatly;
The effect that stimulates shank is tested, mainly comprise: the first, provided the minimum threshold value of taking a step, the take a step size of the threshold value and the electric current changing value of taking a step of the best; The second, utilize basic exercise mathematic(al) parameter (step-length, take a step the time) that effect of stimulation is estimated; Measured bestly when taking a step threshold value and knee joint angle curve and angular velocity curve during normal condition at last, the result shows that this nervus motorius prosthesis system can reach effect preferably;
Can offer help for better realizing neural reconstruction of lower extremity movement in the future, and obtain considerable economic.
Description of drawings
Fig. 1 is the entire system frame diagram.
Fig. 2 is a Lilly waveform sketch map.
Fig. 3 is the circuit diagram of one road waveform roll-over unit.
Fig. 4 is the output of one road roll-over unit.
Fig. 5 is the systems soft ware flow chart, and wherein (a) is main program flow chart, (b) is the external interrupt program flow diagram, (c) for regularly interrupting flow chart.
Fig. 6 is the software flow pattern of function key.
The software flow pattern of Fig. 7 D/A module.
The software flow pattern of Fig. 8 waveform upset.
Fig. 9 display unit software flow pattern.
The specific embodiment
A kind of functional electric stimulation walk help artificial neuron prosthetic appliance that has Single-chip Controlling and liquid crystal display provided by the invention, swash the muscle that loses Autonomous Control by producing a series of specific pulse current deburrings, it is produced shrinks, substitute and correct the function of organ and limbs forfeiture, mainly be lower limb, help the spinal cord injury and the lower extremity paralysis patient that possess certain condition to realize autonomous walking of short distance or rehabilitation training.
This device is by control command generator (command generator), controller (controller), four essential parts of stimulator (stimulator) and electrode (electrodes) constitute, 4 autonomous channels are arranged, by patient's manual adjustments control knob, by digital-to-analogue conversion, processes such as waveform upset are adjusted the parameter of stimulus waveform by single-chip microcomputer, and be presented on the liquid crystal display screen, for patient's reference.
Further specify the present invention below in conjunction with drawings and Examples.
Functional electric stimulation FES walking-assisting artificial nerve prosthesis device entire block diagram of the present invention as shown in Figure 1, consider the safety of system to human body, system of the present invention output waveform adopted that positive and negative charge equates with the Lilly ripple, as shown in Figure 2, be the improved stimulus waveform of original shape, for making system features in convenient, having adopted clinically, the regulative mode of pulse amplitude commonly used satisfies different paralysed patient needs.The parameter that system is concrete is elected frequency 25Hz as, pulsewidth 150 μ s, and electric current is that 0-128mA is adjustable, the way of output that adopts constant current to stimulate.
According to the action feature of human body lower limbs, the present invention is designed to 4 autonomous channels (left thigh, right thigh, left leg, right leg), mainly comprises control, D/A conversion, constant-current source, waveform upset, function key, liquid crystal display, eight parts of stimulating electrode and power supply.
Function key adopts manual control mode, and the present invention has 12 function keys, 2 thigh on ﹠ off switches, and 2 shank on ﹠ off switches and 8 increases and decreases of 4 passages function key, but have only 10 function keys to control, do not comprise 2 thigh on ﹠ off switches.The present invention adopts hardware application software querying method to carry out the external interrupt expansion, and this query method can be handled any a plurality of exterior interrupt in principle, and each function key is connected on the I/O mouth pin of single-chip microcomputer.The single-chip microcomputer that the present invention uses is a low-power consumption, 8 single-chip microcomputers of high-performance CMOS, sheet includes ISP (In-system programmable, online programmable) Flash read-only program memory that can be erasable repeatedly, device adopts high density, nonvolatile storage technologies manufacturing, compatibility standard MCS-51 instruction system and 80C51 pin configuration.Will be by the control signal that single-chip microcomputer provides through digital-to-analogue conversion control constant-current source, here adopted 48 bit resolution D/A conversion integrated chips to carry out digital-to-analogue conversion, utilized a slice 74 serial decoders to provide chip selection signal and data transfer control signal for 4 D/A chips.Thereafter the double operational that connects dual power supply amplifies output current and converts magnitude of voltage to.The D/A output signal provides input signal for subordinate's constant-current source.Requirement to constant-current source: because the impedance value of human body is about 1K, the stimulating current maximum is 128mA, and therefore, the constant-current source of employing is wanted to bear a high voltage.The constant-current source of this paper is the secondary constant-current circuit of Wilson constant-current source, and its electric current output is more stable.Load links to each other with ground, and safety improves.The output current of this current source and the pass of input voltage are:
I
O＝V
I/R
S (1)
R wherein
SBe sampling resistor, V
IBe the voltage that is converted to through DAC.
Waveform upset is that the switching by the Single-chip Controlling electrical switch realizes capacitor charge and discharge, and what electrical switch was selected for use is 4 controllable silicon optocouplers.The stimulus signal that obtains at last is connected to patient's lower limb by electrode.What the embodiment of the invention adopted is lead formula electrode, and this is the reusable electrode of a kind of autohension.Its contact resistance lower (150 Ω), viscosity is good, can place the different position of human body, and is reusable more than 20 times.The electrode size that is used for shank is 45mm * 45mm, and the electrode size that is used for thigh is 45mm * 90mm.
What power module adopted is isolated form DC/DC module, its maximum output voltage-150V, maximum output current 300mA.Input voltage DC24V ± 2V.It is omnidistance linear adjustable that this power module is that electric current and voltage is.Voltage stability is in 0.1% scope, and good stability can satisfy the requirement of system.
Main points of the present invention have been to adopt a constant-current source that the high voltage coupling is arranged as stimulation level, also adopt the Wilson constant-current source to carry out the secondary constant current, have improved the constant current effect; Because voltage is very high when discharging and recharging, adopt high withstand voltage electrical switch control capacitance to discharge and recharge herein, obtained the diphasic pulse current waveform that electric charge equates; System of the present invention has adopted a singlechip chip as kernel control chip, makes native system control accuracy height, and sensitivity is good, the reliability height.
Divide below and what time further describe the present invention.
The secondary constant-current circuit of 1 band Wilson constant-current source:
Requirement to constant-current source: because the impedance value of human body is about 1K, the stimulating current maximum is 128mA, and therefore, the constant-current source of employing is wanted to bear a high voltage.The size of this constant-current source output current and load R
LIrrelevant; In addition, at V
CCUnder the enough big situation, just can change output current to arbitrary value by the size that changes potentiometer numerical value.Consider that load directly links to each other with power supply, it is unsafe being used for human body, therefore, it is improved.
Constant-current source after the improvement is the secondary constant-current circuit of a band Wilson constant-current source.Be characterized in: the output of secondary constant current after current is more stable; Load links to each other with ground, and safety improves.The output current of this current source and the pass of input voltage are:
I
O＝V
I/R
S (2)
R wherein
SBe sampling resistor, V
IBe the voltage that is converted to through DAC.
The design V
CCFor-150V.Therefore need to select high voltage bearing audion, at the audion of this selection, it bears voltage is 350V, and collector current is 500mA to the maximum, can satisfy the requirement of system design; Float in order to reduce temperature, added negative-feedback circuit; What amplifier was selected for use is the double operational of dual power supply; According to needed actual stimulating current value, select the size of sampling resistor.And taking into account system safety and portability, the DC/DC module that has adopted isolated form is a constant current source power supply.
2 high withstand voltage bidirectional pulse electrical switches:
Waveform upset is that the switching by the Single-chip Controlling electrical switch realizes capacitor charge and discharge.What electrical switch was selected for use is 4 controllable silicon optocouplers.
The circuit connection diagram of waveform roll-over unit as shown in Figure 3.
Electric capacity is selected 1 μ F.The voltage at electric capacity two ends is very high in charge and discharge process, has therefore selected the withstand voltage alminium electrolytic condenser of 630V that is.
What Fig. 4 showed is one tunnel upset waveform.
The waveform roll-over unit can also be to utilize voltage signal to control 555 intervalometers, the upset of 555 timer control circuit states.
3 is the open-loop control system of core with the single-chip microcomputer:
3.1 entire system flow process:
To whole system, software comprises mastery routine and interrupt routine two parts, and interrupt routine comprises regularly interruption and external interrupt again.The software flow pattern of this three part as shown in Figure 5.
Introduce the definition and the initialization thereof of variable below.StimLD, stimRD, stimLX stimRX are defined as the stimulation levels variable of left thigh, right thigh, left leg and right leg respectively.4 variablees all are initialized as 5; LX (RX) is as judging whether left leg (right leg) has stimulation, i.e. LX=0 when not having the shank switch to press, RX=0, LX=1 (RX=1) when left (right side) shank switch is pressed; StimX_num is defined as the shank button boost pulse number of shank by next time time the whenever, stimX_num=10 in this design.
3.2 the design of function key:
Because the single-chip microcomputer exterior interrupt that the present invention uses can not directly meet the demands, so this paper adopted hardware application software query method expansion exterior interrupt, and the number of exterior interrupt is 10 after the expansion.
When function key was pressed, an one I/O mouth became low level, and response external is interrupted, and carried out the function of respective keys.Its software flow pattern as shown in Figure 6.
3.3 the software design of D/A modular converter:
Artificial neuron prosthesis system output of the present invention has 14 current classes, and every grade of interval 10mA (except the afterbody) is 128mA to the maximum.The corresponding relation of output current grade and size of current is as shown in table 1.
The corresponding relation of table 1 output current grade and size of current
| |
1 | 2 | 3 | 4 | 5 | 6 | 7 |
| Size of current (mA) | 0 | 10 | 20 | 30 | 40 | 50 | 60 |
| Current class | 8 | 9 | 10 | 11 | 12 | 13 | 14 |
| Size of current (mA) | 70 | 80 | 90 | 100 | 110 | 120 | 128 |
By constant-current source input and output formula I
O=V
I/ R
SCan calculate the output voltage V of DAC
I, and then can be by formula V
OUT=-V
REFThe digital code value that the P0 mouth should be exported when * (digital code/256) obtained different current class.Computing formula is as follows:
In system, what D/A adopted is the working method of double buffering, and promptly two of the D/A chip depositors all work in controlled latch state.Low four sheet choosing ends of controlling four D/A respectively of 74 decoders, Gao Siwei controls the data transfer control signal end of four D/A respectively.When program was carried out, the CS that chooses 4 D/A earlier deposited stimulating numerical value to be sent in the input register of D/A; After the selected stimulation channels, make the XEFR of control respective channel D/A effective, stimulus value is sent to the DA transducer, in the outfan output of D/A.Its software flow pattern as shown in Figure 7.
3.4 the software design of waveform upset:
This unit is to be controlled by some I/O mouth of single-chip microcomputer.When square wave output was arranged, these I/O mouths were high level, and electrical switch disconnects, electric capacity charging, output square wave; During discharge, these I/O mouths should be low level, electronic switch closes, capacitor discharge mutually.Its software flow pattern as shown in Figure 8.
3.5 the software design that shows:
The present invention is by data or control command are sent into inner 16 bit shift register of MAX7219 by turn with 16 bit data packet forms, drives that 8 LED show, as shown in Figure 9.
For examine or check the present invention reliability and feasibility, carried out relevant experiment, comprising stimulating thigh and knee joint to stretch experiment and stimulating the shank experiment of taking a step.
1. stimulate thigh to test this system and whether make the experimenter reach the state of standing, and provided the size of minimum movements threshold value, maximum actuation threshold value and action current changing value.The result is gratifying.
2. the effect that stimulates shank is tested.Mainly comprise: the first, provided the minimum threshold value of taking a step, the take a step size of the threshold value and the electric current changing value of taking a step of the best; The second, utilize basic exercise mathematic(al) parameter (step-length, take a step the time) that effect of stimulation is estimated; Measured best when taking a step threshold value and knee joint angle curve and angular velocity curve during normal condition at last.The result shows that this nervus motorius prosthesis system can reach effect preferably.
The invention provides a kind of functional electric stimulation (FES) walk help artificial neuron prosthetic appliance, export specific stimulus wave sequence, reach the purpose that helps the autonomous walking of paralytic with single-chip microcomputer modulation and control waveform.It is simple to operate, and controllability is good, the precision of control and highly sensitive, and have liquid crystal display screen, and show the stimulus intensity of 4 autonomous channels, be convenient to control.Can offer help for better realizing neural reconstruction of lower extremity movement in the future, and obtain considerable social benefit and economic benefit.Optimum implementation intends adopting patent transfer, technological cooperation.
Claims (5)
1. functional electric stimulation FES walking-assisting artificial nerve prosthesis device, it is characterized in that, comprise the single-chip microcomputer, D/A converter, constant-current source, waveform roll-over unit, the stimulating electrode that link to each other successively, also comprise the function key, the display unit that link to each other with single-chip microcomputer, described single-chip microcomputer is connected to the waveform roll-over unit, and described constant-current source is connected to the power module of its power supply.
2. a kind of functional electric stimulation FES walking-assisting artificial nerve prosthesis device according to claim 1, it is characterized in that, D/A converter is 48 bit resolution D/A conversion integrated chips, single-chip microcomputer is connected to 4 D/A chips by a slice 74 serial decoders, 4 D/A chips output to constant-current source, waveform roll-over unit, the stimulating electrode that connects separately respectively, form the autonomous channel of 4 corresponding left thighs of difference, right thigh, left leg, right leg.
3. a kind of functional electric stimulation FES walking-assisting artificial nerve prosthesis device according to claim 1, it is characterized in that, constant-current source adopts a constant-current source that the high voltage coupling is arranged as stimulation level, also adopt Wilson Wilson constant-current source to carry out the secondary constant current, the pass of output current and input voltage is:
I
O=V
I/ R
S, R wherein
SBe sampling resistor, V
IBe the voltage that is converted to through D/A converter.
4. a kind of functional electric stimulation FES walking-assisting artificial nerve prosthesis device according to claim 1, it is characterized in that, the waveform roll-over unit comprises: control end is connected to the controllable silicon optocoupler of single-chip microcomputer, being that of being connected in series is withstand voltage between two outfans of controllable silicon optocoupler is the alminium electrolytic condenser of 630V and a resistance, the output termination stimulating electrode that connects electric capacity, another output termination constant-current source.
5. a kind of functional electric stimulation FES walking-assisting artificial nerve prosthesis device according to claim 1 is characterized in that single-chip microcomputer comprises:
Be used for initialization, wait for the primary module that interrupts;
Be used to select stimulation channels and export the timing interrupt module of stimulus intensity, cycle, pulsewidth;
Be used to judge that button increases or reduce the external interrupt module of respective channel stimulation levels, demonstration stimulus intensity grade;
Being used for input signal according to button gives the respective channel stimulation levels and increases 1 or subtract 1 external interrupt response submodule;
Be used for submodule according to the corresponding relation control D/A converter of stimulation levels and size of current;
By exporting high and low level, be used for the submodule of control waveform roll-over unit;
Be used to control the submodule of display unit.
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| CNA2008101531252A CN101496748A (en) | 2008-11-17 | 2008-11-17 | Functional electric stimulation FES walking-assisting artificial nerve prosthesis device |
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|---|---|---|---|
| CNA2008101531252A CN101496748A (en) | 2008-11-17 | 2008-11-17 | Functional electric stimulation FES walking-assisting artificial nerve prosthesis device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105030237A (en) * | 2015-07-17 | 2015-11-11 | 中国科学院电工研究所 | Spinal cord injury localization device |
| WO2021036165A1 (en) * | 2019-08-29 | 2021-03-04 | 苏州大学 | Closed-loop electrical spinal cord stimulation system |
-
2008
- 2008-11-17 CN CNA2008101531252A patent/CN101496748A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105030237A (en) * | 2015-07-17 | 2015-11-11 | 中国科学院电工研究所 | Spinal cord injury localization device |
| WO2021036165A1 (en) * | 2019-08-29 | 2021-03-04 | 苏州大学 | Closed-loop electrical spinal cord stimulation system |
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Open date: 20090805 |