CN101569527B - Robot equipment system for treating sleep apnea syndrome - Google Patents
Robot equipment system for treating sleep apnea syndrome Download PDFInfo
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Abstract
The invention discloses a robot equipment system for treating sleep apnea syndrome, comprising an EEG detection module for detecting the human EEG and a signal processing module for processing EEG; the EEG detection module is connected with the signal processing module by a transmission line. The invention is characterized in that the system also comprises a robot operating module which receives aprocessing result from the signal processing module and realizes operation, and the robot operating module comprises an identification equipment for identifying electrical stimulation points of human body and a control equipment for controlling the operation of robot manipulator according to an identification result. The system can detect whether sleep apnea of human occurs by EEG, moves the robo t near human body and uses electrical stimulation on human body to relieve the sleep apnea symptom. The system can control the therapy of sleep apnea syndrome and can not interfere the sleep quality of patients.
Description
Technical field
The present invention relates to a kind of robot equipment system that is used for the treatment of the brain-computer interface of sleep apnea syndrome, be specifically related to a kind of monitor therapy system of robot that drives control according to the EEG signals that detects, it detects sleep state servant's EEG signals, extract the characteristic information of sleep apnea, shift near human body with this information-driven robot, and apply electricity irritation, can remove the sleep-apnea shape, improve patient's sleep quality, prevent the sudden death incident in the sleep procedure.
Background technology
(Sleep Apnea Syndrome is that pause is a class disease of feature to breathe repeatedly in the sleep SAS) to sleep apnea syndrome.According to estimates, China has such patient 3,000 ten thousand～5,000 ten thousand at present.Normal person sleep is from the superficial to the deep, and has only the deep sleep could allaying tiredness, keeps daytime clearheaded, and the sleep apnea syndrome patient is owing to asphyxia frequently occurs, often suppresses awakely from sleep, seldom can enter the deep sleep phase.Therefore, that sleep apnea often causes suppressing night is awake, daytime is drowsiness, giddy is weak, hypomnesis and duty are not good, in addition, this disease can also cause hypertension, coronary heart disease, myocardial infarction, pulmonary hypertension, pulmonary heart disease, senile dementia and because chaotic and other psychogenic problems of individual character of not having enough sleep and causing.Nasal cavity, oral cavity and upper respiratory tract obstruction (especially functional obstruction or narrow) can cause that SAS takes place, soft tissues such as the wherein sagging soft palate or the back bob root of the tongue stop up comparatively common, prolongation along with the asphyxia time due to the last airway obstruction, cause that the blood oxygen dividing potential drop reduces and partial pressure of carbon dioxide raises, have a strong impact on sleep quality, even the entail dangers to life security.Therefore SAS treatment of diseases or intervention are very important.
Conventional therapeutic treatment method (as operation or Drug therapy) is relatively poor to this disease effect, does not still have effective medicine at present and is used for this treatment of conditions, and operation method can only partly alleviate disease usually, and the consequence of operation is often also unpredictable.
Continuous positive airway is the preferred option for the treatment of sleep apnea syndrome at present.The key that most of sleep apnea takes place is the obstruction of air flue, and the cardinal principle of using continuous positive airway treatment sleep apnea is exactly by applying a suitable pressure for last air flue part, subsiding to prevent it.The continuous positive pressure venti lation device is a small-sized air compressor, is connected with nasal mask by flexible pipe.When the patient is sleeping, face shield is worn, and machine is opened, the latter sends the malleation air-flow of setting, enter by nasal cavity pharyngeal, the malleation of utilizing ventilation to provide, thus the opening of keeping patient's upper respiratory tract soft tissue keeps airway patency.Have multiple such therapeutic instrument at present both at home and abroad.The major defect of this equipment is: 1) though equipment can be controlled SAS effectively, but must be fixed in patient's head whole evening in a fixed manner during owing to use, therefore bring a lot of inconvenience to the patient, even influence sleep procedure, cause a lot of patients can't accept this treatment; 2), may increase the load of cardiovascular system, when particularly merging heart disease and having core function badness because the long-time positive airway pressure of needs of patients.Therefore, this method is combined cardiopathic SAS patient and should not uses.3) some " slightly " SAS patient because the not high and patient of asphyxia frequency do not want to take the trouble, does not manyly now advocate to use this equipment, but they are drinking, " seriously " asphyxia still can occur after the fatigue, even threat to life.
Have the scholar to report recently, it also is a kind of SAS Therapeutic Method likely that upper respiratory tract obstruction is eliminated in the nervus sublingualis electricity irritation.A John Hopkins team of university studies show that, the one-sided hypoglossal nerve stimulation of electrode implanted can be eliminated the obstruction of upper respiratory tract fully, simultaneously can not wake up with a start patient again, domestic Hu Lianggang etc. have also done to work preferably to noinvasive transcutaneous electrostimulation nervus sublingualis, they think, the effect of electronic stimulation SAS and stimulating current feature (waveform, frequency etc.) have much relations, and prove that this method is remarkable to obstructive type SAS effect.
The principal character of sleep apnea is that the chest respiratory movement exists, but the air-flow that breathes no more.Can go forward side by side and judge whether to have taken place sleep apnea after the line correlation feature extraction by detecting in the sleep procedure physiological parameters such as electrocardio, chest respiratory movement, blood oxygen saturation, respiratory air flow.The physical signs that detects in the sleep procedure has been the technology of comparative maturity, has had many companies to produce corresponding product at present.Consider that general checkout equipment pick off is not easy to fix, checkout gear influences factors such as human body normal activity, people have also been developed the monitor system of Wearable.Apneic criterion is that breathe no more in time air-flow or blood oxygen saturation of 10s significantly descends under the sleep state.The general polysomnogram instrument that adopts is monitored, but this method device electrode connects complexity, and price is also more expensive.During practical application, have the scholar to use the method for simple blood oxygen saturation to detect SAS, this method is used simple, low price, but its accuracy is not high.
The research of the electrical signal detection prevention epileptics of much requiring mental skill has been arranged at present, but also not about detecting the research of SAS with it.This project considers EEG signals is used for the detection of SAS, extracts patient's EEG signals in bed, carries out feature extraction and identification.
Medical robot is development in recent years field faster, but because advantages such as its accurate positioning, quick continuous operation, robot can be used to the surgical operation of numerous species.The medical machine philtrum, visual sensing, three-dimensional location etc. all is its key technology, the domestic higher neurosurgery robot system of precision that made up, Shanghai Communications University, the Taiwan research and development care and household ROLA of robot, worn radar range finder, can detect identification indoor furniture position, walking process is avoided automatically, hearing that owner can be by face tracking and measuring ability identification mastership and position after ordering, the real-time human body identification system of wearing on one's body by owner, the traceable detection of ROLA owner accident is fallen etc. unexpected, sense is immediately arrived in by the owner, automatically see through Radio Network System or 3G mobile, send an SOS, and the transmission field image is got home on people's mobile phone.The present invention is based on above technology.
Summary of the invention
The object of the invention is to provide a kind of robot equipment system that is used for the treatment of sleep apnea syndrome, solved problems such as the treatment means of sleep insuffience apnea syndrome patient in the prior art and equipment.
In order to solve these problems of the prior art, technical scheme provided by the invention is:
A kind of robot equipment system that is used for the treatment of sleep apnea syndrome, comprise and be installed in the EEG signals detection module that is used for the human body EEG signals on the human body, be used to handle the signal processing module of EEG signals, described EEG signals detection module is connected by transmission line with signal processing module; It is characterized in that described system also comprises robot manipulation's module that the result of acknowledge(ment) signal processing module is operated, the control device that described robot manipulation's module comprises the recognition device of identification human body sites of electrostimulation, operates according to recognition result control robot mechanical arm.
Preferably, described EEG signals detection module is to be arranged on the multichannel brain electric collection amplifying device that the human body brain surface is gathered EEG signals.
Preferably, described signal processing module is the PC microcomputer, described PC microcomputer carries out the feature extraction of EEG signals by wavelet decomposition, and carries out pattern recognition and give robot manipulation's module by the Bluetooth transmission recognition result by the characteristic signal of BP neural net method to the brain electricity.
Preferably, described robot manipulation's module comprises the robot master controller, described robot master controller is distinguished the EEG Processing result of acknowledge(ment) signal processing module transmission, the recognition result and the Robot actions result of recognition device, and accordingly result is made feedback.
Preferably, described recognition device comprises the photographic head that is installed in the robot, and described photographic head is accepted the information of surrounding and human body sites of electrostimulation and is connected with the robot master controller by the vision module controller; Described robot master controller driven machine people driving wheel respectively moves with robot mechanical arm and moves.
Preferably, described robot manipulation's module also comprises sonac, described sonac by the perception surrounding information and be connected feedback by the ultrasonic module processor with the robot master controller.
Preferably, described robot driving wheel is the driving wheel motor-driven of motor drive module control, and described robot master controller connects the control motor drive module; And accept the speed feedback of driving wheel motor; Described robot mechanical arm is the manipulator joint motor-driven of mechanical hand motor driver control, and described robot master controller connects the mechanical torch machine driver of control and accepts the pose feedback of manipulator joint motor.
Preferably, the described human body sites of electrostimulation paster position that is the cervical region stimulation point.
Another object of the present invention is to provide a kind of implementation method of robot equipment system, it is characterized in that said method comprising the steps of:
The EEG signals that produces when (1) adopting the collection of EEG signals detection module to amplify the outbreak of sleep quality apnea syndrome; And by feature extraction and the pattern recognition of signal processing module, and recognition result is transferred to robot manipulation's module to EEG signals;
(2) master controller of robot manipulation's module starts recognition device and sonac after receiving the signal that bluetooth transmits, described recognition device search human body sites of electrostimulation, and carry out Flame Image Process and target localization by the vision module controller, visual information is sent on the master controller; Roadblock information on the described sonac identification walking path;
(3) robot manipulation's module master controller carries out information fusion to visual information and ultrasonic roadblock information, seek an algorithm by independent navigation algorithm and visual tracking, the control drive wheel advances near the human body, and described main controller controls robot drives module drive mechanical hand applies electricity irritation to the human body sites of electrostimulation.
Preferably, described EEG signals pattern comprises the outbreak state model and the normal condition pattern of sleep apnea syndrome; Described EEG signals amplify by amplifier hardware carry out the 45Hz low-pass filtering, the pretreatment of 50Hz notch filter realizes; Described driving wheel is by the driving wheel motor-driven; Encoder on the described driving wheel motor feeds back to master controller with the real-time speed of motor, and the driving wheel motor is carried out closed loop control.
More specifically, its robot equipment system is made up of the paster of EEG measuring amplifier, PC, cervical region stimulation point, photographic head, sonac, master controller and vision module controller, ultrasonic module controller, motor drive module, mechanical hand motor driver, driving wheel motor, joint motor, driving wheel, the stimulating electrode that is installed in the robot.
And its concrete implementation method comprises the following steps:
(1) people produces corresponding EEG signal in the sleep apnea syndrome outbreak;
(2) the special-purpose EEG measuring amplifier of employing is gathered this EEG signals and is amplified;
(3) on PC, carry out EEG signals feature extraction and pattern recognition, and recognition result sent by bluetooth.
(4) the robot master controller receives the signal that bluetooth transmits, and starts.Each module is started working.
(5) photographic head searches the position of paster, and the vision module controller carries out Flame Image Process and target localization, and information is sent on the master controller.
(6) ultrasonic module is started working, and keeps away barrier accordingly.
(7) master controller carries out information fusion to visual information and ultrasound information, looks for an algorithm by independent navigation algorithm and visual tracking, sends the control information to the driver module of driving wheel and mechanical hand.
(8) the control robot according to corresponding control information move to patient near, the mechanical hand that has stimulating electrode applies electricity irritation to patient, removes condition of illness.
In the robot moving process, the encoder on the motor feeds back to controller with the real-time speed of motor, so that motor is carried out closed loop control.Equally, mechanical arm feeds back to controller by position sensor etc. with posture information in moving process.
The corresponding pattern of above-mentioned steps (1) midbrain electricity representative comprises two of the outbreak of sleep apnea syndrome and normal conditions.
In the above-mentioned steps (2), because EEG signals belongs to small-signal, adopt special-purpose brain wave acquisition electric discharge device to gather EEG signals, and carry out 45Hz low-pass filtering, the pretreatment of 50Hz notch filter by amplifier hardware, send the pretreatment EEG signals that collects to PC by USB interface then.
Adopt wavelet decomposition to carry out the feature extraction of EEG signals in the above-mentioned steps (3), adopt the BP neural net method that the characteristic signal of brain electricity is carried out pattern recognition;
In the above-mentioned steps (3) normal condition and two patterns of sleep apnea syndrome outbreak state are discerned.
Recognition result in the above-mentioned steps (3) is sent to the master controller of robot by bluetooth module.
Master controller core in the above-mentioned steps (4) is made up of Sumsung2440ARM development board and (SuSE) Linux OS.
Photographic head in the above-mentioned steps (5) is two, is binocular identification.
The controller core of vision module is the DM642 dsp chip in the above-mentioned steps (5).
Sonac in the above-mentioned steps (6) is for make a circle 8 in robot week.
The artificial Dual-motors Driving control of machine in the above-mentioned steps (8).
Above-mentioned steps (8) moderate stimulation electrode is for directly to be connected on the mechanical arm.
With respect to armarium scheme of the prior art, advantage of the present invention is:
1. in the technical scheme of the present invention by robot manipulation's module is set, situation when the signal transmission by EEG signals detection module, signal processing module makes the patient that sleep apnea syndrome take place is controlled, can be used for sleep apnea syndrome patient's in various degree treatment; And, can not produce and disturb patient's sleep quality owing to adopt the mechanical hand of robot manipulation's module that the human body sites of electrostimulation is carried out stimulation therapy.
2, the EEG signals that adopts the PC microcomputer that multichannel brain electric is gathered amplifying device collection amplification in the preferred technical solution of the present invention is gathered, undertaken by amplifier hardware, adopt 45Hz low-pass filtering, the pretreatment of 50Hz notch filter, thereby the processing that makes EEG signals is more accurate rapidly, has also improved the dormant accuracy of judgement degree of sleep apnea syndrome patient.
3, in the preferred technical solution of the present invention by paster being set at the cervical region stimulation point, robot sleep state according to the result behind the pattern match result who receives the PC microcomputer acts accordingly; When sleep state was good, any action was not done by robot; When sleep state enters when unusual, the recognition device of robot such as photographic head and sonac all start, and understand position, roadblock situation and the ambient environmental conditions of paster.Robot seeks an algorithm steps by independent navigation algorithm and visual tracking and enters and carry out the electricity irritation paster near the patient and finish treatment work.By these judgement and action of robot, improved patient's safety.
In sum, the invention provides and a kind ofly can use EEG signals to detect the sleep state servant whether sleep apnea has taken place, and control robot in view of the above and shift near human body, human body is applied electricity irritation to remove the system of sleep-apnea shape.
Description of drawings
Below in conjunction with drawings and Examples the present invention is further described:
Fig. 1 is the structural representation of embodiment of the invention robot equipment system;
Fig. 2 is the placement figure of brain electrode;
Fig. 3 is the control relay circuit figure of mechanical hand motor in robot manipulation's module;
Fig. 4 is five joint motors of mechanical hand body and a control block diagram thereof in robot manipulation's module;
Fig. 5 is a recognition device workflow diagram in robot manipulation's module.
The specific embodiment
Below in conjunction with specific embodiment such scheme is described further.Should be understood that these embodiment are used to the present invention is described and are not limited to limit the scope of the invention.The implementation condition that adopts among the embodiment can be done further adjustment according to the condition of concrete producer, and not marked implementation condition is generally the condition in the normal experiment.
Embodiment such as Fig. 1, this is used for the treatment of the robot equipment system of sleep apnea syndrome, comprise and be installed in the EEG signals detection module that is used for the human body EEG signals on the human body, be used to handle the signal processing module of EEG signals, described EEG signals detection module is connected by transmission line with signal processing module; Described system also comprises robot manipulation's module that the result of acknowledge(ment) signal processing module is operated, the control device that described robot manipulation's module comprises the recognition device of identification human body sites of electrostimulation, operates according to recognition result control robot mechanical arm.
The EEG signals detection module is to be arranged on the multichannel brain electric collection amplifying device that the human body brain surface is gathered EEG signals.Described signal processing module is the PC microcomputer, and described PC microcomputer carries out the feature extraction of EEG signals by wavelet decomposition, and carries out pattern recognition and give robot manipulation's module by the Bluetooth transmission recognition result by the characteristic signal of BP neural net method to the brain electricity.
Robot manipulation's module comprises the robot master controller, and described robot master controller is distinguished the EEG Processing result of acknowledge(ment) signal processing module transmission, the recognition result and the Robot actions result of recognition device, and accordingly result is made feedback.Described recognition device comprises the photographic head that is installed in the robot, and described photographic head is accepted the information of surrounding and human body sites of electrostimulation and is connected with the robot master controller by the vision module controller; Described robot master controller driven machine people driving wheel respectively moves with robot mechanical arm and moves.Described robot manipulation's module also comprises sonac, described sonac by the perception surrounding information and be connected feedback by the ultrasonic module processor with the robot master controller.
The robot driving wheel is the driving wheel motor-driven of motor drive module control, and described robot master controller connects the control motor drive module; And accept the speed feedback of driving wheel motor; Described robot mechanical arm is the manipulator joint motor-driven of mechanical hand motor driver control, and described robot master controller connects the mechanical torch machine driver of control and accepts the pose feedback of manipulator joint motor.The paster position that described human body sites of electrostimulation is the cervical region stimulation point.
As shown in Figure 2, place electrode, use special-purpose multichannel brain electric to gather amplifying device and gather EEG signals, and utilize amplifier hardware to do 45Hz low-pass filtering, the pretreatment of 50Hz notch filter according to 10-20 international standard electrode placement methods.The intact EEG signals of pretreatment is sent to PC by USB interface.
After PC obtains EEG signals, adopt wavelet decomposition to carry out the feature extraction of EEG signals, adopt the BP neural net method that the characteristic signal of brain electricity is carried out pattern recognition, recognition result is as shown in table 1, has comprised 2 kinds of patterns; By bluetooth recognition result is sent on the master controller of robot then.
Table 1 recognition result
Be illustrated in figure 3 as the relay control mode of mechanical hand motor, respectively from a, the different high-low level of b two ends input, the polarity that promptly changes motor just can realize the rotating control of motor.Each degree of freedom all uses same motor and drives control mode, and as shown in Figure 4,5 degree of freedom and motor need 10 control signal level, 10 relays and corresponding power amplification chip altogether.
In robot movement, position sensor on the mechanical arm and coding disk feed back the pose of mechanical hand.In the robot moving process, the encoder on the motor feeds back to controller with the real-time speed of motor, so that motor is carried out closed loop control.
The implementation method of this system comprises the following steps:
(1) people produces corresponding EEG signal in the sleep apnea syndrome outbreak; Wherein the corresponding pattern of EEG signals representative comprises two of the outbreak of sleep apnea syndrome and normal conditions.
(2) the special-purpose EEG measuring amplifier of employing is gathered this EEG signals and is amplified; Adopt special-purpose brain wave acquisition electric discharge device to gather EEG signals, and carry out 45Hz low-pass filtering, the pretreatment of 50Hz notch filter, send the pretreatment EEG signals that collects to PC by USB interface then by amplifier hardware.
(3) on PC, carry out EEG signals feature extraction and pattern recognition, and recognition result sent to the robot master controller by bluetooth.The method of carrying out pattern recognition is to adopt wavelet decomposition to carry out the feature extraction of EEG signals, adopts the BP neural net method to carry out pattern recognition; Status recognition comprises normal condition and two patterns of sleep apnea syndrome outbreak state.
(4) the robot master controller receives the signal that bluetooth transmits, and starts.Each module is started working.The master controller core is made up of Sumsung2440ARM development board and (SuSE) Linux OS.
(5) photographic head searches the position of paster, and the vision module controller carries out Flame Image Process and target localization, and information is sent on the master controller, is two photographic head of binocular identification, and the controller core of vision module is the DM642DSP chip.
(6) make a circle in robot week 8 sonacs are set, ultrasonic module is started working, and keeps away barrier accordingly.
(7) master controller carries out information fusion to visual information and ultrasound information, looks for an algorithm by independent navigation algorithm and visual tracking, sends the control information to the driver module of driving wheel and mechanical hand.
(8) the control robot according to corresponding control information move to patient near, the mechanical hand that has stimulating electrode applies electricity irritation to patient, removes condition of illness.Robot adopts Dual-motors Driving control, and stimulating electrode directly is connected on the mechanical arm.
Above-mentioned example only is explanation technical conceive of the present invention and characteristics, and its purpose is to allow the people who is familiar with this technology can understand content of the present invention and enforcement according to this, can not limit protection scope of the present invention with this.All equivalent transformations that spirit is done according to the present invention or modification all should be encompassed within protection scope of the present invention.
Claims (8)
1. robot equipment system that is used for the treatment of sleep apnea syndrome, comprise and be installed in the EEG signals detection module that is used for the human body EEG signals on the human body, be used to handle the signal processing module of EEG signals, described EEG signals detection module is connected by transmission line with signal processing module; It is characterized in that described system also comprises robot manipulation's module that the result of acknowledge(ment) signal processing module is operated, the control device that described robot manipulation's module comprises the recognition device of identification human body sites of electrostimulation, operates according to recognition result control robot mechanical arm.
2. the robot equipment system that is used for the treatment of sleep apnea syndrome according to claim 1 is characterized in that described EEG signals detection module is to be arranged on the multichannel brain electric collection amplifying device that the human body brain surface is gathered EEG signals.
3. the robot equipment system that is used for the treatment of sleep apnea syndrome according to claim 1, it is characterized in that described signal processing module is the PC microcomputer, described PC microcomputer carries out the feature extraction of EEG signals by wavelet decomposition, and carries out pattern recognition and give robot manipulation's module by the Bluetooth transmission recognition result by the characteristic signal of BP neural net method to the brain electricity.
4. the robot equipment system that is used for the treatment of sleep apnea syndrome according to claim 1, it is characterized in that described control device is the robot master controller, described robot master controller is distinguished the EEG Processing result of acknowledge(ment) signal processing module transmission, the recognition result and the Robot actions result of recognition device, and accordingly result is made feedback.
5. the robot equipment system that is used for the treatment of sleep apnea syndrome according to claim 4, it is characterized in that described recognition device comprises the photographic head that is installed in the robot, described photographic head is accepted the information of surrounding and human body sites of electrostimulation and is connected with the robot master controller by the vision module controller; Described robot master controller driven machine people driving wheel respectively moves with robot mechanical arm and moves.
6. the robot equipment system that is used for the treatment of sleep apnea syndrome according to claim 5, it is characterized in that described robot manipulation's module also comprises sonac, described sonac by the perception surrounding information and be connected feedback by the ultrasonic module processor with the robot master controller.
7. the robot equipment system that is used for the treatment of sleep apnea syndrome according to claim 5, it is characterized in that described robot driving wheel is the driving wheel motor-driven of motor drive module control, described robot master controller connects the control motor drive module; And accept the speed feedback of driving wheel motor; Described robot mechanical arm is the manipulator joint motor-driven of mechanical hand motor driver control, and described robot master controller connects the mechanical torch machine driver of control and accepts the pose feedback of manipulator joint motor.
8. the robot equipment system that is used for the treatment of sleep apnea syndrome according to claim 1 is characterized in that the paster position that described human body sites of electrostimulation is the cervical region stimulation point.
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102346489A (en) * | 2010-07-28 | 2012-02-08 | 中国科学院自动化研究所 | Pulse neural network based method for controlling object tracking of robot |
| US9706934B2 (en) * | 2012-01-26 | 2017-07-18 | Med-El Elektromedizinische Geraete Gmbh | Neural monitoring methods and systems for treating upper airway disorders |
| CN103432665A (en) * | 2013-08-26 | 2013-12-11 | 黄献 | Noninvasive ventilator capable of automatically selecting ventilation modes |
| RU2665385C1 (en) * | 2014-12-03 | 2018-08-29 | Ньюрохэбилитейшн Корпорейшн | Systems and methods of providing the non-invasive neuro-rehabilitation of the patient |
| CN105078450B (en) * | 2015-08-24 | 2018-02-27 | 华南理工大学 | A kind of health service robot of achievable brain electro-detection |
| CN109091736B (en) * | 2018-07-27 | 2020-10-02 | 西安交通大学医学院第一附属医院 | Intelligent auxiliary respiratory system |
| CN109925587A (en) * | 2019-03-18 | 2019-06-25 | 西安电子科技大学 | A kind of deep sleep improvement detection system and method based on biological low noise |
| CN111657870A (en) * | 2020-07-02 | 2020-09-15 | 杭州电子科技大学 | Apnea judgment system based on D-S evidence theory |
| CN111956933B (en) * | 2020-08-27 | 2022-05-03 | 北京理工大学 | Alzheimer's disease nerve feedback rehabilitation system |
| CN112827039A (en) * | 2021-03-01 | 2021-05-25 | 中山大学 | Control method and device of anesthesia respirator and adjustable anesthesia respirator system |
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|---|---|---|---|---|
| CN2621723Y (en) * | 2003-04-03 | 2004-06-30 | 温州医学院 | Non-invasive percutaneous electrical stimulator for treating obstructive sleep apnea syndrome |
| CN2710677Y (en) * | 2004-06-26 | 2005-07-20 | 胡良冈 | Non-wound percutaneous electric stimulator for treating OSAS |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2621723Y (en) * | 2003-04-03 | 2004-06-30 | 温州医学院 | Non-invasive percutaneous electrical stimulator for treating obstructive sleep apnea syndrome |
| CN2710677Y (en) * | 2004-06-26 | 2005-07-20 | 胡良冈 | Non-wound percutaneous electric stimulator for treating OSAS |
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