CN103212156B - The autonomous instrument of hemiplegic patient based on body image theory - Google Patents
The autonomous instrument of hemiplegic patient based on body image theory Download PDFInfo
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- CN103212156B CN103212156B CN201310116721.4A CN201310116721A CN103212156B CN 103212156 B CN103212156 B CN 103212156B CN 201310116721 A CN201310116721 A CN 201310116721A CN 103212156 B CN103212156 B CN 103212156B
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Abstract
The invention discloses the autonomous instrument of a kind of hemiplegic patient based on body image theory, belong to medical instruments field.This instrument comprises strong side limbs attitude signal harvester, signal characteristic abstraction fusing device and electrical stimulation device.Strong side limbs attitude signal harvester gathers the attitude information that patient is good for side limbs, and the signal collected is sent to signal characteristic abstraction fusing device, the latter maps out the attitude information of patient's affected limb according to the strong side limbs attitude information received and personal patient information and produces corresponding action directive from normal walking step state data base, and control command is sent to electrical stimulation device, electrical stimulation device receives control command and produces electrical stimulation signal and produces stimulation to affected limb, produces corresponding actions to make affected limb.This instrument is good for side limbs attitude information for reference with patient, by image copying, controls affected limb coordination exercise, reaches the effect that hemiplegic patient balances walking and motor function reconstruction.
Description
Technical field
The invention belongs to medical instruments field, relate to the autonomous instrument of a kind of hemiplegic patient based on body image theory.
Background technology
Apoplexy (apoplexy) is a kind of sudden Cerebrovascular disorders obstacle disease.Post-stroke causes the componental movement dysfunction of health usually.The patient of apoplexy is very easy to again recur, and finally causes general paralysis, even dead.Paralytic especially occupies the hemiplegic patient of significant proportion, brings white elephant to family and society, and help hemiplegic patient to recover basic exercise function, returning to orthobiosis is have important economy and social meaning.
The functional rehabilitation of major part hemiplegic patient is difficult to completely.But although some patients can independent ambulation abnormal gait, the orthobiosis before cannot coming back to patient is in environment.Hemiplegic patient is compensated to two kinds of major nerve rehabilitation approaches of assisted movement ability: mechanical bone and functional electric stimulation.Mechanical bone walk-aid equipment cost is high and man-machine interaction is poor, and maloperation simultaneously easily causes the damage of muscle, is difficult to train according to patient oneself will.Functional electric stimulation (Functional ElectricalStimulation, FES), by electricity irritation, promotes that muscle produces the regular motor function of shrinking and recovering limbs.
For numerous Hemiplegic Patients in FES clinical rehabilitation field, all there are problems in domestic and international correlational study in physiology and engineering.The development of FES mainly contains both direction: implanted and sticking type.Adopt the direct stimulus movement neuron of implanted electrode, thus reach the motion accurately controlling corresponding muscle, but owing to there is the problem that wireless power technical difficulty is large and patient's degree of receiving is low, practical clinical and popularization have suitable difficulty.Adopt surface electrode percutaneous stimulation motor neuron, clinical manipulation is easy and patient's degree of receiving is high.Existing surperficial FES rehabilitation instrument all adopts open loop electrical stimulus patterns, without feedback or single feedback.Because the steady gait of human body is completed with the synergy movement of complexity by a series of muscle, open cycle system or single feedback signal (as electromyographic signal, EEG signals, plantar pressure signal or three-dimensional position signal) are difficult to recovery and walk normally walking.There is signal extraction difficulty in feedback control FES, signal quality is low, the problems such as poor anti jamming capability to adopt brain electricity.
Moreover the quantity of current China hemiplegic patient is come many far beyond paralytic patient, and functional electric stimulation focuses mostly in the research of the functional electric stimulation walking device for paralytic patient both at home and abroad, the demand of less attention hemiplegic patient.The parts such as the functional electric stimulation walking aid that paralytic patient and hemiplegic patient use all needs to stimulate, feel, feed back, control, but how to utilize hemiplegic patient strong side distinctive compared with paralytic patient limbs, make the collaborative comparatively easy of patient left and right limb activity, thus walking research is more flexibly also fewer, more lacks the medical apparatus and instruments of this respect.
Summary of the invention
In view of this, the object of the present invention is to provide the autonomous instrument of a kind of hemiplegic patient based on body image theory, this instrument is good for side limbs attitude information for reference with patient, pass through image copying, control the coordination exercise of patient's affected limb, reach the effect that hemiplegic patient balances walking and motor function reconstruction.
For achieving the above object, the invention provides following technical scheme:
The autonomous instrument of hemiplegic patient based on body image theory, comprises strong side limbs attitude signal harvester, signal characteristic abstraction fusing device and electrical stimulation device, strong side limbs attitude signal harvester is for gathering the attitude information of strong side limbs, and signal characteristic abstraction fusing device is used for according to attitude information data genaration control command, and electrical stimulation device stimulates affected limb for generation of electrical stimulation signal, strong side limbs attitude signal harvester gathers the attitude information that patient is good for side limbs, and the signal collected is sent to signal characteristic abstraction fusing device, signal characteristic abstraction fusing device maps out the attitude information of patient's affected limb according to the strong side limbs attitude information received and personal patient information and produces corresponding action directive from normal walking step state data base, and control command is sent to electrical stimulation device, electrical stimulation device receives control command and produces electrical stimulation signal according to control command and produces stimulation to affected limb, corresponding actions is produced to make affected limb.
Further, described strong side limbs attitude signal harvester comprises Three-component accelerometer, distributed surface myoelectric sensor and polynary plantar pressure sensor; Three-component accelerometer is for gathering the movement locus of strong side limbs, and distributed surface myoelectric sensor is for gathering the myoelectricity data of strong side limbs, and polynary plantar pressure sensor is for gathering the plantar pressure of strong side limbs.
Further, described instrument also comprises the affected limb attitude signal harvester for gathering patient's affected limb attitude actual information; The patient's affected limb attitude information collected is sent to signal characteristic abstraction fusing device by affected limb attitude signal harvester, signal characteristic abstraction fusing device adopts attitude and error between the affected limb ideal pose mapped out by strong side limbs attitude information generates control command according to Ipsilateral is real, and control command is sent to electrical stimulation device.Due to the existence of affected limb attitude signal harvester, thus can different according between the actual attitude of patient side limbs from the affected limb ideal pose mapped out by strong side limbs attitude information, the adjustment of control command is namely carried out according to error amount, thus make the stimulus signal of electrical stimulation device more accurate, improve therapeutic effect.
Further, described affected limb attitude signal harvester comprises Three-component accelerometer, distributed surface myoelectric sensor and polynary plantar pressure sensor; Three-component accelerometer is for gathering the movement locus of affected limb, and distributed surface myoelectric sensor is for gathering the myoelectricity data of affected limb, and polynary plantar pressure sensor is for gathering the plantar pressure of affected limb.
Further, described strong side limbs attitude signal harvester, signal characteristic abstraction fusing device, electrical stimulation device and affected limb attitude signal harvester contain bluetooth communication, adopt wireless blue tooth mode to carry out data transmission between each device.Adopting the mode of wireless blue tooth to transmit data makes the structure of instrument more simple, avoids the drawback of wire transmission mode.
Beneficial effect of the present invention is: instrument of the present invention adopts integrated motor relearning, biofeedback, the method treatment apoplexy that neuromuscular electric stimulation therapy method is integrated, compared with prior art, present invention efficiently solves the walking equilibrium problem of hemiplegic patient, after one period of service time, brain plasticity and motor function restructuring restoration methods can be promoted, overcome the brain signal instability problem of the single and brain-computer interface technology in feedback signal source of traditional product, and implant electrode in-line power is difficult, the problem of the low and surgical difficulty of patient's degree of receiving, simultaneously, this instrument is also suitable for cerebral trauma, multiple sclerosis, cerebral palsy, incomplete spinal cord injury etc. do not cause the Rehabilitation of paraplegia consequence to use, there is good practical value, social value and economic worth.
Accompanying drawing explanation
In order to make object of the present invention, technical scheme and beneficial effect clearly, the invention provides following accompanying drawing and being described:
Fig. 1 is the structural representation of instrument of the present invention;
Fig. 2 is instrument signal control structure figure;
Fig. 3 is the workflow diagram without instrument during affected limb attitude signal harvester;
Fig. 4 is the workflow diagram of instrument when having affected limb attitude signal harvester;
Detailed description of the invention
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
The autonomous instrument of the hemiplegic patient that the present invention proposes adopts body image theory, with the limbs attitude of patient health side for reference, by image copying, controls patient side limbs coordinate exercise.Fig. 1 is the structural representation of instrument of the present invention, based on the autonomous instrument of hemiplegic patient of body image theory, strong side limbs attitude signal harvester (the strong side limbs attitude signal pickup model namely in Fig. 1), signal characteristic abstraction fusing device (the signal characteristic value namely in Fig. 1 extracts fusion treatment module) and electrical stimulation device (the Wireless High Definition functional electric stimulation module namely in Fig. 1) should be comprised, strong side limbs attitude signal harvester is for gathering the attitude information of strong side limbs, and signal characteristic abstraction fusing device is used for according to attitude information data genaration control command, and electrical stimulation device stimulates affected limb for generation of electrical stimulation signal, strong side limbs attitude signal harvester gathers the attitude information that patient is good for side limbs, and the signal collected is sent to signal characteristic abstraction fusing device, signal characteristic abstraction fusing device maps out the attitude information of patient's affected limb according to the strong side limbs attitude information received and personal patient information and produces corresponding action directive from normal walking step state data base, and control command is sent to electrical stimulation device, electrical stimulation device receives control command and produces electrical stimulation signal according to control command and produces stimulation to affected limb, corresponding actions is produced to make affected limb.
Limbs attitude information can extract from a lot of aspect, in the present embodiment, gather the movement locus of strong side limbs, pressure and myoelectricity three kinds of signals, strong side limbs attitude signal harvester comprises Three-component accelerometer, distributed surface myoelectric sensor and polynary plantar pressure sensor in the present embodiment; Three-component accelerometer is for gathering the movement locus of strong side limbs, and distributed surface myoelectric sensor is for gathering the myoelectricity data of strong side limbs, and polynary plantar pressure sensor is for gathering the plantar pressure of strong side limbs.After the sensor collects corresponding information, the process such as conversion quantification are carried out to information, the data message after process is sent to signal characteristic abstraction fusing device.
Signal characteristic abstraction fusing device extracts the strong side limbs track through digital quantization received, myoelectricity, plantar pressure eigenvalue and compresses, simultaneously according to the essential information such as Patient height, body weight, from the gait data storehouse of normal walking, map out the attitude information of affected limb, produce corresponding command code.This part work is completed by the dsp processor in signal characteristic abstraction fusing device, DSP decomposes three-component acceleration value, surface myoelectric envelope characteristic Information Compression is extracted, and pressure signal threshold decision, then gait code is generated, mapped by gait data storehouse again and obtain suffering limb ideal pose under this gait, finally by generation corresponding control instruction, control instruction is sent to electrical stimulation device.
Electrical stimulation device receives the control command code that also analytic signal feature extraction fusing device sends, produce the polymyarian group functional electric stimulation signal of persistent period and intensity, the peripolesis being communicated to each muscle group by the circular electrode cloth being close to skin is neural, stimulated muscle is stretched, and produces corresponding limb action.
As the improvement of the present embodiment, in instrument, also comprise the affected limb attitude signal harvester (the affected limb attitude signal pickup model namely in Fig. 1) for gathering patient's affected limb attitude actual information; The patient's affected limb attitude information collected is sent to signal characteristic abstraction fusing device by affected limb attitude signal harvester, signal characteristic abstraction fusing device adopts attitude and error between the affected limb ideal pose mapped out by strong side limbs attitude information generates control command according to Ipsilateral is real, and control command is sent to electrical stimulation device.Due to the existence of affected limb attitude signal harvester, thus can different according between the actual attitude of patient side limbs from the affected limb ideal pose mapped out by strong side limbs attitude information, the adjustment of control command is namely carried out according to error amount, thus make the stimulus signal of electrical stimulation device more accurate, improve therapeutic effect.Affected limb attitude signal harvester is the same with strong side limbs attitude signal harvester, comprises Three-component accelerometer, distributed surface myoelectric sensor and polynary plantar pressure sensor; Three-component accelerometer is for gathering the movement locus of affected limb, and distributed surface myoelectric sensor is for gathering the myoelectricity data of affected limb, and polynary plantar pressure sensor is for gathering the plantar pressure of affected limb.
Above-mentioned strong side limbs attitude signal harvester, signal characteristic abstraction fusing device, electrical stimulation device and affected limb attitude signal harvester contain bluetooth communication, wireless blue tooth mode is adopted to carry out data transmission between each device, adopting the mode of wireless blue tooth to transmit data makes the structure of instrument simpler and more direct, avoids the drawback of wire transmission mode.
Below in conjunction with workflow Fig. 3 and Fig. 4, the workflow of this instrument is further illustrated.
Fig. 3 is the workflow diagram without instrument during affected limb attitude signal harvester, and as shown in the figure, its specific works step is: step 1: by being close to strong side limb three-dimensional acceleration transducer, angular transducer acquisition strong side limb motion track; The surface electromyogram signal of strong side limbs is obtained by array wireless surface myoelectric sensor; Plantar pressure signal is obtained by active foil gauge.
Step 2: the existing physical gestures of strong side limbs is asked in three-component acceleration decomposition and angle of inclination computing; Surface electromyogram signal is used to differentiate that place muscle group diastole and its dynamics are analyzed by Model Mapping computing.
Step 3: strong side attitude has normal person by body Mirroring Mapping and patient's normal walking step state data base obtains and be good for the due attitude of affected limb that side limbs balance walking.
Step 4: controller is made comparisons according to this attitude and last attitude, judges whether to be greater than certain threshold value, is greater than the controller code then triggering and generate this state, issues Wireless High Definition functional electric stimulation module by wireless blue tooth.
Step 5: Wireless High Definition functional electric stimulation module receives control routine, resolve and generate the electrical stimulation signal sequence that each muscle group needs, this sequence is by closed loop boosting rectifier control bipolarity constant flow high pressure electricity irritation sequence.
Step 6: bipolarity constant flow high pressure electricity irritation sequence, by the surface electrode cloth be close to each muscle group peripheral nervous, stimulates each muscle group, reaches the object of patient motion.
Fig. 4 is the workflow diagram of instrument when having affected limb attitude signal harvester, and as shown in the figure, its specific works step is: step 1: by being close to strong side limb three-dimensional acceleration transducer, angular transducer acquisition strong side limb motion track; The surface electromyogram signal of strong side limbs is obtained by array wireless surface myoelectric sensor; Plantar pressure signal is obtained by active foil gauge.
Step 2: the existing physical gestures of strong side limbs is asked in three-component acceleration decomposition and angle of inclination computing; Surface electromyogram signal is used to differentiate that place muscle group diastole and its dynamics are analyzed by Model Mapping computing.
Step 3: strong side attitude has normal person by body Mirroring Mapping and patient's normal walking step state data base obtains and be good for the due attitude of affected limb that side limbs balance walking.
Step 4: by being close to affected limb three dimension acceleration sensor, angular transducer obtains affected limb movement locus; The surface electromyogram signal of affected limb is obtained by array wireless surface myoelectric sensor; Plantar pressure signal is obtained by active foil gauge.
Step 5: controller is adopted attitude in fact according to strong side limbs mapping ideal pose and Ipsilateral and made comparisons, the error of calculation produces controller code according to error, issues Wireless High Definition functional electric stimulation module by wireless blue tooth.
Step 6: Wireless High Definition functional electric stimulation module receives control routine, resolve and generate the electrical stimulation signal sequence that each muscle group needs, this sequence is by closed loop boosting rectifier control bipolarity constant flow high pressure electricity irritation sequence.
Step 7: bipolarity constant flow high pressure electricity irritation sequence, by the surface electrode cloth be close to each muscle group peripheral nervous, stimulates each muscle group, reaches the object of patient motion.
What finally illustrate is, above preferred embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although by above preferred embodiment to invention has been detailed description, but those skilled in the art are to be understood that, various change can be made to it in the form and details, and not depart from claims of the present invention limited range.
Claims (3)
1. based on the autonomous instrument of hemiplegic patient of body image theory, it is characterized in that: comprise strong side limbs attitude signal harvester, affected limb attitude signal harvester, signal characteristic abstraction fusing device and electrical stimulation device;
Described strong side limbs attitude signal harvester comprises Three-component accelerometer, distributed surface myoelectric sensor and polynary plantar pressure sensor; Three-component accelerometer is for gathering the movement locus of strong side limbs, and distributed surface myoelectric sensor is for gathering the myoelectricity data of strong side limbs, and polynary plantar pressure sensor is for gathering the plantar pressure of strong side limbs;
Described affected limb attitude signal harvester, for gathering the attitude actual information of affected limb, comprises Three-component accelerometer, distributed surface myoelectric sensor and polynary plantar pressure sensor; Three-component accelerometer is for gathering the movement locus of affected limb, and distributed surface myoelectric sensor is for gathering the myoelectricity data of affected limb, and polynary plantar pressure sensor is for gathering the plantar pressure of affected limb;
Strong side limbs attitude signal harvester is for gathering the attitude information of strong side limbs, and signal characteristic abstraction fusing device is used for generating control command according to the attitude information of strong side limbs, and electrical stimulation device stimulates affected limb for generation of electrical stimulation signal;
The strong attitude information of side limbs attitude signal harvester to strong side limbs gathers, and the attitude information collecting strong side limbs is sent to signal characteristic abstraction fusing device, signal characteristic abstraction fusing device maps out the attitude information of affected limb according to the attitude information of the strong side limbs received and personal patient information and produces corresponding control command from normal walking step state data base, and control command is sent to electrical stimulation device, electrical stimulation device receives control command and produces electrical stimulation signal according to control command and produces stimulation to affected limb, corresponding actions is produced to make affected limb.
2. the autonomous instrument of the hemiplegic patient based on body image theory according to claim 1, it is characterized in that: the attitude actual information of the affected limb collected is sent to signal characteristic abstraction fusing device by described affected limb attitude signal harvester, signal characteristic abstraction fusing device generates control command according to the error between the attitude actual information of affected limb and the attitude information of affected limb, and control command is sent to electrical stimulation device.
3. the autonomous instrument of the hemiplegic patient based on body image theory according to claim 1, it is characterized in that: described strong side limbs attitude signal harvester, signal characteristic abstraction fusing device, electrical stimulation device and affected limb attitude signal harvester contain bluetooth communication, adopt wireless blue tooth mode to carry out data transmission between each device.
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