CN1041883A - The physical therapy device that is used for hemiplegia patient - Google Patents
The physical therapy device that is used for hemiplegia patient Download PDFInfo
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- CN1041883A CN1041883A CN 88107126 CN88107126A CN1041883A CN 1041883 A CN1041883 A CN 1041883A CN 88107126 CN88107126 CN 88107126 CN 88107126 A CN88107126 A CN 88107126A CN 1041883 A CN1041883 A CN 1041883A
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- myoelectricity
- muscle
- myoelectric potential
- ipsilateral
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Abstract
The present invention is the novel physical therapy device of electrotherapy of a kind of hemiplegic patient's of being used for low-frequency electric pulse and rehabilitation, its constituent comprises pulse amplifier, stimulator, the inducing myoelectric potential checkout gear, common myoelectricity amplifier, the rectification integrator, PID actuator and power amplification circuit, during operation, with the input command of the spontaneous myoelectricity of being good for the side limbs as controller, controller is regulated stimulator stimulates the corresponding muscle of Ipsilateral, and inducing myoelectric potential is as the controller feedback parameter, and modulation boost pulse amplitude realizes the adjusting to muscle contraction, make Ipsilateral muscle inducing myoelectric potential absolute average follow the tracks of spontaneous myoelectricity absolute value, strong side drives the Ipsilateral motion, and this device has been transferred the enthusiasm of patient, makes patient oneself adjusting and initiatively participates in therapeutic process.
Description
The present invention is the instrument of a kind of hemiplegic patient's of being used for low-frequency electric pulse rehabilitation.
The control method that present hemiplegia paralysis limbs to the hemiplegic patient carry out the low-frequency electric pulse treatment mainly is: amplitude, frequency and pulse width to boost pulse are modulated with sine wave, square wave or certain random waveform, promptly add the open loop control of input signal, regulate thereby make by the contraction of stimulated muscle.Yet these methods all are to be regulated by therapist, and the patient is the state that is in passive acceptance.And open loop control can't compensate because of being subjected to the long-time instability that produces that stimulates automatically to muscle.Transfer patient's self enthusiasm, the rehabilitation therapy method that the patient is participated in the therapeutic process fully has been considered to a kind of effective Therapeutic Method.The motion that makes the hemiplegic patient be good for the side limbs initiatively drives the electrotherapy method of affected limb, is the starting point of cooperating with on one's own initiative with patient, yet there are no report up to now.
The objective of the invention is to design a kind of clinical easy to use and reliable, the low-frequency pulse therapeutic apparatus that the hemiplegic patient that required cost is not high is regulated voluntarily.Utilize the action of the strong side limbs of patient,, drive patient's limb motion, simultaneously closed loop control is carried out in the contraction of electricity irritation muscle, keep the stable of effect of stimulation by this therapeutic instrument.
Principle of the present invention is: hemiplegic patient's strong side limbs are done a certain action, during as the dorsiflexion of foot of lower limb, the electromyographic signal of agonist-tibialis anterior is detected, the process rectifying and wave-filtering obtains the average absolute value (or claiming myoelectricity envelope) of myoelectricity, with this input signal as the controller of stimulator.The output of controller is in order to modulation boost pulse amplitude.Stimulator is connected to the dominating neural-common peroneal nerve of the tibialis anterior of Ipsilateral, muscle is received swashed contraction.With the average absolute value of the inducing myoelectric potential of Ipsilateral tibialis anterior closed loop feedback signal as controller.Stimulator makes the Ipsilateral muscle contraction according to the result of input signal and feedback signal comparison like this, and the average absolute value of inducing myoelectric potential is just followed the tracks of the strong average absolute value of surveying spontaneous myoelectricity, and Ipsilateral is promptly done the dorsiflexion of foot motion with strong side.Structure of the present invention is the example explanation with the motion of key parapodum dorsiflex control Ipsilateral dorsiflexion of foot still as shown in Figure 1.(1) is strong side lower limb; (2) be the Ipsilateral lower limb; (3) be improved stimulator in addition on blocking oscillator basis commonly used, its feature is that frequency, pulse width can be regulated by the outside, and pulse amplitude is by V
3Decision, change amplitude and load do not have influence substantially to frequency and pulsewidth; (4) by stimulated muscle inducing myoelectric potential detector; (4) output V
3Be the average absolute value of inducing myoelectric potential, be equivalent to the flesh shrink tension, V
3Scope be 0-5 volt; (5) and (6) detect the average absolute value of spontaneous myoelectricity, V
2Be output as the 0-5 volt; (8) be closed loop controller, a
1Be used for adjustment control output signal V
2Proportion, a
2Be used to regulate feedback signal V
3Proportion.Regulate a
1And a
2Purpose be to make the degree of Ipsilateral dorsiflexion of foot degree and strong parapodum dorsiflex suitable.(8) " PID " in is the proportional-integral-differential control algolithm, and proportionality coefficient is about 0.9, and integration time constant is 40 road V
5=3V
4, the output current of (9) is by expanding the hundreds of milliampere to, for (3) provide enough output stimulation energy under the triode.(a) T in
1Be middle power triode, C
1Be 470 microfarads, R
1Be 200 ohm of small-power resistance, R
2Be 2 watts of resistance of 20 ohm, 5K and 15K resistance are small-power resistance, and operational amplifier is general amplifier; (7) be pulse generator, frequency range is 20-40HZ, and pulse width is that the 150-400 microsecond is adjustable.Key of the present invention is: (one) forms one by (3), (4), (5), (6), (7), (8) and (9) and carries out the low-frequency electric pulse therapy equipment of closed loop control according to inducing myoelectric potential, and the patient can drive the affected limb motion by the motion of strong side.(2), the coefficient settings of PID actuator is in (8): proportionality coefficient 0.8-0.9, integral coefficient constant=400 millisecond, integration time constant=100-200 millisecond, a
1, a
2The relative size initial setting be a
1/ a
2≈ 1.5.(3), V
5To the decisive action of the stimulation amplitude of (3), make stimulation amplitude stable, accurately.
Operation sequence of the present invention is as follows:
1, preparation: stimulating electrode is connected to affected limb by the shallow table place of the dominating neural bundle of stimulated muscle, and inducing myoelectric potential and spontaneous electromyographic electrode are connected to the body surface place of Ipsilateral and the corresponding muscle of strong side.Regulate a
1/ a
2≈ 1.5.
2, loosen strong side limbs, start work, the patient tries hard to make the both sides limbs to do same motion then, as make both feet by normal rhythm and rise and and put, stimulator just makes affected limb follow the tracks of strong limb motion.
3, regulate a
1, a
2Value makes the shrinkage degree of the shrinkage degree of Ipsilateral muscle and strong pleural muscle meat suitable.
4, the frequency of patient's exercise and intensity also can be by physician guidance by patient's oneself active exercise decision.
Clinic trial result shows that the advantage of this device is to drive the affected limb motion of losing out function with the intact strong side limbs of hemiplegic patient, and patient can oneself regulate, and has transferred the treatment enthusiasm of self, sets up confidence.Clinical practice is convenient, is easy to grasp.The present invention can be at the recovering physiotherapy of hospital, and paralytic's function walk help is used widely in biofeedback therapy and the home physiotherapy.
Description of drawings:
Fig. 1 is a low frequency recovering physiotherapy structure chart
(1) be the strong side lower limb of muscle, (2) are the Ipsilateral lower limb, and (3) are the intermittent oscillation stimulator, V
5Be amplitude modulation voltage, (4) are the inducing myoelectric potential checkout gear, V
3Be the output voltage of (4), (5) are common myoelectricity amplifiers, V
1Being output signal, is all wave rectification and integrating circuit, V
2Be output signal, (8) are closed loop controller, V
4Be output signal, (9) are power amplifier, V
5It is output voltage.
Claims (3)
1, one by pulse generator (7), stimulator (3), inducing myoelectric potential checkout gear (4), common myoelectricity amplifier (5), rectification integration circuit (6), the low-frequency electric pulse physical therapy device that closed loop PID actuator (8) and power amplification circuit (9) are formed, it is characterized in that the strong limbs of hemiplegic patient's side do when initiatively moving, the spontaneous myoelectricity of muscle carries out closed loop control to the corresponding muscle contraction amount of affected limb,, made strong lateral movement drive Ipsilateral and be synchronized with the movement as feedback quantity by the inducing myoelectric potential of stimulated muscle.
2, according to the said closed circuit controller of claim 1 (8), it is characterized in that proportionality coefficient is about 0.9 in the pid algorithm, integration time constant is 400 milliseconds, and derivative time constant is about 100-200 millisecond, a
1Compare a
2Be about 1.5.
3, according to the applied in any combination of claim 1 said (9), it is characterized in that the output amplitude of (3) can be by the output V of (8) with (3)
4Accurately control, the adjusting of adjusting stimulation amplitude and boost pulse and width influences each other very little, and (9) are an expansion output current proportional amplifier, V
5/ V
4=3, C
1=470 microfarads, R
2Be 2 watts, 20 ohmages.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 88107126 CN1015510B (en) | 1988-10-19 | 1988-10-19 | Physiotherapy device for hemiplegia patient |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 88107126 CN1015510B (en) | 1988-10-19 | 1988-10-19 | Physiotherapy device for hemiplegia patient |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1041883A true CN1041883A (en) | 1990-05-09 |
| CN1015510B CN1015510B (en) | 1992-02-19 |
Family
ID=4834511
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 88107126 Expired CN1015510B (en) | 1988-10-19 | 1988-10-19 | Physiotherapy device for hemiplegia patient |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1015510B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102886102A (en) * | 2012-09-25 | 2013-01-23 | 深圳英智科技有限公司 | Mirror movement neuromodulation system |
| CN102921104A (en) * | 2012-11-26 | 2013-02-13 | 南京伟思医疗科技有限责任公司 | Functional electric stimulation device and method thereof |
| CN101732796B (en) * | 2009-12-28 | 2013-02-27 | 上海交通大学 | Myoelectric signal-controlled master-slave wireless functional electric stimulation rehabilitation system |
| CN105263457A (en) * | 2013-05-24 | 2016-01-20 | 株式会社安川电机 | Exercise apparatus |
| CN105338943A (en) * | 2013-05-24 | 2016-02-17 | 株式会社安川电机 | Training device |
| CN106176134A (en) * | 2016-07-12 | 2016-12-07 | 王春宝 | A kind of method and system of autonomous training |
| CN106974649A (en) * | 2017-04-12 | 2017-07-25 | 东华大学 | Wearable muscular movement state recognition and muscle electric stimulation motion assistant system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101061984B (en) * | 2006-04-29 | 2012-02-08 | 香港理工大学 | Recovery robot system for providing mechanical assistant by using myoelectric signal |
-
1988
- 1988-10-19 CN CN 88107126 patent/CN1015510B/en not_active Expired
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101732796B (en) * | 2009-12-28 | 2013-02-27 | 上海交通大学 | Myoelectric signal-controlled master-slave wireless functional electric stimulation rehabilitation system |
| CN102886102A (en) * | 2012-09-25 | 2013-01-23 | 深圳英智科技有限公司 | Mirror movement neuromodulation system |
| CN102921104A (en) * | 2012-11-26 | 2013-02-13 | 南京伟思医疗科技有限责任公司 | Functional electric stimulation device and method thereof |
| CN105263457A (en) * | 2013-05-24 | 2016-01-20 | 株式会社安川电机 | Exercise apparatus |
| CN105338943A (en) * | 2013-05-24 | 2016-02-17 | 株式会社安川电机 | Training device |
| CN106176134A (en) * | 2016-07-12 | 2016-12-07 | 王春宝 | A kind of method and system of autonomous training |
| CN106974649A (en) * | 2017-04-12 | 2017-07-25 | 东华大学 | Wearable muscular movement state recognition and muscle electric stimulation motion assistant system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1015510B (en) | 1992-02-19 |
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