CN104758130A - Intelligent nursing device and method based on brain-computer interface - Google Patents
Intelligent nursing device and method based on brain-computer interface Download PDFInfo
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Abstract
The invention discloses an intelligent nursing device based on a brain-computer interface. The intelligent nursing device is characterized by comprising a visual stimulation screen, an electroencephalogram collector and a computer, every two of which are connected with each other, and further comprising a STM32 controller connected with the computer, and an electric nursing bed and an alarm both connected with the STM32 controller, respectively. According to the intelligent nursing device and the implementation method of the device, a new self-care manner is provided for long-term bedridden severe paralyzed patients, and especially for paralyzed patients completely losing the athletic ability and the language competence and having the motion space limited on the bed, the bedsores can be effectively reduced. The intelligent nursing device has the advantages of accurate control, stable working performance, high safety coefficient, general practicability and the like, and can be used for vast paralyzed patients.
Description
Technical field
The present invention relates to paralytic's auxiliary device, particularly a kind of intelligent nursing device and method based on brain-computer interface.
Background technology
After entering 21st century, owing to suffering from exercise functional disorder and its space restriction paralytic's number in bed presents the trend day by day gone up, their back and buttocks, due to long-term local compression, easily cause blood circulation not smooth thus cause the generation of raw decubital ulcer.Therefore, they often need to carry out pre-counteracting bedsores by the auxiliary attitude changing them every now and then of artificial help or other equipment.Wherein, some people can by making oneself understood with people or realizing the change of their attitude by auxiliary facilities (as based on equipment such as Voice command, the manipulations of remote manual control switch).But still have people greatly to completely lose motor capacity and language competence, they only remain the ability of thinking of normal person, as paralytics such as amyotrophic lateral sclerosis ridge side waist rope sclerosis (ALS), spinocerebellar ataxia (SCA) and plant man, this kind of patient is in passive state often and is changed oneself posture.
Along with people are to the continuous research and probe of artificial intelligence field and excavation, many achievements in research are (as timing controlled changes the state of bed, the smart machines such as the duty of artificial remote control bed) be applied to this type of paralytic auxiliary, to improve their quality of life, but these do not change according to the wish of paralytic itself.In recent years, developing rapidly of neural engineering research field, increasing scientific research person managed a neutral net and combined with smart machine, to develop the life being more suitable for this type of paralytic auxiliary.And brain-computer interface (brain-computer interface, BCI) field is as an important branch of neural engineering field, its speed of development quickly, has evoked people to brain-computer interface area research upsurge.
Brain-computer interface is a kind of brain machine communication system not relying on the normal output channel of conventional human brain, to go forward side by side row relax and analysis by gathering cerebral cortex EEG signals, realizing setting up the passage that human brain directly exchanges with information between computer or other communication apparatus and controls.Things different faced by human brain, motion or cognitive activities can produce different reactions, thus obtain different EEG signals, after the process such as the Classification and features extraction to these signals, just can realize communication and the control of human brain and ancillary equipment.Implanted collection and cerebral cortex contact is divided into gather (i.e. non-built-in mode) according to the mode of brain wave acquisition; These two kinds of acquisition modes comparatively speaking, the brain telecommunications that implanted mode gathers make an uproar higher, precision is also high, be convenient to process signal.But, need that electrode is implanted human brain inner, there is titanic peril; And the EEG signals amplitude that cerebral cortex contact mode gathers is very little, noise is lower and belong to non-stationary signal, be easily subject to the state impact of environment and people, the difficulty for process is larger, but its mode does not exist risk.And along with the development of technology, people have reached a higher level to the small EEG Processing ability of scalp and method, make being applied in life of brain-computer interface become reality.For the situation of this two class, the eeg signal acquisition in the present invention uses the latter's mode and non-built-in mode, and injected conducting resinl obtained EEG signals and signals collecting by electrode cap, then by a series of signal processing, the operation finally realizing equipment controls.
Although brain-computer interface technology is applied to, the function of nervous system of paralytic is auxiliary is in the starting stage with the research of rehabilitation aspect, is no matter that single brain-computer interface technology or the technical research of multi-modal brain-computer interface have been applied to other aspects comparatively generally and technology relative maturity.If Chinese patent is (based on intelligent wheelchair control system and the brain-electrical signal processing method thereof of brain-computer interface, publication number: CN101301244A), Chinese patent (a kind of novel intelligent wheelchair system based on the electric control of Mental imagery brain, publication number: CN101897640A), be in the control of people with disability to wheelchair based on single brain computer interface application; And for example Chinese patent is (based on the intelligent wheel chair of multi-mode brain-computer interface, publication number: CN102309380), Chinese patent (a kind of multi-modal brain electric switch detection method based on SSVEP and P300, publication number: CN104090653A), these are applied in conjunction with multiple EEG signals.Current, based in the research application of brain-computer interface, the EEG signals mainly used mainly contains: based on the EEG signals of Mental imagery, based on Steady State Visual Evoked Potential (steady-state visualevoked potential, SSVEP) EEG signals, based on EEG signals (a kind of endogenic special event related potential (event related potentials relevant to cognitive function of P300, ERP), its peak value appears at about the 300ms after dependent event generation), based on the EEG signals of event related potential (ERP), and based on the EEG signals etc. of chronic layer current potential (SCP).These EEG signals compare to have rule and science, is highly suitable in real life application.
In recent years, there are the internet browsing method of the mouse control had based on brain-computer interface, wireless remote control truck system etc. in further developing and promoting along with brain-computer interface technology; But, also not yet have the auxiliary facilities realizing manipulating nursing bed with brain wave at present, if the paralytic of long-term bed can according to oneself real wish, brain wave by oneself manipulates nursing bed to realize the action such as turning body, back lifting, stool, bent lower limb when they lie in bed, this not only can according to themselves actual wishes come operation change they lie in bed time posture, significantly improve their quality of life, the work load simultaneously decreasing nursing and the self health care system facilitating them.
Summary of the invention
The object of the invention is to overcome the shortcoming of prior art and deficiency, a kind of intelligent nursing device based on brain-computer interface is provided.
Another object of the present invention is to provide a kind of intelligent nursing method based on brain-computer interface.
Object of the present invention is realized by following technical scheme:
A kind of intelligent nursing device based on brain-computer interface, comprise interconnective visual stimulus screen, eeg signal acquisition instrument, computer between two, also comprise the STM32 controller be connected with computer, and electric care bed, the alarm that are connected with STM32 controller respectively.
Described eeg signal acquisition instrument comprises eeg signal acquisition instrument body, and the electrode for encephalograms cap to be connected with eeg signal acquisition instrument body chooses 12 passages " FZ " in international 10-20 system electrode, " FCz ", " Cz ", " CPz ", " Pz ", " Oz ", " P3 ", " P4 ", " P7 ", " P8 ", " O1 ", " O2 ", and these electrodes are made to be in the electrode position of its standard.
Conducting resinl is injected between described eeg signal acquisition instrument body and electrode for encephalograms cap.Good to guarantee the electric conductivity of electrode and electroencephalogramdata data collector.
The vertical height direction that described visual stimulus shields, left and right horizontal direction, fore-and-aft direction and multi-angle are all adjustable.User, according to the custom of oneself and demand, is adjusted the position of visual stimulus screen, is guaranteed to lie low, can both have a good vision under the state such as rollover.
Described electric care bed operating function is by STM32 controller by after reception operational order, and driving cmos analog switch chip MAX308, makes its corresponding passage gating, thus can control electric care bed duty; After often having operated a function, STM32 controller can record number of times corresponding to current each function executed of nursing bed and feed back to computer by USB communication, and each feature operation persistent period is determined by the parameter set.
Another object of the present invention is realized by following technical scheme:
Based on an intelligent nursing method for brain-computer interface, comprise the step of following order:
S1. adjust the position of visual stimulus screen, guarantee lying low, a good visual stimulus can both be had under the state such as rollover;
S2. system initialization the relevant parameter of system is set: the time of waking controller function key position, each executable operations nursing bed of controller up, and can the number of times of continued operation and the setting of handling safety value during operation nursing bed simple function;
S3. opening operation interface and open visual stimulus screen, utilize human brain can produce different EEG signals features to different things, motion or cognitive activities, user expresses the intention of manipulation nursing bed by watching the upper corresponding flashing function key of visual stimulus screen (i.e. function key display interface) attentively, impel on cerebral cortex and produce EEG signals;
S4. use electrode for encephalograms cap to gather this signal, and by this signal by after the filtering of electroencephalogramdata data collector body, amplification and analog-to-digital conversion process, adopt Expresscard to turn also vocal imitation skill and data are reached computer;
S5. computer is according to the state of nursing bed controller, carries out two kinds of different processing modes: if controller is in " waiting to wake up " state to the EEG signals gathered, then carry out SSVEP and detect and P300 potentiometric detection; If be in " operational order to be received " state, then only carry out P300 potentiometric detection; Then, control instruction is converted to;
S6. controller module receive computer wake instruction up after, state that controller immediately enters into " operational order to be received ", by the operational order received, can to nursing bed once corresponding duty operation or once manually seek help call; Controller often operates a function all can carry out recording and feeding back to computer, and then it returns to " waiting to wake up " state;
S7. computer judges whether each function of current user operation nursing bed has the safety value reaching and pre-set in step S2; If there is function to exceed the value of setting, then closes this operating function and point out; Now, user need perform once the contrary operation of this function it just can be made to recover normal.
In step S2, described waking up in the upper left corner that controller function key position shields in vision, the upper right corner, the lower left corner and the lower right corner is selected.
In step S2, during described operation nursing bed simple function can continued operation number of times pass through formula
calculate, wherein N is the number of times of continued operation, and N gets positive integer, and T is nursing bed simple function maximum time of implementation, and t performs the operating time needed for simple function for user at every turn.If nursing bed simple function performs at most the limit that namely 18s reaches safety value, if each operating time of certain user choosing is 3s, so this user performs any simple function to perform number of times is continuously 6 times, and certain user also can select 2 times, 3 times; If but user selects each operating time to be 9s, then the options for user of 2 times is only had to select; Similar, if the operating time that user selects is 6s, then only has and select for user for 2 times, 3 times.
In step S5, described SSVEP detects and P300 potentiometric detection carries out especially by following steps:
A, first by the band filter denoising through 1 ~ 25Hz of the EEG signals that collects, then carry out SSVEP and detect and P300 potentiometric detection;
B, SSVEP detect: extract the EEG signals in 1s, calculate its power spectrum, then judge that the detection of SSVEP exports according to whether exceeding predefined threshold value to its power spectrum;
C, P300 potentiometric detection: using the signal amplitude after electrode as feature, adopt the data of the long-time window of intercepting (post-stimulatory 100 ~ 600ms scope) and adopt support vector machine (support vector machine, SVM) model carries out state classification, thus realizes the detection of P300 current potential;
After the detection of D, SSVEP and P300 current potential, computer wakes instruction by USB communication up to controller transmission, start the functional key flicker at visual stimulus screen interface, and the operating function of manually seek help vocative function and nursing bed (as functions such as back liftings, left rollover) sends corresponding operational order to realize to controller by computer after P300 potentiometric detection simultaneously.
Compared with prior art, tool has the following advantages and beneficial effect in the present invention:
1, long-term bed user not can carry out manually calling that the control seeking help and manipulate nursing bed starts/closes, turns on one's side, right side is flat left according to oneself control intention, turns on one's side to the right, left side is flat, back lifting, the back of the body are flat, downward bent lower limb, upwards lift the functions such as lower limb, bedpan ON/OFF and Rapid reset nursing bed, fill up vacancy in the market, further expand the application of brain-computer interface in paralytic field.
2, the visual stimulus screen in the present invention is designed to multi-faceted adjustable, can meet different user's requests, have universal applicability.
3, the paralytic that long-term bed does not rise uses the present invention effectively can reduce decubital ulcer generation, drastically increases their quality of life, alleviates burden on society.
4, the present invention has artificial call help function and safe preset function, substantially increases its feasibility and safety.
Accompanying drawing explanation
Fig. 1 is the structural representation of the intelligent nursing device based on brain-computer interface of the present invention;
The circuit diagram of the analog switch chip Max308 that Fig. 2 is device described in Fig. 1.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
As Fig. 1, a kind of intelligent nursing device based on brain-computer interface, comprise interconnective visual stimulus screen, eeg signal acquisition instrument, computer between two, also comprise the STM32 controller be connected with computer, and electric care bed, the alarm that are connected with STM32 controller respectively.
Described eeg signal acquisition instrument comprises eeg signal acquisition instrument body, and the electrode for encephalograms cap to be connected with eeg signal acquisition instrument body chooses 12 passages " FZ " in international 10-20 system electrode, " FCz ", " Cz ", " CPz ", " Pz ", " Oz ", " P3 ", " P4 ", " P7 ", " P8 ", " O1 ", " O2 ", and these electrodes are made to be in the electrode position of its standard.
Conducting resinl is injected between described eeg signal acquisition instrument body and electrode for encephalograms cap.
The vertical height direction that described visual stimulus shields, left and right horizontal direction, fore-and-aft direction and multi-angle are all adjustable.
Described electric care bed operating function is by STM32 controller by after reception operational order, and driving cmos analog switch chip MAX308, makes its corresponding passage gating, thus can control electric care bed duty; After often having operated a function, STM32 controller can record number of times corresponding to current each function executed of nursing bed and feed back to computer by USB communication, and each feature operation persistent period is determined by the parameter set.
Based on an intelligent nursing method for brain-computer interface, comprise the step of following order:
S1. according to oneself custom and demand, adjust the position of visual stimulus screen, guarantee to lie low, a good vision can both be had under the state such as rollover;
S2. user puts on the electrode cap of special collection brain electricity, choose 12 passages " FZ " in international 10-20 system electrode, " FCz ", " Cz ", " CPz ", " Pz ", " Oz ", " P3 ", " P4 ", " P7 ", " P8 ", " O1 " and " O2 " make these electrodes be in the electrode position of its standard, inject conducting resinl and guarantee that the electric conductivity of electrode and electroencephalogramdata data collector is good;
S3. system initialization arrange relevant parameter: the position of waking controller function key up is the upper right corner of visual stimulus screen, and the time of each executable operations nursing bed of controller is 3s can the simple function of continued operation nursing bed be 6 times.Controller is in " waiting to wake up " state, then opening operation interface;
S4. open visual stimulus screen, and startup wakes the flicker of controller function key up, four keys (being followed successively by the upper right corner, the lower right corner, the lower left corner, the upper left corner) are glimmered with 7.5Hz, 6Hz, 5.45Hz, 6.67Hz respectively.Respectively there is an equirotal flicker key corner at interface, but wherein the upper right corner can wake controller up, set by step S3.The upper right corner wake controller function key (be called for short " S " key) up;
S5. user watches " S " key attentively, and now electroencephalogramdata data collector gathers EEG signals, and through the band filter denoising of 1 ~ 25Hz, then delivers to computer and carries out SSVEP and detect and P300 potentiometric detection.Described SSVEP testing process is: the signal in extraction 1s → calculate its power spectrum → threshold comparison; Described P300 potentiometric detection flow process is: the data → feature extraction → svm classifier intercepting post-stimulatory 100 ~ 600ms scope; Until after these two kinds of brain signals all successfully detect, computer sends to controller and wakes instruction up and makes it be in " operational order to be received " state; And open the functional key flicker at visual stimulus screen interface, enter step S6;
S6. the function key at interface is according to being that interval enters row stochastic green, black two kinds of colors change flicker with 200ms.If now user does not want to operate any function, then can by again watching " S " key attentively, after making it selected, the flicker of shutoff operation function key, controller, under " operational order to be received " state, does not receive any instruction more than 60s, then automatically return to " waiting to wake up " state; When user thinks operation nursing bed again, again from step S5.If user wants to operate a certain function, then watch function key icon and the P300 flicker key of oneself desired operation attentively, as: " back lifting " function of user operation nursing bed, then watch the back lifting icon key stimulating screen interface attentively, the back lifting icon key namely in operation interface.Now, computer only carries out P300 potentiometric detection, feature extraction and svm classifier is carried out by the data that the data of glimmering to each icon key carry out collection also pretreatment, intercept post-stimulatory 100 ~ 600ms scope, determine that user wants practical function, after determining, this icon key becomes red, and computer then sends corresponding instruction by USB communication to controller;
S7. controller is primarily of being that control core is formed with STM32, and resolve after it receives operational order, call if artificial and seek help, then STM32 drives alarm work to carry out alarm.Otherwise, cmos analog switch MAX308 chip is driven to select its corresponding passage, by changing the resistance of port, as shown in Figure 2, two panels analog switch chip MAX308 is controlled by STM32, port COM1_6 is realized by the passage strobe case changing them, COM2_1 divides the resistance value being clipped to ground to change, thus can realize the operation of nursing bed, as shown in table 1, port COM1_6, COM2_1 divide be clipped to ground resistance value corresponding to the feature operation of nursing bed.The back lifting instruction sent in above-mentioned steps S6, controller STM32, then by passage 3 gating of U2 chip MAX308 in Fig. 2, makes COM1_6 be 10.5K Ω to the resistance value on ground;
The operating function table of the corresponding nursing bed of table 1 resistance value
| Port COM1_6 is to earth resistance value | Port COM2_1 is to earth resistance value | The operation that nursing bed realizes |
| 50.4KΩ | — | Turn on one's side left |
| 22KΩ | — | Turn on one's side to the right |
| 10.5KΩ | — | Back lifting |
| 4.9KΩ | — | Downward bent lower limb |
| 1.6KΩ | — | Closet device is opened |
| 100Ω | — | Reset |
| — | 53KΩ | Left side is flat |
| — | 21.3KΩ | Right side is flat |
| — | 9.3KΩ | The back of the body is flat |
| — | 4.6KΩ | Upwards lift lower limb |
| — | 1.6KΩ | Closet device is opened |
S8. after performing instruction, STM32 can carry out record, and number of times corresponding for current for nursing bed each function executed is fed back to computer by USB communication, computer judges whether each function of current user operation nursing bed has the safety value reaching and pre-set in step S3.If there is function to exceed the value of setting, then closes this operating function and point out.Now, user need to perform once the contrary operation of this function normal to recover it.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from spirit of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (9)
1. the intelligent nursing device based on brain-computer interface, it is characterized in that: comprise interconnective visual stimulus screen, eeg signal acquisition instrument, computer between two, also comprise the STM32 controller be connected with computer, and electric care bed, the alarm that are connected with STM32 controller respectively.
2. the intelligent nursing device based on brain-computer interface according to claim 1, it is characterized in that: described eeg signal acquisition instrument comprises eeg signal acquisition instrument body, and the electrode for encephalograms cap to be connected with eeg signal acquisition instrument body chooses 12 passages " FZ " in international 10-20 system electrode, " FCz ", " Cz ", " CPz ", " Pz ", " Oz ", " P3 ", " P4 ", " P7 ", " P8 ", " O1 ", " O2 ", and these electrodes are made to be in the electrode position of its standard.
3. the intelligent nursing device based on brain-computer interface according to claim 2, is characterized in that: inject conducting resinl between described eeg signal acquisition instrument body and electrode for encephalograms cap.
4. the intelligent nursing device based on brain-computer interface according to claim 1, is characterized in that: the vertical height direction that described visual stimulus shields, left and right horizontal direction, fore-and-aft direction and multi-angle are all adjustable.
5. the intelligent nursing device based on brain-computer interface according to claim 1, it is characterized in that: described electric care bed operating function is by after reception operational order by STM32 controller, drive cmos analog switch chip MAX308, make its corresponding passage gating, thus electric care bed duty can be controlled; After often having operated a function, STM32 controller can record number of times corresponding to current each function executed of nursing bed and feed back to computer by USB communication, and each feature operation persistent period is determined by the parameter set.
6. based on an intelligent nursing method for brain-computer interface, it is characterized in that, comprise the step of following order:
S1. adjust the position of visual stimulus screen, guarantee lying low, a good visual stimulus can both be had under the state such as rollover;
S2. system initialization the relevant parameter of system is set: the time of waking controller function key position, each executable operations nursing bed of controller up, and can the number of times of continued operation and the setting of handling safety value during operation nursing bed simple function;
S3. opening operation interface and open visual stimulus screen, utilize human brain can produce different EEG signals features to different things, motion or cognitive activities, user expresses the intention of manipulation nursing bed by watching the upper corresponding flashing function key of visual stimulus screen attentively, impel on cerebral cortex and produce EEG signals;
S4. use electrode for encephalograms cap to gather this signal, and by this signal by after the filtering of electroencephalogramdata data collector body, amplification and analog-to-digital conversion process, adopt Expresscard to turn also vocal imitation skill and data are reached computer;
S5. computer is according to the state of nursing bed controller, carries out two kinds of different processing modes: if controller is in " waiting to wake up " state to the EEG signals gathered, then carry out SSVEP and detect and P300 potentiometric detection; If be in " operational order to be received " state, then only carry out P300 potentiometric detection; Then, control instruction is converted to;
S6. controller module receive computer wake instruction up after, state that controller immediately enters into " operational order to be received ", by the operational order received, can to nursing bed once corresponding duty operation or once manually seek help call; Controller often operates a function all can carry out recording and feeding back to computer, and then it returns to " waiting to wake up " state;
S7. computer judges whether each function of current user operation nursing bed has the safety value reaching and pre-set in step S2; If there is function to exceed the value of setting, then closes this operating function and point out; Now, user need perform once the contrary operation of this function it just can be made to recover normal.
7. the intelligent nursing method based on brain-computer interface according to claim 6, is characterized in that, in step S2, described waking up in the upper left corner that controller function key position shields in vision, the upper right corner, the lower left corner and the lower right corner is selected.
8. the intelligent nursing method based on brain-computer interface according to claim 6, is characterized in that, in step S2, during described operation nursing bed simple function can continued operation number of times pass through formula
calculate, wherein N is the number of times of continued operation, and N gets positive integer, and T is nursing bed simple function maximum time of implementation, and t performs the operating time needed for simple function for user at every turn.
9. the intelligent nursing method based on brain-computer interface according to claim 6, is characterized in that, in step S5, described SSVEP detects and P300 potentiometric detection carries out especially by following steps:
A, first by the band filter denoising through 1 ~ 25Hz of the EEG signals that collects, then carry out SSVEP and detect and P300 potentiometric detection;
B, SSVEP detect: extract the EEG signals in 1s, calculate its power spectrum, then judge that the detection of SSVEP exports according to whether exceeding predefined threshold value to its power spectrum;
C, P300 potentiometric detection: using the signal amplitude after electrode as feature, adopts the data of the long-time window of intercepting and adopts supporting vector machine model to carry out state classification, thus realizing the detection of P300 current potential;
After the detection of D, SSVEP and P300 current potential, computer wakes instruction by USB communication up to controller transmission, start the functional key flicker at visual stimulus screen interface, and the operating function of manually seek help vocative function and nursing bed sends corresponding operational order to realize to controller by computer after P300 potentiometric detection simultaneously.
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