CN106492345A - Hemiplegia upper and lower extremities synergy movement electrical stimulation method and electric stimulation - Google Patents
Hemiplegia upper and lower extremities synergy movement electrical stimulation method and electric stimulation Download PDFInfo
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- CN106492345A CN106492345A CN201610967457.9A CN201610967457A CN106492345A CN 106492345 A CN106492345 A CN 106492345A CN 201610967457 A CN201610967457 A CN 201610967457A CN 106492345 A CN106492345 A CN 106492345A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36003—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of motor muscles, e.g. for walking assistance
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36014—External stimulators, e.g. with patch electrodes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/3605—Implantable neurostimulators for stimulating central or peripheral nerve system
- A61N1/36128—Control systems
- A61N1/36135—Control systems using physiological parameters
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Abstract
The invention discloses a kind of hemiplegia upper and lower extremities synergy movement electrical stimulation method and electric stimulation, healthy limb electromyographic signal is specially gathered, process and store, and distribute to multiplex pulse generation module when needed, control multi-electrode produces corresponding stimulation to upper limb or lower limb, control hemiplegic patient upper and lower extremities motion so that motion is more coordinated steady.
Description
Technical field
The present invention relates to medical instruments field, in particular to a kind of hemiplegia upper and lower extremities synergy movement electrical stimulation method and electricity thorn
Sharp system.
Technical background
At present, for hemiplegia, treatment mostly is placed on center of gravity on the rehabilitation exercise of lower limb, to lower limb using electricity irritation
Mode carries out rehabilitation.But the walking process that often many muscle group comprehensive coordinations of whole body are shunk, lower extremity movement room, on
There is harmony and shrink in limb, incidence.For keeping one's balance, normal double upper limb when walking replace swings, its direction with
The direction of rotation contrast of the swaying direction and pelvis of homonymy lower limb, such as when left lower extremity is swung with left side pelvis forward and rotated
When, left upper extremity swing backward, right upper extremity are swung forward.Now, the joint motions of upper limb occur mainly in shoulder joint, heel contact
When be maximum extension, about 21.1 degree, be about 17.4 degree of maximum flexion when heel is liftoff, be total to about 40 degree of scopes.Elbow joint
It is in biped while changing the direction of motion when supporting to bend and stretch, and about 38.9 degree of maximum flexion, about 0.4 degree of maximum extension are common about
40 degree of scopes.Moving up and down for head is almost consistent with moving up and down for center of gravity, and upper and lower amplitude is about 5～6cm, moves left and right and shakes
Width is about 5～6cm.In the upper and lower of head, while moving forward and backward, cervical region also makees corresponding displacement.So simple to lower limb
Rehabilitation training is carried out, patient can not be made to obtain the walking manner of a smooth concurrent.
Content of the invention
The present invention is aiming at the deficiencies in the prior art, there is provided a kind of hemiplegia upper and lower extremities that patient moving is more coordinated
Synergy movement electrical stimulation method and electric stimulation.
To achieve these goals, a kind of hemiplegia upper and lower extremities synergy movement electrical stimulation method designed by the present invention, which is special
Levy and be, comprise the following steps：
S1 gathers the electromyographic signal of the normal upper limb of same people or lower limb in synchronization respectively, and carries out pretreatment, obtains
Limb muscle group electromyographic signal data U1 more than some groups and lower limb muscle group electromyographic signal data U2 more than some groups；
Electromyographic signal data U1 in step S1 and electromyographic signal data U2 are stored and are processed by S2, and are obtaining strong side limbs
During motor message, transfer many with many muscle group electromyographic signal data U1 of the non-strong side limbs upper limb of strong side limbs coordinate exercise and lower limb
Muscle group electromyographic signal U2；
Many for upper limb muscle group electromyographic signal data U1 and many muscle group electromyographic signals U2 of lower limb are carried out multichannel parameters of electrical stimulation and are matched somebody with somebody by S4
Than obtaining the multichannel parameters of electrical stimulation proportioning of respective sets；
S5 needs the limbs of coordination exercise to carry out electricity irritation according to multichannel parameters of electrical stimulation with comparison using multi-electrode.
Further, also include gathering non-some groups of electromyographic signals of strong side limbs, and carry out pretreatment, obtain non-strong side many
Muscle group electromyographic signal data U3.For the recovery extent of the limbs of contrastive detection patient, so as to formulate suitable stimulus intensity.
A kind of hemiplegia upper and lower extremities synergy movement electric stimulation, which is characterized in that：Adopt including upper and lower extremities electromyographic signal
There is module, multi-electrode, power supply in collection module, strong side limbs induction module, microprocessor module, memory module, multiplex pulse
Module, it is characterised in that：The upper and lower extremities electromyographic signal collection module, strong side limbs induction module, memory module, multiplex pulse
Generation module and multi-electrode are connected with microprocessor module, and the multi-electrode also occurs module with multiplex pulse and is connected；
The upper and lower electromyographic signal collection module is used for collection and some groups of fleshes of the same people's normal side upper limb of pretreatment and lower limb
The signal of telecommunication, and input to microprocessor module；
The strong side limbs induction module is used for the motor message for gathering healthy side upper limb or lower limb, and motor message is inputed to
Microprocessor module；
The microprocessor module is used for the signal for receiving upper and lower electromyographic signal collection module and strong side limbs induction module, and right
Electromyographic signal and motor message are processed, and control multiplex pulse and module generation respective sets different frequency varying strength occur more
Road pulse, the upper limb or lower limb so as to control non-strong side limbs are synchronized with the movement with strong side limbs；
The memory module is used for the order storage electromyographic signal for receiving microprocessor module；
There is the instruction that module is used for receiving microprocessor in the multiplex pulse, produce many of respective sets different frequency varying strength
Road electric stimulation pulse, and this multiplex pulse is inputed to multi-electrode；
The multi-electrode be used for receive multiplex pulse occur module instruction produce electrode act on the non-healthy side upper limb of patient and
Lower limb.
The power module is used for providing power supply for this decorum.
Further, the pretreatment electromyographic signal is specially denoising, amplification, obtains the electromyographic signal of more high-quality.For
The recovery extent of the limbs of contrastive detection patient, so that formulate suitable stimulus intensity.
Further, the system also includes that button display module, the button display module are connected with microprocessor, uses
In the relevant parameter, startup or stopping the system that set, show, inquire about the system.
Yet further, the system also includes that usb communication module, the usb communication module are connected with the microprocessor,
For communicating with PC, it is easy to carry out detailed Data Analysis Services at PC ends to the rehabilitation situation of patient.
Yet further, the electromyographic signal collection module includes myoelectricity harvester, signal amplifier, wave filter.To institute
The electromyographic signal of collection carries out pretreatment, obtains the electromyographic signal of high s/n ratio.It is easy to microprocessor module to be processed.
Yet further, the multiplex pulse generation module adopts transistor, and pulse frequency, pulsewidth and amplitude are adjustable
Section, increases the range of accommodation of pulse.
It is an advantage of the current invention that：The electromyographic signal of normal upper limb and lower limb is gathered, through processing, control multiplex pulse is sent out
Raw module, adjusts the output of the frequency and intensity of multi-electrode, produces dynamic electricity irritation so as to dynamically adjust multi-electrode,
Stimulate the smooth and stable of upper limb or lower limb, specification upper limb or lower limb movement respectively.The action potential of human body instinct is copied,
Specification action smooth and stable.
Description of the drawings
The module frame chart of Fig. 1 present invention.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
A kind of hemiplegia upper and lower extremities synergy movement electrical stimulation method, it is characterised in that comprise the following steps：
S1 gathers the electromyographic signal of the normal upper limb of same people or lower limb in synchronization respectively, and carries out pretreatment, obtains
Limb muscle group electromyographic signal data U1 more than some groups and lower limb muscle group electromyographic signal data U2 more than some groups；
Electromyographic signal data U1 in step S1 and electromyographic signal data U2 are stored and are processed by S2, and are obtaining strong side limbs
During motor message, transfer many with many muscle group electromyographic signal data U1 of the non-strong side limbs upper limb of strong side limbs coordinate exercise and lower limb
Muscle group electromyographic signal U2；
Many for upper limb muscle group electromyographic signal data U1 and many muscle group electromyographic signals U2 of lower limb are carried out multichannel parameters of electrical stimulation and are matched somebody with somebody by S4
Than obtaining the multichannel parameters of electrical stimulation proportioning of respective sets；
S5 needs the limbs of coordination exercise to carry out electricity irritation according to multichannel parameters of electrical stimulation with comparison using multi-electrode.
The method also includes gathering non-some groups of electromyographic signals of strong side limbs, and carries out pretreatment, obtains non-strong side polymyarian
Group's electromyographic signal data U3.For the recovery extent of the limbs of contrastive detection patient, so as to formulate suitable stimulus intensity.
Bionical multi-channel nerve muscle electric stimulation system shown in figure, including upper and lower electromyographic signal collection module, is used for
The same people's normal side upper limb of difference acquisition process and some groups of electromyographic signals of lower limb, and input to microprocessor module；Strong side limb
Motor message for gathering the motor message of healthy side upper limb or lower limb, and is inputed to microprocessor module by body induction module；
Memory module, needs other signals for using for storing the electromyographic signal or the system of upper limb and lower limb；Microprocessor mould
Block, is carried out for receiving and processing some groups of electromyographic signals that upper and lower extremities electromyographic signal collection module gathered or other needs
The signal of process, microprocessor module after receiving electromyographic signal are input into electromyographic signal in memory module and store, and are receiving
When module by signal is answered to strong side acrognosis, transfer the non-strong side limbs electromyographic signal data with strong side limbs coordinate exercise, carry out
Process, control multiplex pulse and the multiplex pulse that module produces respective sets different frequency varying strength occurs, wherein memory module is pressed
According to the electromyographic signal that certain frequency is stored, for the initial data assessed by patient and rehabilitation efficacy, and can make
For determining the foundation of further therapeutic scheme；There is module in multiplex pulse, for producing some group corresponding with electromyographic signal
Multiplex pulse signal, controls multi-electrode；Multi-electrode is used for acting on patient's generation motion.Power module, for for this being
System provides power supply.
The system is also devised with button display module, realizes that man-machine interaction, button display module are connected with microprocessor,
Keypress function is used for setting or inquiring about the relevant parameter of the system, startup or stops the system.Display function is used for showing this
The operational circumstances of the relevant parameter of system such as treatment time, Therapeutic mode, startup or stopping, display module are aobvious using LCD
Show.For the ease of carrying out finer analysis to patient's electromyographic signal and attitude data, the system is also devised with usb communication mould
Block, for connect PC communication, PC by USB interface read patient electromyographic signal and attitude data, usb communication module and
Microprocessor module connects.
Electromyographic signal collection module realizes the front end signal conditioning of electromyographic signal, provides suitable original for AD collections below
Beginning analogue signal, electromyographic signal belong to small-signal, need to be amplified, and in order to improve the signal to noise ratio of signal, are put using instrument
Big device realizes that signal is amplified and filtered the noise in signal by wave filter, then through current potential lifting circuit, is input into AD, by
Microprocessor carries out AD data acquisitions.There is module and be made up of multiple pulse generating circuits in multiplex pulse, pulse generating circuit is adopted
With transistor, the equal scalable of pulse frequency, pulsewidth and amplitude.Multi-electrode is made up of multiple electrodes piece.
The present invention using two ways control multiplex pulse occur module time serieses, 1, by surface electrode collection be good for
This time sequence is used for hemiplegia side limbs, is entangled by side upper limb, lower limb, trunk difference action potential of the muscle group in walking period
The upper and lower limb of positive hemiplegic limb, the exception of trunk.2nd, by gathering upper limb, trunk, the myoelectricity of muscle groups of lower extremitates in healthy population walking
Signal, searches out the time serieses of different age group crowd, application and hemiplegic patient.
Embodiment described above only expresses embodiments of the present invention, and its description is more concrete and detailed, but can not
Therefore it is construed as limiting the scope of the patent.It should be pointed out that for the person of ordinary skill of the art,
On the premise of without departing from present inventive concept, some deformations and improvement can also be made, these belong to protection scope of the present invention.
Therefore, the protection domain of patent of the present invention should be defined by claims.
Claims (9)
1. a kind of hemiplegia upper and lower extremities synergy movement electrical stimulation method, it is characterised in that comprise the following steps：
S1 gathers the electromyographic signal of the normal upper limb of same people or lower limb in synchronization respectively, and carries out pretreatment, obtains
Limb muscle group electromyographic signal data U1 more than some groups and lower limb muscle group electromyographic signal data U2 more than some groups；
Electromyographic signal data U1 in step S1 and electromyographic signal data U2 are stored and are processed by S2, and are obtaining strong side limbs
During motor message, transfer many with many muscle group electromyographic signal data U1 of the non-strong side limbs upper limb of strong side limbs coordinate exercise and lower limb
Muscle group electromyographic signal U2；
Many for upper limb muscle group electromyographic signal data U1 and many muscle group electromyographic signals U2 of lower limb are carried out multichannel parameters of electrical stimulation and are matched somebody with somebody by S4
Than obtaining the multichannel parameters of electrical stimulation proportioning of respective sets；
S5 needs the limbs of coordination exercise to carry out electricity irritation according to multichannel parameters of electrical stimulation with comparison using multi-electrode.
2. hemiplegia upper and lower extremities synergy movement electrical stimulation method according to claim 1, it is characterised in that：Also include gathering non-
Some groups of electromyographic signals of strong side limbs, and pretreatment is carried out, obtain many muscle group electromyographic signal data U3 in non-strong side.
3. a kind of electric stimulation of the hemiplegia upper and lower extremities synergy movement electrical stimulation method that realizes described in claims 1 or 2, its
It is characterised by：Including upper and lower extremities electromyographic signal collection module, strong side limbs induction module, microprocessor module, memory module, many
Road pulse generating module, multi-electrode and power module, it is characterised in that：The upper and lower extremities electromyographic signal collection module, strong side
Module occurs for limbs induction module, memory module, multiplex pulse and multi-electrode is connected with microprocessor module, the multichannel
Also there is module with multiplex pulse and be connected in electrode；
The upper and lower electromyographic signal collection module is used for collection and some groups of myoelectricities of the normal upper limb of the same people of pretreatment and lower limb
Signal, and input to microprocessor module；
The strong side limbs induction module is used for the motor message for gathering healthy side upper limb or lower limb, and motor message is inputed to
Microprocessor module；
The microprocessor module is used for the signal for receiving upper and lower electromyographic signal collection module and strong side limbs induction module, and right
Electromyographic signal and motor message are processed, and control multiplex pulse and module generation respective sets different frequency varying strength occur more
Road pulse, the upper limb or lower limb so as to control non-strong side limbs are synchronized with the movement with strong side limbs；
The memory module is used for the order storage electromyographic signal for receiving microprocessor module；
There is the instruction that module is used for receiving microprocessor in the multiplex pulse, produce many of respective sets different frequency varying strength
Road electric stimulation pulse, and this multiplex pulse is inputed to multi-electrode；
The multi-electrode be used for receive multiplex pulse occur module instruction produce electrode act on the non-healthy side upper limb of patient and
Lower limb;
The power module is used for providing power supply for the system.
4. hemiplegia upper and lower extremities synergy movement electric stimulation according to claim 3, it is characterised in that：The electromyographic signal
Acquisition module is additionally operable to the non-some groups of electromyographic signals of strong side limbs of acquisition process patient;
For the recovery extent of the limbs of contrastive detection patient, so as to formulate suitable stimulus intensity.
5. hemiplegia upper and lower extremities synergy movement electric stimulation according to claim 4, it is characterised in that：The pretreatment flesh
The signal of telecommunication is specially denoising, amplification, obtains the electromyographic signal of more high-quality.
6. hemiplegia upper and lower extremities synergy movement electric stimulation according to claim 5, it is characterised in that：The system also includes
Button shows that the key-press module is connected with microprocessor, for set, show, inquire about the relevant parameter of the system, startup or
Person stops the system.
7. hemiplegia upper and lower extremities synergy movement electric stimulation according to claim 6, it is characterised in that：The system also includes
Usb communication module, the usb communication module are connected with the microprocessor, for communicating with PC.
8. hemiplegia upper and lower extremities synergy movement electric stimulation according to claim 7, it is characterised in that：The electromyographic signal
Acquisition module includes myoelectricity harvester, signal amplifier, wave filter.
9. hemiplegia upper and lower extremities synergy movement electric stimulation according to claim 8, it is characterised in that：The multiplex pulse
Generation module adopts transistor, the equal scalable of pulse frequency, pulsewidth and amplitude.
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| CN201610967457.9A CN106492345A (en) | 2016-10-31 | 2016-10-31 | Hemiplegia upper and lower extremities synergy movement electrical stimulation method and electric stimulation |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107928980A (en) * | 2017-11-22 | 2018-04-20 | 南京航空航天大学 | A kind of autonomous rehabilitation training system of the hand of hemiplegic patient and training method |
| CN108543216A (en) * | 2018-01-26 | 2018-09-18 | 南京航空航天大学 | A kind of hand function reconstructing device and its implementation based on master ＆ slave control |
| CN110974616A (en) * | 2019-12-12 | 2020-04-10 | 上海理工大学 | Lower limb rehabilitation equipment suitable for patient with spinal cord injury |
| CN111759669A (en) * | 2020-07-28 | 2020-10-13 | 常州锦澄医疗设备有限公司 | Upper and lower limb cooperative intelligent rehabilitation robot system based on electrical stimulation and working method thereof |
| RU2734406C1 (en) * | 2019-10-09 | 2020-10-15 | Сергей Арутюнович Будагян | Method for rehabilitation of functional disorders of locomotor apparatus in hemiparesis |
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| CN108543216A (en) * | 2018-01-26 | 2018-09-18 | 南京航空航天大学 | A kind of hand function reconstructing device and its implementation based on master ＆ slave control |
| RU2734406C1 (en) * | 2019-10-09 | 2020-10-15 | Сергей Арутюнович Будагян | Method for rehabilitation of functional disorders of locomotor apparatus in hemiparesis |
| CN110974616A (en) * | 2019-12-12 | 2020-04-10 | 上海理工大学 | Lower limb rehabilitation equipment suitable for patient with spinal cord injury |
| CN111759669A (en) * | 2020-07-28 | 2020-10-13 | 常州锦澄医疗设备有限公司 | Upper and lower limb cooperative intelligent rehabilitation robot system based on electrical stimulation and working method thereof |
| CN111759669B (en) * | 2020-07-28 | 2022-04-15 | 常州锦澄医疗设备有限公司 | Upper and lower limb cooperative intelligent rehabilitation robot system based on electrical stimulation and working method thereof |
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