CN109453462B - Functional electrical stimulation device and system - Google Patents
Functional electrical stimulation device and system Download PDFInfo
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Abstract
The invention discloses a functional electrical stimulation device, which comprises: the signal acquisition unit is used for acquiring electroencephalogram signals and posture signals of a target limb; the electroencephalogram signal processing unit is used for processing the electroencephalogram signals and judging whether the electroencephalogram signals have motor imagery information or not; the gesture signal processing unit is used for processing the gesture signal when the electroencephalogram signal has motor imagery information and determining a characteristic value corresponding to the gesture signal; and the electrical stimulation output unit is used for outputting electrical stimulation corresponding to the characteristic value to the muscle group corresponding to the joint to be stimulated. The motor intention of the patient is transmitted to the muscle group corresponding to the joint to be stimulated through the device, and the affected limb is subjected to the rehabilitation training of autonomous control in a mode of simulating the transmission of the motor intention of the normal human nerve. The invention also discloses a functional electrical stimulation system with corresponding technical effects.
Description
Technical Field
The invention relates to the field of auxiliary medical rehabilitation training equipment, in particular to a functional electrical stimulation device and system.
Background
The number of patients with spinal cord injury caused by frequent stroke and traffic accidents is increased year by year, the traditional rehabilitation means is that the patients cooperate with a rehabilitee to perform passive rehabilitation training, and the rehabilitation effect of the training mode is poor.
Aiming at severe hemiplegia patients, a mode that a user can automatically control and can communicate and control the external environment needs to be provided. Researches show that Electroencephalogram (EEG) activity signals generated by a human body under the control of receiving external stimulation or autonomous behaviors and consciousness show different time-space change patterns, and the EEG signals are signals independent of peripheral nerves and muscles. However, because the EEG has the characteristics of weak signal, low signal-to-noise ratio and strong non-stationarity, not only the difference exists between individuals, but also the difference exists in the individuals, and at present, the electroencephalogram cannot be utilized to realize autonomous rehabilitation training.
Therefore, how to effectively realize autonomous control in rehabilitation training is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a functional electrical stimulation device and a functional electrical stimulation system, which can realize active rehabilitation training of active participation of a patient in exercise rehabilitation treatment and simultaneously can eliminate the problems of eye fatigue and eye dryness caused by long-time use of a BCI system by the patient.
In order to solve the technical problems, the invention provides the following technical scheme:
a functional electrical stimulation apparatus comprising:
the signal acquisition unit is used for acquiring electroencephalogram signals and posture signals of target limbs; wherein the target limb is a limb having a motion correlation relationship with the joint to be stimulated;
the electroencephalogram signal processing unit is used for processing the electroencephalogram signal and judging whether the electroencephalogram signal has motor imagery information or not;
the attitude signal processing unit is used for processing the attitude signal when the electroencephalogram signal has the motor imagery information and determining a characteristic value corresponding to the attitude signal;
and the electrical stimulation output unit is used for outputting the electrical stimulation corresponding to the characteristic value to the muscle group corresponding to the joint to be stimulated.
Preferably, the electroencephalogram signal processing unit includes:
the base line correction subunit is used for carrying out base line correction and artifact removal processing on the electroencephalogram signal to obtain a first electroencephalogram signal;
the filtering subunit is used for carrying out filtering processing on the first electroencephalogram signal to obtain a second electroencephalogram signal;
the characteristic extraction subunit is used for extracting a movement intention characteristic value from the second electroencephalogram signal;
and the judging subunit is used for judging whether the characteristic value of the motor intention is greater than a preset threshold value, and if so, determining that the electroencephalogram signal has motor imagery information.
Preferably, the filtering subunit is specifically configured to input the first electroencephalogram signal into a butterworth filter for band-pass filtering, and then perform spatial filtering on the band-pass signal output by the butterworth filter in a common space mode to obtain a second electroencephalogram signal.
Preferably, the attitude signal processing unit is specifically configured to, when the electroencephalogram signal has motor imagery information, extract an angle average value corresponding to the attitude signal within a preset time window, and use the angle average value as a feature value.
Preferably, the electrical stimulation output unit is specifically configured to output the electrical stimulation corresponding to the characteristic value to the muscle group corresponding to the joint to be stimulated according to a preset correspondence between the characteristic value and the electrical stimulation intensity.
Preferably, the method further comprises the following steps:
and the feedback unit is used for detecting the motion information of the joint to be stimulated under the electrical stimulation so as to correct the corresponding relation by using the motion information.
A functional electrical stimulation system comprising:
the functional electric stimulator comprises a signal acquisition module, a signal processing module and a functional electric stimulator;
the signal acquisition module is used for acquiring electroencephalogram signals and attitude signals;
the signal processing module is used for processing the electroencephalogram signal and the attitude signal to obtain a trigger signal;
the functional electrical stimulator is used for receiving the trigger signal and outputting electrical stimulation corresponding to the trigger signal;
the signal acquisition module is in communication connection with the signal processing module, and the signal processing module is in communication connection with the functional electrical stimulator.
Preferably, the signal acquisition module comprises an EGG sensor and an attitude sensor, wherein the EGG sensor is used for acquiring electroencephalogram signals; the attitude sensor is used for acquiring attitude signals.
Preferably, the attitude signal collector comprises a gyroscope and an acceleration sensor.
Preferably, the functional electrical stimulator comprises an STM8 master control system module, a voltage boosting module, a pulse stimulation generation module and a power supply module; wherein the voltage adjustable range of the electric stimulation is 20-100V.
The device provided by the embodiment of the invention comprises: the signal acquisition unit is used for acquiring electroencephalogram signals and posture signals of a target limb; the target limb is a limb which has a motion association relationship with the joint to be stimulated; the electroencephalogram signal processing unit is used for processing the electroencephalogram signal and judging whether the electroencephalogram signal has motor imagery information or not; the gesture signal processing unit is used for processing the gesture signal when the electroencephalogram signal has motor imagery information and determining a characteristic value corresponding to the gesture signal; and the electrical stimulation output unit is used for outputting electrical stimulation corresponding to the characteristic value to the muscle group corresponding to the joint to be stimulated.
The device fuses the brain electrical signal (biological signal) and the gesture signal (physical signal) to identify the movement intention of the human body. Specifically, the electroencephalogram signal and the attitude signal are collected, and when the electroencephalogram signal is detected to have motor imagery information, the attitude signal is analyzed, and a characteristic value of the attitude signal is determined. When the limbs of the human body move, a correlation relationship exists, and when a person walks, the swing amplitude of the upper limbs is consistent with the walking frequency of the lower limbs. Therefore, based on the characteristic value of the attitude signal, the electrical stimulation output unit is used for outputting the electrical stimulation corresponding to the characteristic value, so that the affected limb moves under the electrical stimulation, and the control of the cranial nerves to the limb is simulated. Therefore, the rehabilitation training device can carry out rehabilitation training of autonomous control on the affected limb by acquiring the electroencephalogram signals generated by the patient under the control of receiving external stimulation or autonomous behaviors and consciousness, combining the gesture signals which are controlled by the brain of the human body and acquired on the target limb with motion association relation with the joint to be stimulated, and outputting the electrical stimulation corresponding to the characteristic value extracted from the gesture signals to the muscle group corresponding to the joint to be stimulated when the electroencephalogram signals have motor imagery information, so that the motor intention of the patient is transmitted to the muscle group corresponding to the joint to be stimulated through the device, and the motor intention is transmitted in a mode of simulating normal human nerve.
Accordingly, embodiments of the present invention further provide a functional electrical stimulation system corresponding to the functional electrical stimulation apparatus, which has the above technical effects, and are not described herein again.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a functional electrical stimulation apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a functional electrical stimulation system according to an embodiment of the present invention;
FIG. 3 is a block diagram of an embodiment of a functional electrical stimulation system;
FIG. 4 is a flowchart of a motor intention rehabilitation training paradigm in accordance with an embodiment of the present invention;
fig. 5 is a flowchart of a rehabilitation training process based on a functional electrical stimulation system according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the disclosure, reference will now be made in detail to the embodiments of the disclosure as illustrated in the accompanying drawings. It should be apparent that the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
referring to fig. 1, fig. 1 is a schematic structural diagram of a functional electrical stimulation apparatus according to an embodiment of the present invention, the apparatus including: the device comprises a signal acquisition unit 101, an electroencephalogram signal processing unit 102, an attitude signal processing unit 103 and an electrical stimulation output unit 104.
The signal acquisition unit 101 is used for acquiring electroencephalogram signals and posture signals of a target limb; the target limb is a limb which has a motion association relationship with the joint to be stimulated; the EEG signal is EEG, and the posture signal comprises posture information such as the rotation angle, the movement amplitude, the movement acceleration and the like of the target limb.
The electroencephalogram signal processing unit 102 is used for processing the electroencephalogram signal and judging whether the electroencephalogram signal has motor imagery information or not; when the electroencephalogram signals are processed, the electroencephalogram signals can be screened, and irrelevant signals are removed. The motor imagery information may be motor imagery information of the target limb, such as right-hand motor imagery.
The gesture signal processing unit 103 is used for processing the gesture signal when the electroencephalogram signal has motor imagery information, and determining a characteristic value corresponding to the gesture signal; the characteristic value of the posture signal can be calculated by using any one or more numerical information of the rotation angle of the target limb, the movement amplitude and the movement acceleration to obtain the characteristic value. Specifically, the larger the feature value is, the larger the exercise intensity is. For example, the posture signal processing unit may be specifically configured to extract an angle average value corresponding to the posture signal within a preset time window when the electroencephalogram signal has motor imagery information, and use the angle average value as the feature value. That is, the corresponding angle average value is calculated for the attitude signals within a period of time, and the angle average value is taken as the characteristic value.
And the electrical stimulation output unit 104 is used for outputting the electrical stimulation corresponding to the characteristic value to the muscle group corresponding to the joint to be stimulated. The electrical stimulation output unit can output electrical stimulation corresponding to the characteristic value to the muscle group corresponding to the joint to be stimulated. For example, if the joint to be stimulated is an ankle joint, electrical stimulation corresponding to the characteristic value may be output to the tibialis anterior. Specifically, the intensity of the electrical stimulation may be divided into several levels, and the corresponding electrical stimulation intensity is selected according to the magnitude of the characteristic value, for example, one characteristic value range may correspond to one electrical stimulation intensity. The electrical stimulus may be a voltage stimulus.
The device provided by the embodiment of the invention comprises: the signal acquisition unit is used for acquiring electroencephalogram signals and posture signals of a target limb; the target limb is a limb which has a motion association relationship with the joint to be stimulated; the electroencephalogram signal processing unit is used for processing the electroencephalogram signals and judging whether the electroencephalogram signals have motor imagery information or not; the gesture signal processing unit is used for processing the gesture signal when the electroencephalogram signal has motor imagery information and determining a characteristic value corresponding to the gesture signal; and the electrical stimulation output unit is used for outputting electrical stimulation corresponding to the characteristic value to the muscle group corresponding to the joint to be stimulated.
The device fuses the brain electrical signals (biological signals) and the posture signals (physical signals) to identify the movement intention of the human body. Specifically, the electroencephalogram signal and the attitude signal are collected, and when the electroencephalogram signal is detected to have motor imagery information, the attitude signal is analyzed, and a characteristic value of the attitude signal is determined. When the limbs of the human body move, an association relationship exists, and when the human walks, the swing amplitude of the upper limbs is consistent with the walking frequency of the lower limbs. Therefore, the electrical stimulation corresponding to the characteristic value is output by the electrical stimulation output unit based on the characteristic value of the posture signal, so that the affected limb moves under the electrical stimulation, and the control of the brain nerve on the limb is simulated. Therefore, the rehabilitation training device can carry out rehabilitation training of autonomous control on the affected limb by acquiring the electroencephalogram signals generated by the patient under the control of receiving external stimulation or autonomous behaviors and consciousness, combining the gesture signals which are controlled by the brain of the human body and acquired on the target limb with motion association relation with the joint to be stimulated, and outputting the electrical stimulation corresponding to the characteristic value extracted from the gesture signals to the muscle group corresponding to the joint to be stimulated when the electroencephalogram signals have motor imagery information, so that the motor intention of the patient is transmitted to the muscle group corresponding to the joint to be stimulated through the device, and the motor intention is transmitted in a mode of simulating normal human nerve.
The electroencephalogram signal processing unit 102 may specifically include:
the base line correction subunit is used for carrying out base line correction and artifact removal processing on the electroencephalogram signal to obtain a first electroencephalogram signal;
the filtering subunit is used for carrying out filtering processing on the first electroencephalogram signal to obtain a second electroencephalogram signal;
the characteristic extraction subunit is used for extracting a movement intention characteristic value from the second electroencephalogram signal;
and the judging subunit is used for judging whether the characteristic value of the motor intention is greater than a preset threshold value, and if so, determining that the electroencephalogram signal has motor imagery information.
For convenience of description, the above three subunits will be described in combination.
The baseline correction subunit performs baseline correction and artifact removal processing on the electroencephalogram signal to obtain a first electroencephalogram signal. When the baseline correction is carried out, a section of corrected non-motion electroencephalogram signals can be collected in advance, the average value of the corrected non-motion electroencephalogram signals is taken as a standard, and when the baseline correction is carried out, the average value can be subtracted from the electroencephalogram signals so as to realize the baseline correction; and carrying out power frequency 50Hz notch filtering on the electroencephalogram signals to remove artifacts. After the first electroencephalogram signal is obtained, in order to reduce interference signals, the first electroencephalogram signal can be filtered by using a filtering subunit, and the signal obtained after filtering is the electroencephalogram signal.
Preferably, because the frequency band of the motor imagery information in the electroencephalogram signal belongs to the intermediate frequency signal, and the activity signal, that is, the motor imagery information, shows different time-space variation modes, when the filtering subunit filters the first electroencephalogram signal, the first electroencephalogram signal can be input into the butterworth filter for band-pass filtering, and then the band-pass signal output by the butterworth filter is spatially filtered in the common space mode, so that the second electroencephalogram signal is obtained. Specifically, the butterworth filter may be a butterworth filter of order 4, with a band pass range: 8-30Hz. After the second electroencephalogram signal is obtained, the feature extraction subunit can extract the movement intention feature value from the second electroencephalogram signal. When the motion intention feature value is extracted, feature extraction may be performed in a common spatial mode. After the motor intention characteristic value is obtained, the judging subunit can judge whether the motor intention characteristic value is greater than a preset threshold value, and if so, the electroencephalogram signal is determined to have motor imagery information.
Preferably, when the electrical stimulation corresponding to the characteristic value is output to the muscle group corresponding to the joint to be stimulated, the electrical stimulation output unit may specifically output the electrical stimulation corresponding to the characteristic value to the muscle group corresponding to the joint to be stimulated according to a preset correspondence between the characteristic value and the electrical stimulation intensity. That is to say, the electro photoluminescence of different intensity is corresponded to the gesture signal of difference, and like this the patient is carrying out rehabilitation training time, not only accessible brain electrical signal still can be through independently controlling the target limbs to start the electro photoluminescence device, and then the realization is treated amazing the joint and is carried out by the stimulation of control, promotes patient's autonomic participation sense for nervous system obtains taking exercise better.
Preferably, the electrical stimulation intensity applied to patient a may not be suitable for the situation of patient B due to the differences in the characters, constitutions, body forms, etc. of different patients, and the posture signals may be different for the same exercise intention. Therefore, the functional electrical stimulation apparatus provided in the embodiment of the present invention may further include: and a feedback unit. The feedback unit is used for detecting the motion information of the joint to be stimulated under the electric stimulation so as to correct the corresponding relation by using the motion information.
The second embodiment:
corresponding to the above device embodiments, the present invention further provides a functional electrical stimulation system, and the functional electrical stimulation system described below and the functional electrical stimulation device described above may be referred to with reference to each other.
Referring to fig. 2, the system includes the following modules:
a signal acquisition module 201, a signal processing module 202 and a functional electrical stimulator 203;
the signal acquisition module 201 is used for acquiring electroencephalogram signals and attitude signals;
the signal processing module 202 is used for processing the electroencephalogram signal and the attitude signal to obtain a trigger signal;
the functional electrical stimulator 203 is used for receiving the trigger signal and outputting electrical stimulation corresponding to the trigger signal;
the signal acquisition module 201 is in communication connection with the signal processing module 202, and the signal processing module 202 is in communication connection with the functional electrical stimulator 203.
The signal acquisition module can adopt a TCP/IP technology to transmit the electroencephalogram signal and the attitude signal to a signal processing module of the control system; the signal processing module can adopt a serial port technology to transmit the trigger signal to the electrical stimulator module.
By applying the system provided by the embodiment of the invention, the device comprises: the functional electric stimulator comprises a signal acquisition module, a signal processing module and a functional electric stimulator; the signal acquisition module is used for acquiring electroencephalogram signals and attitude signals; the signal processing module is used for processing the electroencephalogram signals and the attitude signals to obtain trigger signals; the functional electric stimulator is used for receiving the trigger signal and outputting electric stimulation corresponding to the trigger signal; the signal acquisition module is in communication connection with the signal processing module, and the signal processing module is in communication connection with the functional electrical stimulator. The signal acquisition module can adopt a TCP/IP technology to transmit the electroencephalogram signal and the attitude signal to a signal processing module of the control system; the signal processing module can adopt a serial port technology to transmit the trigger signal to the electrical stimulator module.
The system can fuse the brain electrical signal (biological signal) and the gesture signal (physical signal) to identify the movement intention of the human body. Specifically, the electroencephalogram signal and the attitude signal are collected, and when the electroencephalogram signal is detected to have motor imagery information, the attitude signal is analyzed, and a characteristic value of the attitude signal is determined. When the limbs of the human body move, a correlation relationship exists, and when a person walks, the swing amplitude of the upper limbs is consistent with the walking frequency of the lower limbs. Therefore, based on the characteristic value of the attitude signal, the point electrical stimulation output unit is used for outputting electrical stimulation corresponding to the characteristic value, so that the affected limb moves under the electrical stimulation, and the control of the brain nerve on the limb is simulated. Therefore, by collecting the electroencephalogram signals generated by the patient under the control of receiving external stimulation or autonomous behaviors and consciousness and combining with the posture signals which are controlled by the brain of the human body and collected on the target limb with the motion association relation with the joint to be stimulated, when the electroencephalogram signals have motor imagery information, the muscle group corresponding to the joint to be stimulated outputs the electrical stimulation corresponding to the characteristic value extracted from the posture signals, so that the motion intention of the patient is transmitted to the muscle group corresponding to the joint to be stimulated through the device, and the rehabilitation training of autonomous control on the affected limb is carried out in a mode of simulating the normal human nerve to transmit the motion intention.
Specifically, the signal acquisition module 201 comprises an EGG signal acquisition cap and an attitude sensor, wherein the EGG signal acquisition cap is used for acquiring electroencephalogram signals; the attitude sensor is used for acquiring attitude signals. Wherein, the attitude signal collector comprises a gyroscope and an acceleration sensor.
Specifically, the functional electrical stimulator 202 includes an STM8 main control system module, a voltage boosting module, a pulse stimulation generation module, a power supply module, and 2 output channels; wherein the voltage adjustable range of the electric stimulation is 20-100V, and the frequency range of the electric stimulation is 20Hz.
Example three:
in order to facilitate better understanding of the technical solutions provided by the embodiments of the present invention, the technical solutions provided by the embodiments of the present invention are described in detail below by taking an application scenario in which a specific functional electrical stimulation system stimulates an ankle joint as an example.
The embodiment of the invention provides a functional electrical stimulation system controlled by a brain switch based on motor imagery, which adopts secondary control to realize that the motor intention of a human body controls the electrical stimulation system: the first-stage control: carrying out signal analysis processing on the EEG signal, and starting an electrical stimulation system for intention control when the system detects that the EEG signal has motor imagery information, such as right hand motor imagery; and otherwise, when the system detects that the electroencephalogram signal is in an idle state, the electrical stimulation system is not started. And (3) second-stage control: on the basis that the electrical stimulation system is started by the electroencephalogram signal, when the system detects that the posture angle reaches a set threshold range, the electrical stimulation system outputs electrical stimulation pulses with corresponding stimulation intensity to stimulate the affected side limb part.
Referring to fig. 3, fig. 3 is a block diagram of a functional electrical stimulation system according to an embodiment of the present invention.
Before the functional electrical stimulation system is used, stimulation parameters are adjusted in advance, for example, the stimulation frequency is set to be 20Hz, and the stimulation voltage is divided into 3 grades: 40V, 50V and 60V. Setting the attitude angle to 60-70 ° corresponds to a stimulation voltage of 40V, the attitude angle to 80-90 ° corresponds to a stimulation voltage of 50V, and the attitude angle to 100-110 ° corresponds to a stimulation voltage of 60V. A user or a patient wears an EEG signal acquisition EEG cap, starts an EEG hard software system, and sets EEG sampling frequency, an EEG channel and TCP/IP parameters; and meanwhile, a posture sensor is also worn on the right-hand arm, a posture sensor hard software system is started, and TCP/IP parameters are set. Of course, the above parameters may be set to other values.
After completing the preparatory tasks, the patient or user can combine the motor intention rehabilitation training paradigm flow chart shown in fig. 4 to perform motor imagery and control the corresponding limb to move, so that the functional electrical stimulation system detects the brain electrical signals and the posture signals, and electrically stimulates the affected limb based on the brain electrical signals and the posture signals to simulate the normal movement of the human body.
Specifically, the exercise intention rehabilitation training paradigm process is that according to the prompt of a rehabilitation training paradigm, a user is in a 2s idle state firstly, then a 1.8-2s preparation prompt appears, then a 4s right-hand exercise imagination task is carried out, then an action amplitude task in a 2.5-3s posture is carried out after a 0.5s prompt tone is heard, and finally the user is in a 4s idle state. Note that in order to suppress the electro-oculogram and myoelectricity artifacts, the user should not blink and move the body as much as possible during the experiment or the rehabilitation training.
Referring to fig. 5, fig. 5 is a flowchart illustrating a rehabilitation training process based on a functional electrical stimulation system according to an embodiment of the present invention. Namely, the user carries out the motor intention task according to the prompt, the functional electrical stimulation system collects original brain electrical signals and posture signals, and extracts the brain electrical signals related to the motor intention task event from the collected brain electrical signals. The collected brain electrical signal data mainly comes from 10 channels (F3, fc3, C3, cp3, P3, F4, fc4, C4, cp4, P4) of the primary sensory-motor area, and the collected posture signal data mainly comes from the elbow joint angle information of the right upper limb.
Then, the signal processing module carries out baseline correction and artifact removal processing on the electroencephalogram signals, carries out 8-30Hz band-pass filtering through a 4-order Butterworth filter, and carries out spatial filtering and feature extraction through a common space mode to obtain a feature value of motion intention initial state judgment in the system, namely a feature value of a brain switch. Then, classification and identification are carried out on the characteristic values of the brain switches by a Support Vector Machine (SVM), an appropriate brain switch threshold value is set, the characteristic values exceeding the threshold value are judged to be control signals for stimulation starting, and a classification result for controlling the starting of the electrical stimulator is obtained.
Meanwhile, the signal processing module also processes the attitude signal, the attitude signal can also be subjected to baseline correction and artifact removal processing, the amplitude of the attitude signal is collected in real time, and the angle average value of the attitude data in a set window size is extracted and used as the characteristic value of the attitude signal. And comparing the characteristic value with a threshold range of the posture angle related to the set stimulation intensity, and judging as a control signal of the stimulation intensity when the angle average value of the posture signal is in the set threshold range to obtain a classification result of the stimulation intensity of the control electrical stimulator.
The data processing module in the possible electrical stimulation system performs decision-level fusion on classification results of the electroencephalogram signals and the attitude signals, converts the classification results after fusion into trigger instructions (similar to the trigger signals described above) for controlling the starting and stimulation intensity of the functional electrical stimulator respectively, and sends the trigger instructions to the main control system of the functional electrical stimulator in real time. That is, if and only if the brain electrical signal has motor imagery information and a control instruction is extracted from the posture signal, the corresponding electrical stimulation is output.
After the main control system (namely the functional electrical stimulation system) receives the complete fused control instruction each time, the electrical stimulation system is automatically closed after normal work. After the patient repeatedly performs motor imagery and limb movement, the functional electrical stimulation system can work again after obtaining the control instruction of the brain switch and the control instruction of the posture signal, namely, electrical stimulation is output again. Preferably, in order to ensure the safety and reliability of the electrical stimulation system, the functional electrical stimulation system is set to be kept in a closed state all the time when not receiving a turn-on command; after receiving the opening instruction, setting the opening time of the electrical stimulation system to be 8s, and if the instruction for controlling the stimulation intensity is not received within 8s (namely the gesture signal meeting the requirement is not detected), automatically closing the electrical stimulation system.
After the functional electrical stimulation system outputs electrical stimulation to the tibialis anterior of the lower limb of a user, the user feeds back the stimulation feeling to the brain through nerves according to the tibialis anterior of the lower limb, and meanwhile, the feedback module can detect the change of the angle of the ankle joint by combining with the ankle joint angle detection system of the lower limb, timely adjust the posture angle of the elbow joint during the next experiment, further adjust the proper stimulation intensity, enable the system to become a closed loop feedback system, and simulate the motion imagination transmission and the motion feedback of a human body nervous system.
Therefore, the functional electrical stimulation system provided by the embodiment of the invention mainly solves the following problems: 1. the vision problem caused by adopting other stimulation paradigms is solved, great convenience is brought to users, and meanwhile, the motor imagery electroencephalogram signal is spontaneous, so that the system is more natural; 2. the problem of qualitative and quantitative control of functional electrical stimulation of the movement intention in the system is solved, so that the system can identify the initial state and the movement degree of the movement intention; 3. by combining the functional electrical stimulation technology, the rehabilitation training device not only accords with the exercise learning principle, but also can promote brain remodeling, realizes active rehabilitation training in which all nerves from the brain to the upper limbs to the lower limbs participate, enhances the controllability of the brain and the exercise capacity of the upper limbs and the lower limbs, and has unique advantages compared with the traditional rehabilitation technology.
Claims (10)
1. A functional electrical stimulation apparatus, comprising:
the signal acquisition unit is used for acquiring electroencephalogram signals and posture signals of a target limb; wherein the target limb is a limb having a motion correlation relationship with the joint to be stimulated;
the electroencephalogram signal processing unit is used for processing the electroencephalogram signal and judging whether the electroencephalogram signal has motor imagery information or not;
the gesture signal processing unit is used for processing the gesture signal when the electroencephalogram signal has the motor imagery information and determining a characteristic value corresponding to the gesture signal;
and the electrical stimulation output unit is used for outputting the electrical stimulation corresponding to the characteristic value to the muscle group corresponding to the joint to be stimulated.
2. The functional electrical stimulation apparatus of claim 1, wherein the brain electrical signal processing unit comprises:
the base line correction subunit is used for carrying out base line correction and artifact removal processing on the electroencephalogram signal to obtain a first electroencephalogram signal;
the filtering subunit is used for carrying out filtering processing on the first electroencephalogram signal to obtain a second electroencephalogram signal;
the characteristic extraction subunit is used for extracting a movement intention characteristic value from the second electroencephalogram signal;
and the judging subunit is used for judging whether the characteristic value of the motor intention is greater than a preset threshold value, and if so, determining that the electroencephalogram signal has motor imagery information.
3. The functional electrical stimulation apparatus according to claim 2, wherein the filtering subunit is specifically configured to input the first electroencephalogram signal into a butterworth filter for band-pass filtering, and further spatially filter the band-pass signal output by the butterworth filter in a co-space mode to obtain a second electroencephalogram signal.
4. The functional electrical stimulation apparatus according to claim 1, wherein the posture signal processing unit is specifically configured to extract an angle average corresponding to the posture signal within a preset time window when the electroencephalogram signal has motor imagery information, and use the angle average as a feature value.
5. The FES apparatus of claim 1, wherein the electrical stimulation output unit is configured to output electrical stimulation corresponding to the characteristic value to the muscle group corresponding to the joint to be stimulated according to a preset correspondence between the characteristic value and an electrical stimulation intensity.
6. The functional electrical stimulation apparatus of claim 5, further comprising:
and the feedback unit is used for detecting the motion information of the joint to be stimulated under the electrical stimulation so as to correct the corresponding relation by using the motion information.
7. A functional electrical stimulation system, comprising:
the functional electric stimulator comprises a signal acquisition module, a signal processing module and a functional electric stimulator;
the signal acquisition module is used for acquiring electroencephalogram signals and attitude signals;
the signal processing module is used for processing the electroencephalogram signal and the attitude signal to obtain a trigger signal;
the functional electric stimulator is used for receiving the trigger signal and outputting electric stimulation corresponding to the trigger signal;
the signal acquisition module is in communication connection with the signal processing module, and the signal processing module is in communication connection with the functional electrical stimulator;
the triggering signal is a signal generated by classifying and identifying an electroencephalogram signal with motor imagery information and an attitude signal and fusing classification results, and the triggering signal comprises a characteristic value corresponding to the attitude signal;
the signal processing module is specifically configured to process the electroencephalogram signal and determine whether the electroencephalogram signal has motor imagery information; when the electroencephalogram signal has the motor imagery information, processing the attitude signal, and determining a characteristic value corresponding to the attitude signal; correspondingly, the functional electrical stimulator is specifically configured to receive the characteristic value and output an electrical stimulus corresponding to the characteristic value.
8. The functional electrical stimulation system of claim 7, wherein the signal acquisition module comprises an EGG sensor and a posture sensor, wherein the EGG sensor is used for acquiring electroencephalogram signals; the attitude sensor is used for acquiring attitude signals.
9. The functional electrical stimulation system of claim 8, wherein the posture signal collector comprises a gyroscope and an acceleration sensor.
10. The FES system of any one of claims 7-9, wherein the FES comprises an STM8 main control system module, a voltage boosting module, a pulse stimulation generation module and a power supply module; wherein the voltage adjustable range of the electric stimulation is 20-100V.
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| CN111091890B (en) * | 2020-02-28 | 2020-10-27 | 郑州大学 | Health cognitive system under self-excitation and feedback control |
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