CN110604869A - Implantable medical device, stimulation signal generation method thereof and electrical stimulation system - Google Patents
Implantable medical device, stimulation signal generation method thereof and electrical stimulation system Download PDFInfo
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- CN110604869A CN110604869A CN201910706669.5A CN201910706669A CN110604869A CN 110604869 A CN110604869 A CN 110604869A CN 201910706669 A CN201910706669 A CN 201910706669A CN 110604869 A CN110604869 A CN 110604869A
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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
-
- 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
- A61N1/36125—Details of circuitry or electric components
-
- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/14—Handling requests for interconnection or transfer
- G06F13/20—Handling requests for interconnection or transfer for access to input/output bus
- G06F13/28—Handling requests for interconnection or transfer for access to input/output bus using burst mode transfer, e.g. direct memory access DMA, cycle steal
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management
Abstract
The invention discloses an implantable medical device, a stimulation signal generation method thereof and an electrical stimulation system, wherein the method comprises the following steps: the DMA controller sends a DMA request for obtaining the bus control right to the central processing unit; after the bus control right is obtained, the control data in the first preset address of the memory is read, the control clock of the stimulation signal is obtained, and the control data is stored in the second preset address related to the peripheral equipment in the memory based on the control clock, so that the peripheral equipment controls the output electrode to output the stimulation signal for realizing the therapy according to the control data. The DMA controller takes over the bus control right of the central processing unit, and periodically carries the control data to the peripheral equipment so as to control the output electrode to output the stimulation signal for realizing the therapy according to the control data, thereby reducing the intervention of the central processing unit on the stimulation signal output and reducing the power consumption. DMA and a central processing unit are asynchronously executed, the output stimulation signal is not influenced by software delay, and the actually output signal parameters and waveforms are more ideal.
Description
Technical Field
The invention relates to the technical field of medical devices, in particular to an implantable medical device, a stimulation signal generation method and an electrical stimulation system thereof.
Background
An Implantable Medical Device (IMD) is a Medical Device installed inside the body of a user, and the IMD has a battery, a circuit board (provided with sensors, chips, etc.), and implements corresponding therapy depending on a set program and operating parameters, which may be set differently according to the condition of the user. Because the causes and conditions of the users are different, different implantable medical devices installed in the bodies of the users generally have different operating states, and the operating states are represented in various aspects of the battery voltage, the operating time, the power, the current magnitude, the frequency and the like of the implantable medical devices. To ensure the therapeutic effect, it is necessary to ensure the stability of the operation state of the implanted medical device, for example, the implanted pulse generator product, and a stable preset stimulation signal is required to ensure the preset therapeutic effect. However, the stimulation signals of the conventional implantable medical devices often have disadvantages such as delayed stimulation signals and waveform deviation of the stimulation signals.
Disclosure of Invention
According to a first aspect, embodiments of the present invention provide a method for generating a stimulation signal for an implantable medical device, comprising: the implantable medical device comprising a central processor, a DMA controller, and a memory, the method comprising: the DMA controller sends a DMA request for obtaining the bus control right to the central processing unit; after obtaining the bus control right, the DMA controller reads the control data in the first preset address of the memory, obtains the control clock of the stimulation signal, and stores the control data to a second preset address related to the peripheral in the memory based on the control clock, so that the peripheral controls the output electrode to output the stimulation signal for realizing the therapy according to the control data.
Optionally, the peripheral device comprises: IO peripherals and digital/analog converters.
Optionally, the first preset address includes: the data source address of the IO peripheral equipment and the data source address of the digital/analog converter; the DMA controller reading the control data in the first preset address of the memory comprises: the DMA controller reads pulse rising edge control data and pulse falling edge control data of the IO equipment based on the data source address of the IO peripheral equipment; and the DMA controller reads the pulse rising edge control data and the pulse falling edge control data of the digital-to-analog converter based on the data source address of the digital-to-analog converter.
Optionally, the second preset address includes: the data destination address of the IO peripheral and the data destination address of the digital/analog converter; the storing the control data to a second preset address in the memory associated with a peripheral based on the control clock comprises: the DMA controller stores pulse rising edge control data and pulse falling edge control data of the IO peripheral equipment into a data destination address of the IO peripheral equipment in the memory under the control of a control clock of a stimulation signal; and the DMA controller stores the pulse rising edge control data and the pulse falling edge control data of the digital-to-analog converter to the data destination address of the digital-to-analog converter in the memory under the control of the control clock of the stimulation signal.
Optionally, the control clock is a one-shot control clock.
Optionally, the pulse rising edge control data and the pulse falling edge control data of the IO peripheral and the pulse rising edge control data and the pulse falling edge control data of the digital-to-analog converter are respectively transmitted through different control channels of the DMA controller.
According to a second aspect, embodiments of the present invention provide an implantable medical device stimulation signal generating device, the implantable medical device including a central processor, a DMA controller and a memory, the device being disposed in the DMA controller, the device including: the first sending unit is used for sending a DMA request for obtaining the bus control right to the central processing unit; the reading unit is used for reading the control data in the first preset address of the memory after the bus control right is obtained; the acquisition unit is used for acquiring a control clock for generating the stimulation signal; and the second sending unit is used for storing the control data into a second preset address related to the peripheral in the memory based on the control clock so as to enable the peripheral to control the output electrode to output a stimulation signal for realizing the therapy according to the control data.
According to a third aspect, embodiments of the present invention provide an implantable medical device comprising: the device comprises a central processing unit, a DMA controller and a memory; the DMA controller is connected with the central processing unit and comprises: at least one processor; and a program memory coupled to the at least one processor; wherein the program memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to perform the method of generating an implantable medical device stimulation signal according to any of the above-mentioned first aspects.
According to a fourth aspect, an embodiment of the present invention provides an implantable electrical stimulation system, including: the implantable medical device of the third aspect above; the peripheral controls the output electrode to output a stimulation signal for realizing the therapy according to the control data.
The DMA controller takes over the bus control right of the central processing unit, and the control data for generating the stimulation signals are periodically transported to the peripheral under the control of the control clock of the stimulation signals, so that the peripheral controls the output electrodes to output the stimulation signals for realizing the therapy according to the control data, the intervention of the central processing unit on the output of the stimulation signals for realizing the therapy is reduced, and the power consumption is reduced. DMA can be asynchronously executed with a central processing unit, the output stimulation signal is not influenced by software delay, and the actually output pulse parameters and waveforms are more ideal.
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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 illustrates a schematic diagram of a method of generating a stimulation signal for an implantable medical device in an embodiment of the invention;
FIG. 2 shows a schematic diagram of an implantable medical device stimulation signal generating device in an embodiment of the invention;
FIG. 3 shows a schematic view of an implantable medical device in an embodiment of the invention;
fig. 4 shows a schematic diagram of an implantable electrical stimulation system in an embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
As described in the background, the stimulation signals of the conventional implantable medical devices often have adverse conditions such as delayed stimulation signals and deviation of stimulation signal waveforms. In the current implantable pulse generator product, the pulse waveform is mainly generated in two ways: software control and special chip control. Because special chip research and development cost is high, research and development cycle is long to in case the chip function is stereotyped, need modify the product function like the later stage, the function of chip is revised comparatively difficultly, is difficult to accomplish commonality and flexibility and has concurrently. Therefore, in the prior art, pulse output is generally controlled by software, but software has disadvantages such as stimulation signal delay and stimulation signal waveform deviation.
Research shows that the existing software control usually adopts a CPU to participate in a pulse output control algorithm, so that the existing software control needs to be frequently awakened and consumes more power. On the other hand, since most of the CPUs of the pulse generators are single-core and single-thread, on one hand, pulse output is controlled, on the other hand, software execution flow, overall state monitoring and the like are controlled, and the execution time is in the order of several microseconds to several hundred microseconds, which may affect the accuracy of pulse output parameters. In particular, a large deviation of the pulse width of a pulse having a pulse width of several tens of microseconds to several hundreds of microseconds may occur. Research shows that data transmission from a memory to a memory, between the memory and a peripheral or between the peripheral and the peripheral by a CPU requires reading data into a register of the CPU, then writing the content of the register into the memory/the peripheral, adding a command fetching process of the CPU and the like, the efficiency of transmitting data by using the CPU is low, the CPU is used for pulse output control, and the CPU is essentially used for periodically operating peripherals such as IO (input/output) and a Digital-to-analog converter (DAC) so as to generate a rising edge and a falling edge of a pulse. For a pulse with fixed parameters, the operation on IO and DAC is fixed when a rising edge occurs (i.e. the data content written to IO and DAC is fixed), and the operation on a falling edge occurs (i.e. the data content written to IO and DAC is fixed), so that it can be considered that a fixed data is periodically transferred to the register related to IO and DAC.
Based on this, the present invention provides a method for generating a stimulation signal of an implantable medical device, the method is based on a Direct Memory Access (DMA) controller, the implantable medical device includes a central processing unit, a DMA controller and a Memory, wherein the Memory stores control data for controlling an output electrode to output a stimulation signal for implementing a therapy, and as shown in fig. 1 in detail, the method may include the following steps:
and S1, the DMA controller sends a DMA request for obtaining the bus control right to the central processing unit. In an embodiment, after receiving a request for requesting the DMA controller to perform data transmission from the peripheral, the DMA controller forwards the DMA request to the CPU, and after receiving the signal, the CPU responds to the DMA signal according to the priority of the DMA signal and the priority of the DMA request after the current bus cycle is finished. When CPU responds DMA request to some device interface, it will give out bus control right, and DMA controller obtains bus control right.
And S2, reading the control data in a first preset address of the memory by the DMA controller, wherein the first preset address is a storage address of the pre-configured control data. In one embodiment, the first predetermined address is a control data source address of the at least one peripheral device. Specifically, a source address of control data of at least one peripheral device and a data length of the control data may be stored; and acquiring corresponding control data in the peripheral storing the control data according to the source address of the control data of the peripheral. In one embodiment, the control data is used to control the peripheral to generate either a rising edge or a falling edge of the stimulation signal to generate a pulsed stimulation signal for effecting therapy.
And S3, acquiring a control clock for generating the stimulation signal, wherein in one embodiment, the control clock is a trigger source of the stimulation signal, and the control clock can be a pulse rising edge control clock of the stimulation signal or a pulse falling edge control clock of the stimulation signal. Specifically, the trigger type of the pulse control clock may be a single trigger and a single transfer of control data.
And S4, storing the control data into a second preset address related to the peripheral in the memory based on the control clock so that the peripheral controls the output electrode to output a stimulation signal for realizing the therapy according to the control data, wherein the second preset address can be an address of a register of the peripheral for generating the stimulation signal. In one embodiment, the second preset address is at least one of the control data destination addresses of the peripheral device, i.e. the register address of the peripheral device from which the stimulation signal pulses are output. Specifically, a destination address of control data of at least one peripheral device may be stored first; and sending the control data of at least one peripheral to the corresponding control data destination address of at least one peripheral under the triggering of the control clock, so that the peripheral controls the output electrode to output a stimulation signal for realizing the therapy according to the control data.
In one embodiment, the DMA controller takes over the bus control right of the central processing unit, and the control data for generating the stimulation signals is periodically transported to the peripheral under the control of the control clock of the stimulation signals, so that the peripheral controls the output electrodes to output the stimulation signals for realizing the therapy according to the control data, the intervention of the central processing unit on the output of the stimulation signals for realizing the therapy is reduced, and the power consumption is reduced. DMA can be asynchronously executed with a central processing unit, the output stimulation signal is not influenced by software delay, and the actually output pulse parameters and waveforms are more ideal.
Taking the peripheral device as an IO peripheral and a Digital to analog converter (DAC) as an example, in an embodiment, since register addresses of the control IO and the control DAC are not consecutive, a plurality of DMA channels are required for control. Specifically, the DMA channel may be divided into four channels, which may be respectively denoted as channel 0, channel 1, channel 2, and channel 3. The pulse rising edge of the IO peripheral equipment is controlled through a channel 0, the pulse rising edge of the DAC equipment is controlled through a channel 1, the pulse falling edge of the IO peripheral equipment is controlled through a channel 2, and the pulse falling edge of the DAC equipment is controlled through a channel 3.
The specific method for generating the stimulation signal of the medical device may include the following processes, one embodiment of which is described by taking channel 0 as an example, storing a memory address of control data of the pulse rising edge IO peripheral device, and storing a source address of the control data of the rising edge IO peripheral device. In one embodiment, the control data may be referred to as a control word. A set of control sequences may be used, with increments of 1 word length, depending on the complexity of the pulse to identify the source address increment. Fixed addresses may also be used. The register address of the storage pulse output control IO peripheral, i.e. the destination address of the control word, which may be a fixed address, is first read in one word (16 bits per word) from the external device into the DMA data buffer register IODR (if the device is byte oriented, one byte is read in at a time, two bytes need to be assembled into one word). Causing the DMA request flag trigger in the DMA controller to be set to "1". The DMA controller issues a bus request signal to the CPU. After the CPU completes the current machine period, the CPU responds to the DMA request, sends out a bus permission signal, and sends out a DMA response signal by the DMA controller to reset the DMA request marking trigger. At this time, the system bus is taken over by the DMA controller. And obtaining the pulse rising edge IO peripheral control word according to the pulse rising edge IO peripheral control word memory address. The main memory address in the main memory address register in the DMA controller is sent to an address bus, namely, the destination address of the control word is sent to the address bus, the content in the DMA data buffer register is sent to a data bus, namely, the pulse rising edge IO peripheral control word is sent to the data bus, and a write-in command is sent on a read/write control signal line so as to write the pulse rising edge IO peripheral control word into the corresponding register of the IO peripheral of the destination address. And applying for interrupt processing to the CPU until the data in the DMA data buffer register is transferred. And after receiving the pulse rising edge IO peripheral control word, the IO peripheral sends out a pulse rising edge under the triggering of the pulse rising edge control clock.
The control processes of other channels are similar to the control process of channel 0 in the above embodiment, except that the source address and the destination address of the transmission data are different from those of the transmission data, and the control processes of other channels may refer to the control process of channel 0, which is not described in this embodiment again. Those skilled in the art will appreciate that the order of the control process of the multiple channels is not limited. Can be carried out simultaneously or sequentially.
An embodiment of the present invention provides a stimulation signal generating device for an implantable medical device, as shown in fig. 2, including: a first sending unit 10, which sends a DMA request for obtaining a bus control right to the central processing unit; the reading unit 20 is configured to read control data in a first preset address of the memory after obtaining a bus control right; an acquisition unit 30 for acquiring a control clock for generation of the stimulation signal; and the second sending unit 40 is used for storing the control data into a second preset address related to the peripheral in the memory based on the control clock, so that the peripheral controls the output electrode to output a stimulation signal for realizing the therapy according to the control data.
An embodiment of the present invention further provides an implantable medical device, including: the CPU31, the DMA controller 32, the memory 33, and the DMA controller are connected to the CPU, may be connected by a bus or other means, for example, as shown in fig. 3, the controller includes one or more processors 321 and a program memory 322, for example, one processor 321 in fig. 3. Wherein the memory 322 stores a first preset address and a second preset address and a computer program executable by the at least one processor 321, the computer program being executed by the at least one processor 321 to implement the implantable medical device stimulation signal generation method.
An embodiment of the present invention provides an implantable electrical stimulation system, as shown in fig. 4, including:
the implantable medical device 100 and the peripheral device 200 in the above embodiments are used for generating stimulation signals. The peripherals 200 may include IO peripherals, DACs, and the like, which control the output electrodes to output stimulation signals for implementing therapy according to the control data.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the motor control methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (9)
1. A method of generating a stimulation signal for an implantable medical device, the implantable medical device comprising a central processor, a DMA controller, and a memory, the method comprising:
the DMA controller sends a DMA request for obtaining the bus control right to the central processing unit;
after obtaining the bus control right, the DMA controller reads the control data in the first preset address of the memory, obtains the control clock of the stimulation signal, and stores the control data to a second preset address related to the peripheral in the memory based on the control clock, so that the peripheral controls the output electrode to output the stimulation signal for realizing the therapy according to the control data.
2. The medical device stimulation signal generation method of claim 1, wherein the peripheral device comprises: IO peripherals and digital/analog converters.
3. The medical device stimulation signal generation method of claim 2, wherein the first preset address comprises: a control data source address of the IO peripheral and a control data source address of the digital/analog converter;
the DMA controller reading the control data in the first preset address of the memory comprises:
the DMA controller reads pulse rising edge control data and pulse falling edge control data of the IO equipment based on the control data source address of the IO peripheral equipment; and
the DMA controller reads the pulse rising edge control data and the pulse falling edge control data of the digital-to-analog converter based on a control data source address of the digital-to-analog converter.
4. The medical device stimulation signal generation method of claim 3,
the second preset address includes: a control data destination address of the IO peripheral and a control data destination address of the digital/analog converter;
the storing the control data to a second preset address in the memory associated with a peripheral based on the control clock comprises:
the DMA controller stores pulse rising edge control data and pulse falling edge control data of the IO peripheral equipment into a control data destination address of the IO peripheral equipment in the memory under the control of a control clock of a stimulation signal; and
the DMA controller stores the pulse rising edge control data and the pulse falling edge control data of the digital-to-analog converter to the address of the control data destination of the digital-to-analog converter in the memory under the control of the control clock of the stimulus signal.
5. The medical device stimulation signal generation method of claim 1,
the control clock is a single-trigger control clock.
6. The medical device stimulation signal generation method of claim 3,
and the pulse rising edge control data and the pulse falling edge control data of the IO peripheral equipment and the pulse rising edge control data and the pulse falling edge control data of the digital-to-analog converter are respectively transmitted through different control channels of the DMA controller.
7. An implantable medical device stimulation signal generating device, wherein the implantable medical device comprises a central processing unit, a DMA controller and a memory, the device is disposed in the DMA controller, the device comprises:
the first sending unit is used for sending a DMA request for obtaining the bus control right to the central processing unit;
the reading unit is used for reading the control data in the first preset address of the memory after the bus control right is obtained;
the acquisition unit is used for acquiring a control clock for generating the stimulation signal;
and the second sending unit is used for storing the control data into a second preset address related to the peripheral in the memory based on the control clock so as to enable the peripheral to control the output electrode to output a stimulation signal for realizing the therapy according to the control data.
8. An implantable medical device, comprising:
the device comprises a central processing unit, a DMA controller and a memory;
the DMA controller is connected with the central processing unit and comprises: at least one processor; and a program memory coupled to the at least one processor; wherein the program memory stores a computer program executable by the at least one processor to cause the at least one processor to perform the implantable medical device stimulation signal generating method of any one of claims 1-6.
9. An implantable electrical stimulation system, comprising:
the implantable medical device of claim 8;
the peripheral controls the output electrode to output a stimulation signal for realizing the therapy according to the control data.
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