CN112156360A - Generation method and generation device of stimulation signal and terminal equipment - Google Patents
Generation method and generation device of stimulation signal and terminal equipment Download PDFInfo
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Abstract
The application provides a method for generating a stimulation signal, which comprises the following steps: acquiring first resistance information of a functional thin film, wherein the functional thin film is attached to the surface of a target object, the target object corresponding to the surface internally comprises an action part, and the resistance value of the functional thin film changes along with the form change of the functional thin film; determining first relative position information between the action part and the functional film according to the first resistance information and a preset corresponding relation between the resistance and the relative position; and determining a signal generation parameter of a signal generator according to the first relative position information, wherein the signal generation parameter is used for the signal generator to generate a stimulation signal, and the stimulation signal is used for stimulating the action part. By the method, the stimulation accuracy can be improved when a signal generator such as an ultrasonic transducer stimulates a specified position such as vagus nerve in a human body through a stimulation signal such as an ultrasonic signal.
Description
Technical Field
The present application belongs to the field of signal generation technologies, and in particular, to a method for generating a stimulus signal, a device for generating a stimulus signal, a terminal device, and a computer-readable storage medium.
Background
Some studies find that specific regulation effects can be achieved by stimulating specific positions such as nerves and joints in a specific object by means of physical stimulation such as electricity, magnetism and light. For example, the cranial nerves can be modulated by stimulating the vagus nerve in a human body to send an electrical impulse to the brain.
However, when a designated position is stimulated by physical stimulation means such as electricity, magnetism, light and the like, the relative position between the designated position and the signal generator changes due to factors such as contraction and expansion of surrounding tissues and autonomous movement of a designated object, and the accuracy of stimulation on the designated position by the signal generator is seriously affected.
Disclosure of Invention
The embodiment of the application provides a stimulation signal generation method, a stimulation signal generation device, terminal equipment and a computer readable storage medium, which can improve the accuracy of stimulation of a signal generator to a specified position.
In a first aspect, an embodiment of the present application provides a method for generating a stimulation signal, including:
acquiring first resistance information of a functional thin film, wherein the functional thin film is attached to the surface of a target object, the target object corresponding to the surface internally comprises an action part, and the resistance value of the functional thin film changes along with the form change of the functional thin film;
determining first relative position information between the action part and the functional film according to the first resistance information and a preset corresponding relation between the resistance and the relative position;
and determining a signal generation parameter of a signal generator according to the first relative position information, wherein the signal generation parameter is used for the signal generator to generate a stimulation signal, and the stimulation signal is used for stimulating the action part.
In a second aspect, an embodiment of the present application provides a device for generating a stimulation signal, including:
the device comprises an acquisition module, a detection module and a processing module, wherein the acquisition module is used for acquiring first resistance information of a functional thin film, the functional thin film is attached to the surface of a target object, the target object corresponding to the surface comprises an action part inside, and the resistance value of the functional thin film changes along with the form change of the functional thin film;
the relative position determining module is used for determining first relative position information between the action part and the functional film according to the first resistance information and a preset corresponding relation between the resistance and the relative position;
and the parameter determining module is used for determining a signal generation parameter of a signal generator according to the first relative position information, wherein the signal generation parameter is used for the signal generator to generate a stimulation signal, and the stimulation signal is used for stimulating the action part.
In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, a display, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method for generating a stimulation signal according to the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the method for generating a stimulation signal according to the first aspect.
In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the method for generating a stimulus signal described in the first aspect.
Compared with the prior art, the embodiment of the application has the advantages that: in the embodiment of the present application, first resistance information of a functional thin film may be acquired, the functional thin film being attached to a surface of a target object, the target object corresponding to the surface including an action portion therein, and a resistance value of the functional thin film changing with a change in a form of the functional thin film, so that the first resistance information may indicate a change in the form of the surface of the target object; then, first relative position information between the action part and the functional film is determined according to the first resistance information and the preset corresponding relation between the resistance and the relative position, and at this time, the first relative position information can represent the position change situation of the action part after the form change of the surface of the target object, so that the signal generation parameter of the signal generator can be determined according to the first relative position information, so that the stimulation signal can accurately stimulate the action part, the stimulation deviation caused by the position change of the action part is reduced, and the stimulation accuracy of the signal generator on the action part is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic diagram of an information interaction manner of a terminal device according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a method for generating a stimulation signal according to an embodiment of the present application;
FIG. 3 is a schematic flow chart illustrating a method for generating a further stimulation signal according to an embodiment of the present application;
FIG. 4 is a schematic plan view of an exemplary functional film attached to the skin of the neck of a user according to an embodiment of the present application;
FIG. 5 is a schematic flow chart of a method for generating a stimulation signal according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a device for generating a stimulation signal according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to explain the technical solution of the present application, the following description will be given by way of specific examples.
Example 1
The following describes a method for generating a stimulation signal provided in the embodiments of the present application.
Some studies find that specific regulation effects can be achieved by stimulating specific positions such as nerves and joints in a specific object by means of physical stimulation such as electricity, magnetism and light. For example, in one application scenario, the vagus nerve of the neck of a human body can be stimulated by physical stimulation methods such as electricity, magnetism, light, and the like to send an electric pulse to the brain, so as to realize the regulation of the cranial nerve. Therefore, in some examples, a designated position such as a nerve, a joint, and the like in a designated object may be stimulated by means of physical stimulation such as electricity, magnetism, light, and the like in an immersive scene such as a Virtual Reality (VR) application scene and an Augmented Reality (AR) application scene, so as to provide a physiological stimulation for a user and improve the presence of the user. In addition, effective stimulation of specific nerves in the human body has great potential in the intervention of brain functional diseases such as epilepsy, depression, parkinson's disease, and the like.
However, when the designated location is stimulated through physical stimulation methods such as electricity, magnetism, light, and the like, the relative location between the designated location and the signal generator changes due to contraction and expansion of surrounding tissues and autonomous movement of the designated object, which seriously affects the accuracy of stimulation on the designated location and reduces the corresponding regulation and control effect.
In view of the above problem, an embodiment of the present invention provides a method for generating a stimulation signal, which can detect a morphological change condition of a surface of a target object through a functional film, so as to determine a position change condition of an action portion after the morphological change of the surface of the target object, in combination with a preset corresponding relationship, to adjust a signal generation parameter of a signal generator according to the position change condition of the action portion, to reduce a stimulation deviation caused by the position change of the action portion, and to improve a stimulation performance of the stimulation signal generator on the action portion.
The method for generating the stimulation signal provided by the embodiment of the application can be applied to terminal equipment.
The embodiment of the present application does not set any limit to the specific type of the terminal device. For example, the terminal device may be a wearable device, a server, a desktop computer, a mobile phone, a tablet computer, an Augmented Reality (AR)/Virtual Reality (VR) device, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook or a Personal Digital Assistant (PDA), a signal generator, or the like.
The terminal device may include a functional film, and the functional film may also be used as an external component of the terminal device. The signal generator can be used as the terminal device itself or as an external device of the terminal device. When the signal generator is used as the terminal device, the functional film can be integrated into the signal generator or can be used as an external component of the signal generator.
The following specific examples illustrate the relationship between the terminal device and the signal generator and functional film.
As shown in fig. 1(a), it is an exemplary information interaction manner of the terminal device.
The terminal equipment can be electrically connected with the functional film and collects resistance information of the functional film. The terminal device may be further electrically connected to a signal generator, and the terminal device may send a signal generation parameter of the signal generator to the signal generator after determining the signal generation parameter according to a result of processing the resistance information of the functional film (e.g., the first relative position information) to instruct the signal generator to send a stimulation signal according to the signal generation parameter.
And as shown in fig. 1(b), it is another exemplary information interaction manner of the terminal device.
Wherein the terminal device may be the signal generator itself. At this time, the signal generator may be electrically connected to the functional film and collect resistance information of the functional film. After determining the signal generation parameter according to the processing result of the resistance information of the functional film (e.g., the first relative position information), the signal generator may emit a stimulation signal according to the signal generation parameter to stimulate the acting portion.
Of course, the above information interaction manner is only an exemplary illustration of the embodiment of the present application, and is not a limitation of the present application.
Specifically, fig. 2 shows a flowchart of a method for generating a stimulation signal according to an embodiment of the present application.
As shown in fig. 2, the method for generating the stimulation signal may include:
step S201, acquiring first resistance information of a functional film, wherein the functional film is attached to the surface of a target object, the target object corresponding to the surface comprises an action part, and the resistance value of the functional film changes along with the form change of the functional film.
In the embodiments of the present application, the material and the specific film structure of the functional film are not limited herein. It is understood that the functional film may include a conductive layer thereon, and the resistance value of the conductive layer may vary with the shape change of the functional film, such as bending and twisting. Illustratively, the material of the conductive layer may be graphene, a specific conductive metal material, and/or other novel conductive materials. And the arrangement mode of the conductive materials in the conductive layer can also be determined by research personnel. For example, the conductive layer may include a plurality of conductive film blocks, or may include a plurality of intersecting linear conductive structures.
For example, the target object may be a human or other living body, or may be a non-living body, and may be a mechanical entity such as a humanoid robot. The action portion may be determined according to an actual scene. For example, the acting part may be a designated nerve (such as a vagus nerve or the like) or a joint in a living body.
The functional film may be covered in the vicinity of the outer side surface closest to the action portion, and the position of the functional film may be adjusted according to the undulation of the surface of the target object, without strictly limiting the functional film to be located on the outer side surface facing the action portion.
The specific manner of acquiring the first resistance information of the functional film may be various. The first functional film and the detection device for detecting the resistance information of the first functional film may be a part of a terminal device executing the embodiment of the present application, and may also be an external device of the terminal device, and at this time, the detection device for detecting the resistance information of the first functional film may be transmitted to the terminal device through a specific information transmission manner. The first resistance information may include resistance information of the functional thin film at a specific time, and may include resistance information of the functional thin film for a specific time period.
In the embodiment of the present application, since the first resistance information is attached to the surface of the target object and the resistance value of the functional thin film changes according to the form change of the functional thin film, the first resistance information may indicate the form change of the surface of the target object.
Step S102, determining first relative position information between the action part and the functional film according to the first resistance information and a preset corresponding relation between the resistance and the relative position.
In the embodiment of the present application, the preset corresponding relationship between the resistance and the relative position may be a linear relationship or a nonlinear relationship, and the preset corresponding relationship may be determined by experiments, data modeling, and other manners according to the resistance information of the functional thin film collected in advance and the relative position information between the action part and the functional thin film.
The specific form of the preset corresponding relationship may be determined according to the specific representation manner of the relative position. In some embodiments, the relative position may be represented by a distance, and the preset correspondence between the resistance and the relative position is represented by a preset resistance-distance mapping relationship. Of course, the relative position may also be represented by a coordinate, a vector, or the like, and then the preset corresponding relationship may also be other mapping relationships.
In some embodiments, the preset correspondence between the resistance and the relative position is represented by a preset resistance-distance mapping relationship.
The preset resistance-distance mapping relation can be obtained through data modeling and other modes according to resistance information of the functional thin film and distance information between the action part and the functional thin film, wherein the resistance information is acquired in advance. The resistance-distance mapping relationship may be a linear relationship or a non-linear relationship, and the resistance-distance mapping relationship may be a discrete mapping or a continuous mapping. In addition, the resistance-distance mapping relationship may include a plurality of one-to-one mapping relationships formed by one resistance value and one distance, or may include a plurality of one-to-one mapping relationships formed by a group of resistance values and a group of distances. The specific type of the resistance-distance mapping relationship is not limited herein.
In some embodiments, the functional thin film includes at least two thin film blocks, each thin film block includes a thin film feature point, the first resistance information includes a first resistance value corresponding to each thin film block in the functional thin film, the first relative position information includes a first distance between the action portion and each thin film feature point, the resistance-distance mapping relationship includes a mapping relationship between a resistance value set and a distance set, and the number of elements included in each resistance value set and each distance set is the same as the number of thin film blocks.
In this embodiment of the application, the mapping relationship between the resistance value set and the distance set may be obtained after modeling and simulation according to the resistance values of the thin film blocks detected by the target object in different postures and the distances between the feature points on the thin film blocks detected by the target object in different postures and the action part, respectively.
Since the functional film has different shape change conditions in different parts when the functional film is bent or twisted, the shape change conditions of different film blocks on the functional film can be represented by the first resistance values, and the shape change conditions of the functional film can be represented more accurately. And the position change of the action part relative to the functional film can be accurately captured and detected through the first distances, so that the position change condition of the action part can be accurately detected through the embodiment of the application, and the subsequent stimulation accuracy of the stimulation signal is improved.
In some embodiments, before step S202, the method further includes:
step S301, determining a plurality of sampling time nodes according to the posture of the target object;
step S302, aiming at each sampling time node, acquiring an infrared image and second resistance information of the functional film at the sampling time node, wherein the infrared image comprises the action part and the functional film;
step S303, acquiring a second distance between the action part and the functional film from the infrared image;
step S304, establishing the resistance-distance mapping relationship according to the second distance and the second resistance information corresponding to each sampling time node.
In the embodiment of the application, a plurality of sampling time nodes are determined according to the posture of the target object, so that infrared images of the target object in different postures or motion states and the second resistance information of the functional film can be acquired at different sampling time nodes, and thus the resistance change conditions of the functional film and the position change conditions of the action part of the target object in different postures or motion states are determined.
In some embodiments, the infrared image may be further processed by an image processing method such as sharpness improvement and binarization to highlight the active portion in the infrared image.
It is to be understood that the infrared image may include images obtained by photographing different directions of the acting portion to acquire the second distance between the acting portion and the functional film from the infrared image.
The second distance between the action part and the functional film obtained in the infrared image may be determined according to a film arrangement manner of the functional film.
For example, if the functional film includes at least two film blocks, the distance between the acting portion and each film block may be obtained separately, or the distance between the acting portion and a feature point (e.g., a center point) on each film block may be obtained separately, and in this case, the number of the second distances may be more than one. Correspondingly, the second resistance information may also be determined according to a film arrangement manner of the functional film, for example, if the functional film includes at least two film blocks, the second resistance information may include a second resistance value of each film block, and the number of the second resistance values may be the same as the number of the second distances.
The following schematically illustrates an embodiment of the present application with a specific example.
Exemplary, as shown in fig. 4, is an exemplary schematic plan view of the functional film attached to the skin of the neck of the user. Wherein, as seen from the front view, the functional film comprises 4 film blocks. As can be seen from the side view, the functional film is located on the surface of the target object, the action portion is located inside the target object, and the functional film does not intersect with the action portion.
For each sampling time node, at the sampling time node, the second resistance values R1, R2, R3 and R4 respectively corresponding to 4 film blocks in the functional film may be obtained. And, an infrared image is acquired, from which second distances D1, D2, D3, and D4 between the acting portion and the center point of each film block, respectively, are recognized.
After the second resistance values (R1, R2, R3, R4) and the second distances (D1, D2, D3, D4) corresponding to each sampling time node are obtained, a personalized database about the target object can be established according to (R1, R2, R3, R4) and (D1, D2, D3, D4), and the resistance-distance mapping relationship is established by modeling and simulation and the like according to the personalized database.
In some embodiments, the establishing the resistance-distance mapping relationship according to the second distance and the second resistance information corresponding to each sampling time node includes:
generating a resistance change curve of the resistance value along with time according to the second resistance information of each sampling time node, wherein the longitudinal axis of the resistance change curve represents time;
generating a distance variation curve of the distance along with the time according to the second distance of each sampling time node, wherein the vertical axis of the distance variation curve represents the time;
and obtaining the resistance-distance mapping relation according to the resistance change curve and the distance change curve, wherein the resistance-distance mapping relation is a continuous mapping relation.
In the embodiment of the present application, a continuous resistance change curve may be obtained by fitting according to each discrete second resistance information, and a continuous distance change curve may be obtained by fitting according to each discrete second distance, where the longitudinal axes of the resistance change curve and the distance change curve are the same, so that the resistance change curve and the distance change curve may be associated according to the longitudinal axis, thereby obtaining the resistance-distance mapping relationship. At this time, the obtained resistance-distance mapping relationship is a continuous mapping, so that in application, the first relative position information corresponding to the first resistance information can be directly obtained by querying the resistance-distance mapping relationship, and the processing efficiency is improved.
Step S103, determining a signal generation parameter of a signal generator according to the first relative position information, wherein the signal generation parameter is used for the signal generator to generate a stimulation signal, and the stimulation signal is used for stimulating the action part.
In the embodiment of the present application, the specific type of the signal generator may be various. Illustratively, the signal generator may be an ultrasound transducer, and correspondingly, the stimulation signal may be an ultrasound signal; alternatively, the signal generator may be an electrical stimulation device (such as an implanted electrode, etc.), and accordingly, the stimulation signal may be an electrical signal; alternatively, the signal generator may be a magnetic stimulator, and correspondingly, the stimulation signal may be a magnetic signal.
Illustratively, the signal generation parameters may include at least one of position information of the signal generator, posture information, pulse setting information of the stimulation signal, and setting information of signal generation components (such as array elements, electrodes, etc.) in the signal generator. The signal generator may emit the stimulation signal in accordance with the signal generation parameter.
In the embodiment of the present application, there may be a plurality of specific ways for determining the signal generation parameter of the signal generator according to the first relative position information. For example, the change in the position of the working part with respect to the functional film may be determined by comparing the current relative position between the functional film and the working part with the initial relative position between the functional film and the working part in the first relative position information. In addition, the first relative position information and a preset relative position between the signal generator and the action part may be compared to determine a position deviation condition of the action part, where the preset relative position may indicate a predetermined relative position condition between the signal generator and the action part. After determining the position deviation condition of the action part, the historical signal generation parameters when the signal generator and the action part are at the preset relative position can be adjusted according to the position deviation condition of the action part, so as to obtain the current signal generation parameters. Furthermore, if the functional film is located on the signal generator, the first relative position information may be used to indicate a relative position between the signal generator and the functional film, and at this time, the signal generation parameter, for example, an offset angle of the signal generator with respect to the acting portion, or the like may be determined based on the first relative position.
In the embodiment of the present application, first resistance information of a functional thin film may be acquired, the functional thin film being attached to a surface of a target object, the target object corresponding to the surface including an action portion therein, and a resistance value of the functional thin film changing with a change in a form of the functional thin film, so that the first resistance information may indicate a change in the form of the surface of the target object; then, first relative position information between the action part and the functional film is determined according to the first resistance information and the preset corresponding relation between the resistance and the relative position, and at this time, the first relative position information can represent the position change situation of the action part after the form change of the surface of the target object, so that the signal generation parameter of the signal generator can be determined according to the first relative position information, so that the stimulation signal can accurately stimulate the action part, the stimulation deviation caused by the position change of the action part is reduced, and the stimulation accuracy of the signal generator on the action part is improved.
In some embodiments, the surface of the target subject is a cervical skin of a target user, and the acting portion is a vagus nerve of the neck of the target user.
The nervous system of the human body includes the central nervous system and the peripheral nervous system. The action part is the 10 th pair of 12 pairs of cranial nerves in the human body and belongs to a part of the peripheral nervous system. When viewed from the anatomical structure, the action part is emitted from the action part nucleus positioned at the inner side of the delayed brain, reaches the neck through the jugular vein hole, and then enters the chest and the abdomen. Researches show that electrical impulses can be sent to the brain by stimulating the vagus nerve of the neck in physical stimulation modes of electricity, magnetism, light and the like, so that the effect of regulating and controlling the cranial nerves is achieved, and the nerve stimulation device has great potential in the aspect of intervention of brain functional diseases.
Therefore, the functional membrane may be attached to the skin of the user's neck and located outside the vagus nerve of the user's neck, and at this time, the acquired first resistance information may represent a morphological change of the skin outside the vagus nerve of the user's neck.
At this time, the first relative position information may be relative position information between the vagus nerve and the functional membrane.
Wherein, since the vagus nerve accompanies a blood vessel of a human body, the location of the vagus nerve may be determined by detecting the location of the blood vessel to which the vagus nerve is adjacent. Thus, an infrared image containing the vagus nerve and the functional membrane may be acquired at each sampling time node before the resistance-distance mapping relationship is established. Since hemoglobin in blood absorbs more infrared rays than other tissues, blood vessels can be distinguished from other tissues through infrared images, thereby determining the positions of the corresponding blood vessels. In addition, the infrared image can be processed by image processing methods such as contrast improvement, sharpness improvement, binarization and the like so as to highlight the color and the form of the blood vessel and obtain the blood vessel distribution position with clear boundary. In some embodiments, the infrared image may be acquired by a near-infrared imaging method to improve the clarity of blood vessels in the infrared image.
As can be seen, in the embodiment of the present application, first resistance information of the functional membrane may be obtained, and the first resistance information may represent a morphological change condition of the lateral skin of the vagus nerve of the neck of the user; then, first relative position information between the vagus nerve and the functional membrane is determined according to the first resistance information and a preset corresponding relation between the resistance and the relative position, at this time, the first relative position information can represent the position change situation of the vagus nerve after the form change of the lateral skin of the vagus nerve, therefore, a signal generation parameter can be determined according to the first relative position information to reduce the stimulation deviation caused by the position change of the vagus nerve, thereby improving the accuracy of the signal generator for stimulating the vagus nerve.
In some embodiments, the stimulation signal is an ultrasound signal and the signal generator is an ultrasound transducer;
the step S103 may include:
determining the position of the ultrasonic transducer according to the first relative position information and a preset relative position between the signal generator and the action part;
or, determining the position of the triggered array elements and/or the number of the triggered array elements in the ultrasonic transducer according to the first relative position information, wherein the ultrasonic transducer comprises at least two array elements, and each array element is used for emitting the ultrasonic signal.
At present, a great deal of research proves that the ultrasonic signals can effectively stimulate nerves, thereby realizing nerve regulation. For example, in some application scenarios, an ultrasound signal may be emitted by an ultrasound transducer, which may non-invasively penetrate human tissue and focus at a depth location within the human body, and may enable the stimulation signal to cover the active portion.
Wherein, the specific type of the ultrasonic transducer can be determined according to the actual application scene. Illustratively, the type of the ultrasonic transducer may be one of three types:
1. the ultrasonic transducer may be a patch type ultrasonic transducer.
The patch type ultrasonic transducer can comprise a plurality of array elements, and each array element is a unit capable of sending an ultrasonic signal. Generally, each array element is controlled by a corresponding independent data processing module, and each independent data processing module may be integrated in the same device or may be located in different devices.
The patch type ultrasonic transducer can be marked with positioning mark points. After the patch type ultrasonic transducer is attached to the surface of the target object, the relative position between the patch type ultrasonic transducer and the action part can be calculated according to the electronic computed tomography image, the magnetic resonance imaging image or the ultrasonic image of the action part and the positioning mark point to serve as the preset relative distance. After the first relative position information is acquired, whether the position of the patch type transducer changes or not can be determined according to the first relative position information, so that different array elements are selectively excited, the focus point of the ultrasonic signal is dynamically adjusted, and accurate stimulation to an action part is realized.
2. The ultrasound transducer may be an ultrasound transducer for a lying posture.
To increase the comfort of the ultrasound stimulation procedure, the target subject may be stimulated while in a recumbent state.
For example, if the target object is a patient and the surface of the target object is the neck skin of the patient, the patient can use the matching water bag with a U shape on the neck of the patient after lying in the treatment bed, and the patient can move the head and the neck freely. The ultrasonic transducer for the lying posture is contacted with the neck skin after passing through the matching water sac, and at the moment, the ultrasonic signal is hardly attenuated.
The ultrasonic transducer for lying postures can also comprise a plurality of array elements. After the first relative position information is acquired, whether the position of the patch type transducer for the lying posture is changed or not can be determined according to the first relative position information, so that different array elements are selectively excited, the focus point of the ultrasonic signal is dynamically adjusted, and accurate stimulation to an action part is realized.
3. The ultrasound transducer may be a head-mounted ultrasound transducer.
When the head-mounted ultrasonic transducer is adopted to perform the action part stimulation operation on the target object, the target object can be in a relatively fixed state of the head, and the head-mounted ultrasonic transducer can be adjusted in at least one dimension of three dimensions of the up-down direction, the axial direction and the circumferential direction according to a control signal of a control unit of the head-mounted ultrasonic transducer. After the first relative position information is acquired, whether the position of the head-mounted ultrasonic transducer changes or not can be determined according to the first relative position information, so that the position of the ultrasonic transducer is adjusted, and accurate stimulation to an action part is realized.
In the embodiment of the present application, the action portion may be stimulated by using an ultrasonic signal generated by an ultrasonic transducer. In addition, when the target object is a human body, the ultrasonic transducer can realize non-invasive stimulation to an action part in the human body, does not need to be implanted into the human body, reduces the injury to the human body, is easy to adjust and has reasonable price. It can be seen that the use of an ultrasound transducer to stimulate the active portion has the advantages of being safe, non-invasive and easy to adjust.
In some embodiments, the step S103 includes:
comparing the current relative position between the functional film and the action part with the initial relative position between the functional film and the action part in the first relative position information to obtain a comparison result;
determining the deviation of the stimulation target point position on the action part compared with a preset target point position according to the comparison result;
and determining a signal generation parameter of the signal generator according to the deviation.
In the embodiment of the application, the comparison result may represent a change of the position of the action part relative to the functional film, so that the deviation of the stimulation target position on the action part relative to a preset target position may be determined according to the deviation of the action part. For example, the position offset amount of the action part obtained in the comparison result may be used as the offset of the stimulation target position, or the position offset amount of the action part obtained in the comparison result may be converted according to an angular relationship in an actual space to obtain the offset of the stimulation target position.
In some embodiments, after calibrating the stimulation signal of the signal generator, the method further comprises:
step S501, instructing the signal generator to send out a stimulation signal according to the signal generation parameter;
step S502, after the stimulation signal is sent out, acquiring physiological characteristic data of the target object and/or image data related to the target object;
step S503, evaluating the stimulation effect of the stimulation signal according to the physiological characteristic data and/or the image data;
step S504, according to the stimulation effect, whether to adjust the signal generation parameter of the stimulation signal of the signal generator is determined.
In an embodiment of the present application, the physiological characteristic data may include at least one of electroencephalogram data, electrocardiograph data, myoelectricity data, heart rate, body temperature, and blood oxygen data (such as blood oxygen saturation). The image data may include at least one of an ultrasound image, a Magnetoencephalogram (MEG), a Computed Tomography (CT) image, a Magnetic Resonance Imaging (MRI), and a Magnetic Resonance Spectroscopy (MRS). For example, the signal generation parameters of the stimulation signal may include total stimulation duration, pulse stimulation time in one pulse period, rest time in one pulse period, pulse center frequency, pulse repetition frequency, pulse duration, fundamental frequency, fundamental number, and pulse number. The value of each signal generation parameter can be determined according to information such as the disease type, the severity of a lesion, and the position depth (fat and muscle thickness) of an action part of the target object.
For example, the parameter range of the signal generation parameter of the stimulation signal may be:
pulse center frequency: 0.5 MHz-20 MHz;
pulse repetition frequency: 0.5Hz, 1Hz, 5Hz, 10Hz, 50Hz, 100Hz, 250Hz, 500Hz, or 100 Hz;
pulse duration: 0.1 millisecond to 1 second;
pulse stimulation time in one pulse cycle: 1 second to 1 minute;
intermittent time in one pulse period: 20 seconds to 20 minutes;
total stimulation time: 10 minutes to 2 hours.
It should be noted that, in the embodiment of the present application, the device for acquiring the physiological characteristic data and/or the image data about the target object may be integrated in a terminal device for executing the embodiment of the present application; in addition, the terminal device may also be an external device of the terminal device, and at this time, the terminal device may acquire the physiological characteristic data and/or the image data from a device that acquires the physiological characteristic data and/or the image data about the target object in a specified information transmission manner.
According to the physiological characteristic data of the target object and/or the image data of the target object, evaluation items such as various sign changes of the target object can be evaluated, and therefore the stimulation effect of the stimulation signal is determined according to the evaluation results of the evaluation items. In some examples, the stimulation effect of the stimulation signal may be evaluated according to physiological characteristic data and/or image data within a specified time period to improve the accuracy of the evaluation.
After the stimulation effect of the stimulation signal is evaluated, whether the signal generation parameter of the stimulation signal of the signal generator is adjusted or not can be determined according to the stimulation effect, so that the regulation and control mode of the action part of the target object can be continuously adjusted, and the treatment effect is continuously improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Example 2
The embodiment of the application provides a generation device of a stimulation signal, which can be integrated in a terminal device.
Fig. 6 shows a block diagram of a device for generating a stimulation signal according to an embodiment of the present application, and for convenience of description, only the parts related to the embodiment of the present application are shown.
Referring to fig. 6, the stimulation signal generating device 6 includes:
an obtaining module 601, configured to obtain first resistance information of a functional thin film, where the functional thin film is attached to a surface of a target object, the target object corresponding to the surface includes an action portion inside, and a resistance value of the functional thin film changes with a form change of the functional thin film;
a relative position determining module 602, configured to determine first relative position information between the action portion and the functional film according to the first resistance information and a preset corresponding relationship between the resistance and the relative position;
a parameter determining module 603, configured to determine, according to the first relative position information, a signal generation parameter of a signal generator, where the signal generation parameter is used for the signal generator to generate a stimulation signal, and the stimulation signal is used for stimulating the acting portion.
Optionally, the surface of the target object is a cervical skin of a target user, and the acting part is a vagus nerve of the neck of the target user.
Optionally, the preset corresponding relationship between the resistance and the relative position is represented by a preset resistance-distance mapping relationship.
Optionally, the functional thin film includes at least two thin film blocks, each thin film block includes a thin film feature point, the first resistance information includes a first resistance value corresponding to each thin film block in the functional thin film, the first relative position information includes a first distance between the action portion and each thin film feature point, the resistance-distance mapping relationship includes a mapping relationship between a resistance value set and a distance set, and the number of elements included in each resistance value set and each distance set is the same as the number of the thin film blocks.
Optionally, the stimulation signal generating device 5 further includes:
the node determination module is used for determining a plurality of sampling time nodes according to the posture of the target object;
the second acquisition module is used for acquiring an infrared image and acquiring second resistance information of the functional film at each sampling time node, wherein the infrared image comprises the action part and the functional film;
the third acquisition module is used for acquiring a second distance between the action part and the functional film from the infrared image;
and the establishing module is used for establishing the resistance-distance mapping relation according to the second distance corresponding to each sampling time node and the second resistance information.
Optionally, the establishing module includes:
the first generation unit is used for generating a resistance change curve of the resistance value along with time according to the second resistance information of each sampling time node, wherein the vertical axis of the resistance change curve represents time;
a second generating unit, configured to generate a distance variation curve of distance with time according to a second distance of each of the sampling time nodes, where a vertical axis of the distance variation curve represents time;
and the processing unit is used for obtaining the resistance-distance mapping relation according to the resistance change curve and the distance change curve, wherein the resistance-distance mapping relation is a continuous mapping relation.
Optionally, the stimulation signal is an ultrasonic signal, and the signal generator is an ultrasonic transducer;
the parameter determination module is to:
determining the position of the ultrasonic transducer according to the first relative position information and a preset relative position between the signal generator and the action part;
or, determining the position of the triggered array elements and/or the number of the triggered array elements in the ultrasonic transducer according to the first relative position information, wherein the ultrasonic transducer comprises at least two array elements, and each array element is used for emitting the ultrasonic signal.
Optionally, the parameter determining module includes:
a comparison unit, configured to compare the current relative position between the functional film and the action part with the initial relative position between the functional film and the action part in the first relative position information, so as to obtain a comparison result;
the first determining unit is used for determining the deviation of the stimulation target point position on the action part compared with a preset target point position according to the comparison result;
and the second determining unit is used for determining the signal generation parameters of the signal generator according to the offset.
Optionally, the stimulation signal calibration apparatus 5 further includes:
the indicating module is used for indicating the signal generator to send out a stimulation signal according to the signal generating parameter;
the fourth acquisition module is used for acquiring physiological characteristic data of the target object and/or image data related to the target object after the stimulation signal is sent out;
the evaluation module is used for evaluating the stimulation effect of the stimulation signal according to the physiological characteristic data and/or the image data;
and the parameter determining module is used for determining whether to adjust the signal generation parameters of the stimulation signals of the signal generator according to the stimulation effect.
In the embodiment of the present invention, first resistance information of a functional thin film may be acquired, where the functional thin film is attached to a surface of a target object, the target object corresponding to the surface includes an action portion therein, and a resistance value of the functional thin film changes with a change in a form of the functional thin film, so that the first resistance information may indicate a change in the form of the surface of the target object; then, first relative position information between the action part and the functional film is determined according to the first resistance information and the preset corresponding relation between the resistance and the relative position, and at this time, the first relative position information can represent the position change situation of the action part after the form change of the surface of the target object, so that the signal generation parameter of the signal generator can be determined according to the first relative position information, so that the stimulation signal can accurately stimulate the action part, the stimulation deviation caused by the position change of the action part is reduced, and the stimulation accuracy of the signal generator on the action part is improved.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
Example 3
Fig. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in fig. 7, the terminal device 7 of this embodiment includes: at least one processor 70 (only one is shown in fig. 7), a memory 71, and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, wherein the processor 70 implements the steps in any of the above-mentioned respective stimulation signal generation method embodiments when executing the computer program 72.
The terminal device 7 may be a server, a mobile phone, a wearable device, an Augmented Reality (AR)/Virtual Reality (VR) device, a desktop computer, a notebook, a desktop computer, a palmtop computer, or other computing devices. The terminal device may include, but is not limited to, a processor 70, a memory 71. Those skilled in the art will appreciate that fig. 7 is merely an example of the terminal device 7, and does not constitute a limitation of the terminal device 7, and may include more or less components than those shown, or combine some of the components, or different components, such as may also include input devices, output devices, network access devices, etc. The input device may include a keyboard, a touch pad, a fingerprint sensor (for collecting fingerprint information of a target object and direction information of a fingerprint), a microphone, a camera, and the like, and the output device may include a display, a speaker, and the like.
The Processor 70 may be a Central Processing Unit (CPU), and the Processor 70 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 71 may be an internal storage unit of the terminal device 7, such as a hard disk or a memory of the terminal device 7. In other embodiments, the memory 71 may also be an external storage device of the terminal device 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 7. Further, the memory 71 may include both an internal storage unit and an external storage device of the terminal device 7. The memory 71 is used for storing an operating system, an application program, a Boot Loader (Boot Loader), data, and other programs, such as program codes of the computer programs. The above-mentioned memory 71 may also be used to temporarily store data that has been output or is to be output.
In addition, although not shown, the terminal device 7 may further include a network connection module, such as a bluetooth module Wi-Fi module, a cellular network module, and the like, which is not described herein again.
In an embodiment of the present invention, when the processor 70 executes the computer program 72 to implement the steps of any of the above-mentioned embodiments of the method for generating a stimulus signal, first resistance information of a functional thin film may be acquired, wherein the functional thin film is attached to a surface of a target object, the target object corresponding to the surface includes an action portion therein, and a resistance value of the functional thin film changes according to a form change of the functional thin film, so that the first resistance information may indicate a form change of the surface of the target object; then, first relative position information between the action part and the functional film is determined according to the first resistance information and the preset corresponding relation between the resistance and the relative position, and at this time, the first relative position information can represent the position change situation of the action part after the form change of the surface of the target object, so that the signal generation parameter of the signal generator can be determined according to the first relative position information, so that the stimulation signal can accurately stimulate the action part, the stimulation deviation caused by the position change of the action part is reduced, and the stimulation accuracy of the signal generator on the action part is improved.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above method embodiments.
The embodiments of the present application provide a computer program product, which when running on a terminal device, enables the terminal device to implement the steps in the above method embodiments when executed.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the processes in 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 can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. The computer program includes computer program code, and the computer program code may be in a source code form, an object code form, an executable file or some intermediate form. The computer-readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/device and method may be implemented in other ways. For example, the above-described apparatus/device embodiments are merely illustrative, and for example, the division of the above modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (20)
1. A method of generating a stimulation signal, comprising:
acquiring first resistance information of a functional thin film, wherein the functional thin film is attached to the surface of a target object, the target object corresponding to the surface internally comprises an action part, and the resistance value of the functional thin film changes along with the form change of the functional thin film;
determining first relative position information between the action part and the functional film according to the first resistance information and a preset corresponding relation between the resistance and the relative position;
and determining a signal generation parameter of a signal generator according to the first relative position information, wherein the signal generation parameter is used for the signal generator to generate a stimulation signal, and the stimulation signal is used for stimulating the action part.
2. The method of generating a stimulation signal according to claim 1, wherein the surface of the target subject is a cervical skin of a target user and the acting portion is a vagus nerve of the neck of the target user.
3. A method of generating a stimulation signal according to claim 1, characterized in that the preset correspondence between the resistance and the relative position is represented by a preset resistance-distance mapping.
4. The method according to claim 3, wherein the functional thin film includes at least two thin film blocks, each thin film block includes a thin film feature point, the first resistance information includes a first resistance value corresponding to each thin film block in the functional thin film, the first relative position information includes a first distance between the action portion and each thin film feature point, the resistance-distance mapping relationship includes a mapping relationship between a resistance value set and a distance set, and the number of elements included in each of the resistance value set and each of the distance set is the same as the number of the thin film blocks.
5. The method for generating a stimulation signal according to claim 3, further comprising, before determining first relative position information between the action part and the functional film based on the first resistance information and a preset correspondence between resistance and relative position:
determining a plurality of sampling time nodes according to the posture of the target object;
acquiring an infrared image and second resistance information of the functional film at each sampling time node, wherein the infrared image comprises the action part and the functional film;
acquiring a second distance between the action part and the functional film from the infrared image;
and establishing the resistance-distance mapping relation according to the second distance corresponding to each sampling time node and the second resistance information.
6. The method for generating a stimulation signal according to claim 5, wherein the establishing the resistance-distance mapping relationship according to the second distance and the second resistance information corresponding to each sampling time node comprises:
generating a resistance change curve of the resistance value along with time according to the second resistance information of each sampling time node, wherein the longitudinal axis of the resistance change curve represents time;
generating a distance variation curve of the distance along with the time according to the second distance of each sampling time node, wherein the vertical axis of the distance variation curve represents the time;
and obtaining the resistance-distance mapping relation according to the resistance change curve and the distance change curve, wherein the resistance-distance mapping relation is a continuous mapping relation.
7. The method for generating a stimulation signal according to claim 1, wherein the stimulation signal is an ultrasound signal, and the signal generator is an ultrasound transducer;
the determining the signal generation parameters of the signal generator according to the first relative position information comprises:
determining the position of the ultrasonic transducer according to the first relative position information and a preset relative position between the signal generator and the action part;
or, determining the position of the triggered array elements and/or the number of the triggered array elements in the ultrasonic transducer according to the first relative position information, wherein the ultrasonic transducer comprises at least two array elements, and each array element is used for emitting the ultrasonic signal.
8. A method of generating a stimulation signal according to claim 1, wherein determining signal generation parameters of a signal generator based on the first relative position information comprises:
comparing the current relative position between the functional film and the action part with the initial relative position between the functional film and the action part in the first relative position information to obtain a comparison result;
determining the deviation of the stimulation target point position on the action part compared with a preset target point position according to the comparison result;
and determining a signal generation parameter of the signal generator according to the deviation.
9. A method of generating a stimulation signal according to any of the claims 1 to 8, characterized in that after determining the signal generation parameters of the signal generator, it further comprises:
instructing the signal generator to emit a stimulation signal according to the signal generation parameter;
acquiring physiological characteristic data of the target object and/or image data about the target object after the stimulation signal is emitted;
evaluating the stimulation effect of the stimulation signal according to the physiological characteristic data and/or the image data;
and determining whether to adjust the signal generation parameters of the stimulation signals of the signal generator according to the stimulation effect.
10. A device for generating a stimulation signal, comprising:
the device comprises an acquisition module, a detection module and a processing module, wherein the acquisition module is used for acquiring first resistance information of a functional thin film, the functional thin film is attached to the surface of a target object, the target object corresponding to the surface comprises an action part inside, and the resistance value of the functional thin film changes along with the form change of the functional thin film;
the relative position determining module is used for determining first relative position information between the action part and the functional film according to the first resistance information and a preset corresponding relation between the resistance and the relative position;
and the parameter determining module is used for determining a signal generation parameter of a signal generator according to the first relative position information, wherein the signal generation parameter is used for the signal generator to generate a stimulation signal, and the stimulation signal is used for stimulating the action part.
11. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:
acquiring first resistance information of a functional thin film, wherein the functional thin film is attached to the surface of a target object, the target object corresponding to the surface internally comprises an action part, and the resistance value of the functional thin film changes along with the form change of the functional thin film;
determining first relative position information between the action part and the functional film according to the first resistance information and a preset corresponding relation between the resistance and the relative position;
and determining a signal generation parameter of a signal generator according to the first relative position information, wherein the signal generation parameter is used for the signal generator to generate a stimulation signal, and the stimulation signal is used for stimulating the action part.
12. The terminal device of claim 11, wherein the surface of the target object is a cervical skin of a target user and the acting portion is a vagus nerve of the neck of the target user.
13. The terminal device according to claim 11, wherein the preset correspondence between the resistance and the relative position is represented by a preset resistance-distance mapping relationship.
14. The terminal device according to claim 13, wherein the functional thin film includes at least two thin film blocks, each thin film block includes a thin film feature point, the first resistance information includes a first resistance value corresponding to each thin film block in the functional thin film, the first relative position information includes a first distance between the action portion and each thin film feature point, the resistance-distance mapping relationship includes a mapping relationship between a set of resistance values and a set of distances, and the number of elements included in each set of resistance values and each set of distances is the same as the number of thin film blocks.
15. The terminal device according to claim 13, wherein the processor, when executing the computer program, further comprises, before determining first relative position information between the acting portion and the functional film based on the first resistance information and a preset correspondence between resistance and relative position:
determining a plurality of sampling time nodes according to the posture of the target object;
acquiring an infrared image and second resistance information of the functional film at each sampling time node, wherein the infrared image comprises the action part and the functional film;
acquiring a second distance between the action part and the functional film from the infrared image;
and establishing the resistance-distance mapping relation according to the second distance corresponding to each sampling time node and the second resistance information.
16. The terminal device of claim 15, wherein the processor, when executing the computer program, establishes the resistance-distance mapping relationship according to the second distance and the second resistance information corresponding to each sampling time node, and includes:
generating a resistance change curve of the resistance value along with time according to the second resistance information of each sampling time node, wherein the longitudinal axis of the resistance change curve represents time;
generating a distance variation curve of the distance along with the time according to the second distance of each sampling time node, wherein the vertical axis of the distance variation curve represents the time;
and obtaining the resistance-distance mapping relation according to the resistance change curve and the distance change curve, wherein the resistance-distance mapping relation is a continuous mapping relation.
17. The terminal device of claim 11, wherein the stimulation signal is an ultrasonic signal and the signal generator is an ultrasonic transducer;
the determining the signal generation parameters of the signal generator according to the first relative position information comprises:
determining the position of the ultrasonic transducer according to the first relative position information and a preset relative position between the signal generator and the action part;
or, determining the position of the triggered array elements and/or the number of the triggered array elements in the ultrasonic transducer according to the first relative position information, wherein the ultrasonic transducer comprises at least two array elements, and each array element is used for emitting the ultrasonic signal.
18. The terminal device of claim 11, wherein the processor, when executing the computer program, determines signal generation parameters of a signal generator based on the first relative position information, comprising:
comparing the current relative position between the functional film and the action part with the initial relative position between the functional film and the action part in the first relative position information to obtain a comparison result;
determining the deviation of the stimulation target point position on the action part compared with a preset target point position according to the comparison result;
and determining a signal generation parameter of the signal generator according to the deviation.
19. The terminal device according to any of claims 11 to 18, wherein the processor, when executing the computer program, further comprises, after determining the signal generation parameters of the signal generator:
instructing the signal generator to emit a stimulation signal according to the signal generation parameter;
acquiring physiological characteristic data of the target object and/or image data about the target object after the stimulation signal is emitted;
evaluating the stimulation effect of the stimulation signal according to the physiological characteristic data and/or the image data; and determining whether to adjust the signal generation parameters of the stimulation signals of the signal generator according to the stimulation effect.
20. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out a method of generating a stimulation signal according to any one of claims 1 to 9.
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| JP2001005601A (en) * | 1999-06-17 | 2001-01-12 | Sony Corp | Electric stimulus device, inner force sense presenting device using electric stimulus and method for controlling these devices |
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