CN116350940A - Electrical stimulation system, electrical stimulation device, method for controlling excitation pulse signal, and storage medium - Google Patents

Abstract

The invention provides an electric stimulation system and equipment thereof, a regulation and control method of an excitation pulse signal and a storage medium, wherein the system comprises a main control module and an electric stimulation module; a clock unit is arranged in the main control module and is used for clock cycle timing according to a preset basic value; the main control module is used for controlling the electric stimulation module to output an excitation pulse signal to the treatment object; the main control module adjusts the period and the duty ratio of the excitation pulse signal according to the number of times of the cyclic timing of the clock unit, and enables the pulse width of the excitation pulse signal to be output according to the integral multiple basic value clock. As above, the period and the duty ratio of the excitation pulse signal can be adjusted in real time through the set clock unit, so that the frequency and the pulse width can be adjusted, on one hand, the frequency and the pulse width of the excitation pulse signal can be continuously adjusted along with the treatment process, the treatment experience and the treatment effect of a patient can be improved, and on the other hand, pulse waves with different frequencies and pulse widths can be adopted for different patients and different indications of the patients.

Description

Electrical stimulation system, electrical stimulation device, method for controlling excitation pulse signal, and storage medium

Technical Field

The invention relates to the technical field of medical equipment, in particular to an electric stimulation system and equipment thereof, a regulation and control method of an excitation pulse signal and a storage medium.

Background

Low frequency electric stimulation is very commonly used clinically, but at present, a medical unit or a household basically adopts a constant voltage source mode to output a stimulation pulse wave when using the low frequency electric stimulation, or adopts a constant voltage source mode of a medium frequency mode to output the stimulation pulse wave. In recent years, low-frequency electric stimulation devices are also developed, but the waveforms of the stimulation pulse waves are usually symmetric rectangular waves or unidirectional waves, the waveforms, the frequencies and the pulse widths of the whole stimulation pulse waves are basically unchanged under the condition that the frequencies, the pulse widths and the intensity of the stimulation pulse waves are not manually adjusted in the whole treatment process, and meanwhile, the constant-voltage source mode is adopted for outputting the stimulation pulse waves, so that the impedance of a human body stimulation part is reduced in the whole stimulation process, and a patient feels uncomfortable due to slight stinging.

The mode of controlling the stimulation pulse wave is advanced compared with the mode of the constant voltage source, the current loop mode is adopted for controlling the stimulation intensity of the stimulation pulse wave, but the current loop mode only provides a current source form for controlling the intensity of the stimulation pulse wave, and different waveforms and frequencies of the stimulation pulse wave cannot be adopted for different parts and different indications of a patient.

Disclosure of Invention

The invention aims to provide an electric stimulation system, equipment thereof, a regulation and control method of an excitation pulse signal and a storage medium, which are used for solving the problem that the existing equipment mostly outputs stimulation pulse waves with constant frequency and pulse width, so that the stimulation pulse waves with different frequencies and pulse widths cannot be adopted for different patients and different indications of the patients.

In order to solve the technical problem, based on the first aspect of the present invention, the present invention provides an electrical stimulation system, which includes a main control module and an electrical stimulation module, wherein a clock unit is provided in the main control module, the clock unit clocks according to a preset basic value, the electrical stimulation module outputs an excitation pulse signal under the control of the main control module, and the main control module adjusts the period and the duty ratio of the excitation pulse signal according to the number of times the clock unit clocks, and enables the pulse width of the excitation pulse signal to be output according to an integer multiple of the basic value.

Optionally, the main control module drives the electric stimulation module to output the excitation pulse signal according to a plurality of pulse groups, and a time interval is arranged between two adjacent pulse groups.

Optionally, the frequency of the pulses in the pulse group is gradually increased or decreased.

Optionally, the absolute value of the amplitude of at least some of the pulses in the pulse train is gradually increased from the first desired value to the second desired value.

Optionally, the pulse polarities of at least two of the pulse groups are opposite.

Optionally, the electrical stimulation module includes:

the voltage adjusting circuit is provided with an input end for inputting power supply voltage, and the main control module is used for controlling the voltage adjusting circuit to adjust the power supply voltage to a preset voltage and output the power supply voltage;

the H-bridge circuit comprises an upper arm left bridge, an upper arm right bridge, a lower arm left bridge and a lower arm right bridge, wherein the upper arm left bridge and the upper arm right bridge are used for acquiring the preset voltage; the main control module is used for controlling the time and frequency of the simultaneous conduction of the upper arm left bridge and the lower arm right bridge or controlling the time and frequency of the simultaneous conduction of the upper arm right bridge and the lower arm left bridge according to the times of the cyclic timing of the clock unit;

and the main control module is used for controlling the constant current adjusting circuit to adjust the current value of the excitation pulse signal transmitted by the H bridge circuit.

Optionally, the voltage adjustment unit includes:

the first end of the energy storage inductor is used as the input end of the voltage regulating circuit;

the positive end of the first diode is connected with the second end of the energy storage inductor, and the reverse end of the first diode is used as the output end of the voltage regulating circuit;

the input end of the switching tube is connected between the energy storage inductor and the first diode, the output end of the switching tube is grounded, the control end of the switching tube is connected to the main control module, and the main control module is used for adjusting the switching frequency of the switching tube.

Optionally, the main control module includes a PWM generating circuit, and the PWM generating circuit is connected to the control end of the switching tube.

Optionally, the PWM generation circuit includes:

the two input ends of the AND gate are respectively used for acquiring a first level signal and a second level signal, and the output end of the AND gate is connected to the control end of the switching tube through a first resistor;

a first capacitor connected in parallel with the first resistor.

Optionally, the switching tube is an NMOS tube, the input end of the switching tube is the drain electrode of the NMOS tube, the output end of the switching tube is the source electrode of the NMOS tube, and the control end of the switching tube is the gate electrode of the NMOS tube;

Or the switching tube is an NPN triode, the input end of the switching tube is a collector electrode of the NPN triode, the output end of the switching tube is an emitter electrode of the NPN triode, and the control end of the switching tube is a base electrode of the NPN triode.

Optionally, the upper arm left bridge includes a first triode and a second triode, where an emitter of the first triode and an emitter of the second triode are used together as an input end of the upper arm left bridge to obtain the preset voltage; the collector of the first triode and the collector of the second triode are used as the output end of the upper arm left bridge together; the base electrode of the first triode and the base electrode of the second triode are used for jointly acquiring a first bias signal;

the upper arm right bridge comprises a third triode and a fourth triode, and an emitter of the third triode and an emitter of the fourth triode are used as input ends of the upper arm right bridge together so as to acquire the preset voltage; the collector of the third triode and the collector of the fourth triode are used as the output end of the upper arm right bridge together; the base electrode of the third triode and the base electrode of the fourth triode are used for jointly acquiring a second bias signal;

The lower arm left bridge comprises a fifth triode and a sixth triode, and a collector of the fifth triode and a collector of the sixth triode are used as input ends of the lower arm left bridge together; the emitter of the fifth triode and the emitter of the sixth triode are used as the output end of the lower arm left bridge together and are grounded; the bases of the fifth triode and the sixth triode are used for jointly acquiring a third bias signal;

the lower arm right bridge comprises a seventh triode and an eighth triode, and a collector electrode of the seventh triode and a collector electrode of the eighth triode are used as input ends of the lower arm right bridge together; the emitter of the seventh triode and the emitter of the eighth triode are used as the output end of the lower arm right bridge together and are grounded; the bases of the fifth triode and the sixth triode are used for jointly acquiring a fourth bias signal;

the first triode, the second triode and the third triode are PNP type triodes, and the fifth triode, the eighth triode and the third triode are NPN type triodes.

Optionally, the constant current adjusting circuit includes a first amplifier and a second capacitor, the non-inverting input end of the first amplifier is connected to the main control module to obtain the excitation voltage provided by the main control module, the non-inverting input end of the first amplifier is grounded through the second capacitor, the inverting input end of the first amplifier is connected to the output end of the first amplifier, and the output end of the first amplifier is used for being connected to the lower arm left bridge and the lower arm right bridge.

Optionally, the constant current adjusting circuit is connected with the main control module through a voltage follower.

Based on a second aspect of the present invention, the present invention also provides an electro-stimulation device comprising an electro-stimulation system as described above and an electrode set for connection with a subject, the electro-stimulation module outputting the excitation pulse signal to the subject via the electrode set.

Based on the third aspect of the present invention, the present invention also provides a method for regulating and controlling an excitation pulse signal, which includes:

providing an excitation pulse signal and a clock signal, wherein the clock signal reflects the number of times of clock cycle timing according to a basic value;

and controlling the period and the duty ratio of the excitation pulse signal according to the clock signal reflecting the timing times, and enabling the pulse width of the excitation pulse signal to be an integral multiple of the basic value clock.

Optionally, the method includes outputting the excitation pulse signal in a plurality of pulse groups with a time interval between two adjacent pulse groups.

Optionally, the method comprises progressively increasing or decreasing the frequency of pulses in the pulse train.

Optionally, the method comprises causing the absolute value of the amplitude of at least some of the pulses in the pulse train to be gradually increased from a first desired value to a second desired value.

Optionally, the method comprises reversing the pulse polarity of at least two of the pulse groups.

Based on the fourth aspect of the present invention, the present invention also provides a storage medium having stored thereon a readable and writable program which, when executed, enables the regulation method of the excitation pulse signal as described above.

In summary, in the electrical stimulation system, the device thereof, the method for regulating and controlling the excitation pulse signal and the storage medium provided by the invention, the electrical stimulation system comprises a main control module and an electrical stimulation module, wherein a clock unit is arranged in the main control module, the clock unit is clocked according to a preset basic value clock, the electrical stimulation module outputs the excitation pulse signal to a treatment object under the control of the main control module, and the main control module adjusts the period and the duty ratio of the excitation pulse signal according to the number of times of the clock unit clock, and enables the pulse width of the excitation pulse signal to be clocked according to the basic value of integer multiples. According to the configuration, the period and the duty ratio of the excitation pulse signals output by the electric stimulation module can be adjusted in real time through the set clock unit, so that the frequency and the pulse width of the excitation pulse signals can be adjusted in real time, the frequency and the pulse width of the excitation pulse signals output by the electric stimulation module to a treatment object can be adjusted continuously along with the treatment process, the treatment experience and the treatment effect of a patient can be improved, and pulse waves with different frequencies and pulse widths can be adopted for different patients and different indications of the patient. In addition, the frequency of the excitation pulse signal can be gradually increased as the treatment process proceeds, so that the effective current value of the excitation pulse signal can be increased.

Drawings

It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation on the scope of the invention. Wherein:

FIG. 1 is a schematic diagram of an electrical stimulation system according to one embodiment of the invention;

FIG. 2 is a block diagram of an electrical stimulation system according to one embodiment of the invention;

fig. 3 is a circuit diagram of a voltage adjusting circuit and a PWM generating circuit according to an embodiment of the present invention;

FIG. 4 is a circuit diagram of an upper left arm bridge and an upper right arm bridge of an embodiment of the present invention;

FIG. 5 is a circuit diagram of a lower arm left bridge and a lower arm right bridge of an embodiment of the present invention;

FIG. 6 is a schematic illustration of an electrode assembly according to an embodiment of the present invention mated with a subject;

fig. 7 is a circuit diagram of a constant current adjusting circuit according to an embodiment of the present invention;

FIG. 8 is a circuit diagram of a voltage follower according to an embodiment of the present invention;

FIG. 9 is a circuit diagram of a current detection circuit according to an embodiment of the present invention;

fig. 10 is a timing diagram of an excitation pulse signal according to an embodiment of the present invention.

In the accompanying drawings:

10-a main control module; 11-a clock unit; a 12-PWM generating circuit; 13-serial port; 14-an interrupt management unit; 15-a Flash unit; 16-watchdog unit;

20-an electrical stimulation module; 21-a voltage regulation circuit; 22-a constant current adjusting circuit; h1-upper arm left bridge; h2-upper arm right bridge; h3-lower arm left bridge; h4-lower arm right bridge;

30-electrode set; 31-a first electrode; 32-a second electrode;

40-a voltage detection module; 50-battery module; 60-third party means; a 70-H bridge control module; 80-a current detection module; a 90-voltage follower; x-treating a subject;

r1-a first resistor; r2-a second resistor; r3-a third resistor; r4-fourth resistor; r5-fifth resistor; r6-sixth resistance; r7-seventh resistor; r8-eighth resistor; r9-ninth resistance; r10-tenth resistor; r11-eleventh resistor; r12-twelfth resistor;

c1-a first capacitance; a second capacitor; a C3-third capacitor; c4-fourth capacitance; c5-fifth capacitance;

q0-switching tube; q1-a first triode; q2-a second triode; q3-a third triode; q4-fourth triode; q5-a fifth triode; q6-a sixth triode; q7-seventh triode; q8-eighth triode; q9-a first switching tube; q10-a second switching tube;

d1-a first diode; d2—a second diode; d3-a third diode;

U0-AND gate; u1-a first amplifier; u2-second amplifier.

Detailed Description

The invention will be described in further detail with reference to the drawings and the specific embodiments thereof in order to make the objects, advantages and features of the invention more apparent. It should be noted that the drawings are in a very simplified form and are not drawn to scale, merely for convenience and clarity in aiding in the description of embodiments of the invention. Furthermore, the structures shown in the drawings are often part of actual structures. In particular, the drawings are shown with different emphasis instead being placed upon illustrating the various embodiments.

As used in this disclosure, the singular forms "a," "an," and "the" include plural referents, the term "or" are generally used in the sense of comprising "and/or" and the term "several" are generally used in the sense of comprising "at least one," the term "at least two" are generally used in the sense of comprising "two or more," and the term "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying any relative importance or number of features indicated. Thus, a feature defining "first," "second," "third," or "third" may explicitly or implicitly include one or at least two such features, with "one end" and "another end" and "proximal end" and "distal end" generally referring to the respective two portions, including not only the endpoints, but also the terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, e.g., as being either a fixed connection, a removable connection, or as being integral therewith; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. Furthermore, as used in this disclosure, an element disposed on another element generally only refers to a connection, coupling, cooperation or transmission between two elements, and the connection, coupling, cooperation or transmission between two elements may be direct or indirect through intermediate elements, and should not be construed as indicating or implying any spatial positional relationship between the two elements, i.e., an element may be in any orientation, such as inside, outside, above, below, or on one side, of the other element unless the context clearly indicates otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

The embodiment of the invention provides an electric stimulation system, equipment thereof, a method for regulating and controlling an excitation pulse signal and a storage medium, which aim to solve the problem that the existing equipment mostly outputs stimulation pulse waves with constant frequency and pulse width, so that the stimulation pulse waves with different frequencies and pulse widths cannot be adopted for different patients and different indications of the patients.

The electro-stimulation system and the electro-stimulation device of the present embodiment are described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of an electrical stimulation system according to an embodiment of the invention. As shown in fig. 1, the electrical stimulation system of the present embodiment includes a main control module 10 and an electrical stimulation module 20 connected to the main control module 10, wherein the main control module 10 may be, for example, an MCU chip, on which GPIO pins, DAC ports and ADC ports are disposed. Further, the main control module 10 is internally provided with a clock unit 11, where the clock unit 11 is configured to cycle and clock according to a preset base value clock, and this embodiment does not limit a specific value of the base value clock and a timing manner, for example, the base value clock may be set to 50us, and the clock unit 11 counts down or counts down according to 50us, and resets to start the next time after each time. The main control module 10 is configured to control the electrical stimulation module 20 to output an excitation pulse signal to the treatment object X (patient), where the waveform of the excitation pulse signal is a pulse wave, and may further be specifically a square wave. Further, the main control module 10 is configured to adjust the period and the duty ratio of the excitation pulse signal according to the number of times of the clock unit 11 cycle timing, and make the pulse width of the excitation pulse signal output according to the integral multiple of the base value clock, so that the period of the excitation pulse signal is a multiple of the base value clock, for example, the clock unit 11 cycle timing 10 times, the period of the excitation pulse signal is 10 times the base value clock, 4 times of the 10 times of the timing is output as the high level, and then the pulse width is 4 times of the base value clock. In this way, the period and the duty ratio of the excitation pulse signal output by the electric stimulation module 20 can be adjusted in real time through the set clock unit 11 and the base value clock thereof, so that the frequency and the pulse width of the excitation pulse signal can be adjusted in real time, on one hand, the frequency and the pulse width of the excitation pulse signal output by the electric stimulation module 20 to the treatment object X can be continuously adjusted along with the treatment process, the treatment experience and the treatment effect of a patient can be improved, and on the other hand, pulse waves with different frequencies and pulse widths can be adopted for different patients and different indications of the patient.

Specifically, the output end of the electrical stimulation module 20 is connected with the treatment object X through two metal electrodes, the metal electrodes can be attached to the skin surface of the treatment object X, or can be implanted into the body of the treatment object X, the electrical stimulation module 20 outputs an excitation pulse signal to the treatment object X through the metal electrodes, so as to perform electrical stimulation treatment on the treatment object X, specifically, the electrical stimulation module 20 forms a loop with the human body impedance of the treatment object X through the two metal electrodes, and the loop is used for transmitting pulse waves. The excitation parameters of the excitation pulse signal may be preset according to the actual treatment requirements, the excitation parameters including at least one of the frequency (which may be set to a variable frequency according to the clock unit 11), the pulse width and the amplitude of the pulses.

With continued reference to fig. 1, the electro-stimulation module 20 includes an H-bridge circuit, a constant current adjustment circuit 22, and a voltage adjustment circuit 21, and the H-bridge circuit may be connected to the main control module through a GPIO pin, for example. The voltage adjusting circuit 21 is externally connected with a power supply voltage, and the main control module 10 is used for controlling the voltage adjusting circuit 21 to adjust the power supply voltage to a preset voltage, and the voltage adjusting circuit is connected with the H-bridge circuit to load the preset voltage to the H-bridge circuit, i.e. the voltage adjusting circuit 21 is used for adjusting the range of the output voltage of the H-bridge circuit. The manner in which the voltage adjustment circuit 21 adjusts the supply voltage includes, but is not limited to, a step-up and/or step-down process. Regarding the supply of the power supply voltage, for example, the electrical stimulation system of the present embodiment may be configured with a battery module 50 connected to the main control module 10 and the electrical stimulation module 20, and the battery module 50 is configured to supply the power supply voltage. The constant current adjusting circuit 22 is connected with the main control module 10 and the H-bridge circuit, and the main control module 10 is configured to control the constant current adjusting circuit 22 to adjust a current value of an excitation pulse signal transmitted by the H-bridge circuit, and control the output of the constant current in the process of outputting the excitation pulse signal by using the constant current adjusting unit.

Fig. 3 is a circuit diagram of the voltage adjusting circuit and the PWM generating circuit 12 according to an embodiment of the present invention. In an exemplary embodiment, referring to fig. 3, the voltage adjusting circuit 21 is specifically a boost circuit, which includes an energy storage inductor L, a first diode D1 and a switch tube Q0, wherein a first end of the energy storage inductor L is used as an input end of the voltage adjusting circuit 21 for obtaining the power supply voltage (V2), a second end of the energy storage inductor L is connected with a forward end of the first diode D1, and a reverse end of the first diode D1 is used as an output end of the voltage adjusting circuit 21; the input end of the switching tube Q0 is connected between the energy storage inductor L and the first diode D1, the output end of the switching tube Q0 is grounded, the control end of the switching tube Q0 is connected to the main control module 10, and the main control module 10 is used for adjusting the switching frequency of the switching tube Q0. In this way, the main control module 10 can output a control signal to the control terminal of the switching tube Q0, so as to control the switching frequency of the switching tube Q0, and complete the boosting process of the power supply voltage (V2), thereby outputting the preset voltage (VOUT 1).

The control signal provided by the main control module 10 to the switching tube Q0 may be, for example, a pulse width modulation signal, i.e., a PWM signal, and the main control module 10 may be correspondingly configured with a PWM generating circuit 12, where the PWM generating circuit 12 is connected to the control terminal of the switching tube Q0 to provide the PWM signal to the switching tube Q0. The specific structure of the PWM generation circuit 12 is not limited in this embodiment, and in an exemplary embodiment, referring to fig. 3, the PWM generation circuit 12 includes an and gate U0, which is a logic gate, and a first capacitor C1 and a first resistor R1: the two input ends of the AND gate U0 are respectively used for acquiring a first level signal (CH 1) and a second level signal (CH 2), and the output end of the AND gate U0 is connected to the control end of the switching tube Q0 through a first resistor R1; the first resistor R1 is connected in parallel with the first capacitor C1. The first and second level signals (CH 1) and (CH 2) may be provided by devices or circuits set inside the main control module 10 or by external devices by generating corresponding PWM signals by the first and second level signals and the and gate U0, which is not limited in the present invention.

The switching tube Q0 may be an NMOS tube or an NPN transistor. When the switching tube Q0 is an NMOS tube, the input end of the switching tube Q0 is the drain electrode of the NMOS tube, the output end of the switching tube Q0 is the source electrode of the NMOS tube, and the control end of the switching tube Q0 is the grid electrode of the NMOS tube; when the switching tube Q0 is an NPN triode, the input end of the switching tube Q0 is the collector of the NPN triode, the output end of the switching tube Q0 is the emitter of the NPN triode, and the control end of the switching tube Q0 is the base of the NPN triode.

In other embodiments, when the power supply voltage to be connected exceeds the preset voltage to be output, the voltage adjusting circuit 21 may be configured as a step-down circuit to step-down the power supply voltage.

Fig. 2 is a block diagram of an electrical stimulation system according to an embodiment of the invention. As shown in fig. 2, the H-bridge circuit includes an upper arm left bridge H1, an upper arm right bridge H2, a lower arm left bridge H3, and a lower arm right bridge H4, where the upper arm left bridge H1 and the upper arm right bridge H2 are connected to a voltage adjusting circuit 21, and are used to obtain the preset voltage (VOUT 1); the lower arm left bridge H3 and the lower arm right bridge H4 are connected with the constant current adjusting circuit 22; the main control module 10 is configured to control the time and frequency of simultaneous conduction of the upper arm left bridge H1 and the lower arm right bridge H4, or control the time and frequency of simultaneous conduction of the upper arm right bridge H2 and the lower arm left bridge H3 according to the number of times of cyclic timing of the clock unit 11. The electrical stimulation module 20 outputs an excitation pulse signal to the treatment object X through two metal electrodes, which are respectively denoted as a first electrode 31 and a second electrode 32, the upper arm left bridge H1, the first electrode 31, the treatment object X, the second electrode 32, the lower arm right bridge H4, and the reference ground form a first loop, and the upper arm right bridge H2, the second electrode 32, the treatment object X, the first electrode 31, the lower arm left bridge H3, and the reference ground form a second loop, where the first loop and the second loop are used for pulse wave circulation. In the first loop, current flows through the upper arm left bridge H1, the first electrode 31, the human body impedance, the second electrode 32 and the lower arm right bridge H4 in sequence, and in the second loop, current flows through the upper arm right bridge H2, the second electrode 32, the human body impedance, the first electrode 31 and the lower arm left bridge H3 in sequence, so that positive and negative bidirectional pulse waves can be output to the treatment object X by switching the operation states of the first loop and the second loop.

Regarding the time and frequency that the main control module 10 is configured to control the upper arm left bridge H1 and the lower arm right bridge H4 to be turned on simultaneously according to the number of times the clock unit 11 is clocked cyclically, or to control the time and frequency that the upper arm right bridge H2 and the lower arm left bridge H3 to be turned on simultaneously, in an exemplary embodiment, the base value clock of the clock unit 11 is set to 50us, the period is M (M is a positive integer) times 50us, i.e., for a single pulse wave, the clock unit 11 is clocked M times and the pulse width is set to N (N is a positive integer and N is less than M) times 50us, i.e., the clock unit 11 is clocked N times, and the electro-stimulation module 20 outputs the pulse wave. Specifically, the main control module 10 controls the upper arm left bridge H1 and the lower arm right bridge H4 to be simultaneously turned on for N50us or controls the upper arm right bridge H2 and the lower arm left bridge H3 to be simultaneously turned on for N50us according to the cycle timing of the clock unit 11 for N times. The conduction frequency of the upper arm left bridge H1 and the lower arm right bridge H4 or the conduction frequency of the upper arm right bridge H2 and the lower arm left bridge H3 is 1/M, and M can be continuously adjusted and changed along with the advancement of the treatment process. Further, an H-bridge control module 70 connected to the clock unit 11 may be configured to control the on-off switching of each bridge arm in the H-bridge circuit, specifically, the clock unit 11 may transmit a clock signal indicating the number of cyclic timings to the H-bridge control module 70, and the H-bridge control module 70 generates a corresponding control signal according to the clock signal to drive the on-off switching of each bridge arm in the H-bridge circuit.

It should be noted that, when the upper arm left bridge H1 and the lower arm right bridge H4 are turned on simultaneously, the main control module 10 needs to control the upper arm right bridge H2 and the upper arm left bridge H3 to be turned off simultaneously; when the upper arm right bridge H2 and the lower arm left bridge H3 are simultaneously turned on, the main control module 10 needs to control the upper arm left bridge H1 and the lower arm right bridge H4 to be simultaneously turned off.

Fig. 4 is a circuit diagram of an upper arm left bridge and an upper arm right bridge of an embodiment of the invention. As shown in fig. 4, the upper arm left bridge H1 includes a first triode Q1 and a second triode Q2, both of which are PNP type triodes, wherein an emitter of the first triode Q1 and an emitter of the second triode Q2 are used together as an input end of the upper arm left bridge H1 to obtain the preset voltage (VOUT 1), specifically, an emitter of the third triode Q3 obtains the preset voltage through a third resistor R3, and an emitter of the second triode Q2 obtains the preset voltage through a second resistor R2; the collector of the first triode Q1 and the collector of the second triode Q2 are commonly used as the output end of the upper arm left bridge H1 (i.e. output voltage VBB 1), preferably, the collector of the first triode Q1 and the collector of the second triode Q2 are commonly connected and then connected to the second diode D2, and the opposite end of the second diode D2 is used as the output end of the upper arm left bridge H1; the base electrode of the first triode Q1 and the base electrode of the second triode Q2 are used for jointly obtaining a first bias signal, and the first bias signal controls the working states of the first triode Q1 and the second triode Q2. The upper arm right bridge H2 includes a third triode Q3 and a fourth triode Q4, both being PNP type triodes, wherein an emitter of the third triode Q3 and an emitter of the fourth triode Q4 are used together as an input end of the upper arm right bridge H2 to obtain the preset voltage (VOUT 1), specifically, the emitter of the third triode Q3 obtains the preset voltage through a third resistor R3, and the emitter of the fourth triode Q4 obtains the preset voltage through a second resistor R2; the collector of the third triode Q3 and the collector of the fourth triode Q4 are commonly used as the output end of the upper arm right bridge H2, preferably, the collector of the third triode Q3 and the collector of the fourth triode Q4 are commonly connected and then connected into the third diode D3, and the opposite end of the third diode D3 is used as the output end of the upper arm right bridge H2 (i.e. output voltage VBA 1); the base electrode of the third triode Q3 and the base electrode of the fourth triode Q4 are used for jointly obtaining a second bias signal, and the second bias signal controls the working states of the third triode Q3 and the fourth triode Q4.

Fig. 5 is a circuit diagram of a lower arm left bridge H3 and a lower arm right bridge H4 according to an embodiment of the present invention. As shown in fig. 5, the lower arm left bridge H3 includes a fifth triode Q5 and a sixth triode Q6, which are NPN transistors, and a collector of the fifth triode Q5 and a collector of the sixth triode Q6 are used together as an input end (i.e., an input voltage VBA 1) of the lower arm left bridge H3; the emitter of the fifth triode Q5 and the emitter of the sixth triode Q6 are used as the output end of the lower arm left bridge H3 together and are grounded, and optionally, a fifth resistor R5 is connected in series between the emitter of the fifth triode Q5 and the grounding end, and a sixth resistor R6 is connected in series between the sixth triode Q6 and the grounding end; the bases of the fifth triode Q5 and the sixth triode Q6 are used for jointly obtaining a third bias signal, and the third bias signal is used for controlling the working states of the fifth triode Q5 and the sixth triode Q6. The lower arm right bridge H4 includes a seventh triode Q7 and an eighth triode Q9, which are NPN type triodes, and a collector of the seventh triode Q7 and a collector of the eighth triode Q9 are used together as an input end (i.e., input voltage VBB 1) of the lower arm right bridge H4; the emitter of the seventh triode Q7 and the emitter of the eighth triode Q9 are used together as the output end of the lower arm right bridge H4 and are grounded, and optionally, an eighth resistor R8 is connected in series between the emitter of the seventh triode Q7 and the ground end, and a ninth resistor R9 is connected in series between the emitter of the eighth triode Q9 and the ground end; the bases of the fifth triode Q5 and the sixth triode Q6 are used for jointly obtaining a fourth bias signal, and the fourth bias signal is used for controlling the working states of the seventh triode Q7 and the eighth triode Q9.

Fig. 6 is a schematic diagram of an electrode set 30 according to an embodiment of the invention being matched with a treatment object X, where a first electrode 31 and a second electrode 32 of the electrode set 30 are disposed on the treatment object X, and referring to fig. 2 to 5, the first electrode 31 is used for connecting an output end of an upper arm left bridge H1 and an input end of a lower arm left bridge H3, and the second electrode 32 is used for connecting an output end of an upper arm right bridge H2 and an input end of a lower arm right bridge H4.

The first to fourth bias signals may be current format signals, and the working state of the triode is controlled by controlling the base current of the triode. The first bias signal and the second bias signal may be the same signal, referring to fig. 4, for example, in this embodiment, the voltage format signal VB1 is converted into the current format signal through a resistor and is connected to the bases of the first to fourth triodes. In order to avoid that the same signal is connected to the upper arm left bridge H1 and the upper arm right bridge H2 to be simultaneously turned on or simultaneously turned off, the embodiment is configured with a first switching tube Q9 and a second switching tube Q10 to control the switching of the upper arm left bridge H1 and the upper arm right bridge H2, specifically, an input end of the first switching tube Q9 is connected to a base of the first triode Q1 and a base of the second triode Q2, an output end of the first switching tube Q9 is grounded through a fourth resistor R4, a control signal ch1_ctro1 is connected to a control end of the first switching tube Q9, an input end of the second switching tube Q10 is connected to a base of the third triode Q3 and a base of the fourth triode Q4, an output end of the second switching tube Q10 is grounded through a fifth resistor R5, and a control end of the second switching tube Q10 is connected to the control signal ch1_ctro2. The first switching tube Q9 is controlled to be turned on or off by a control signal CH1_CTROL1, so that whether bias current is generated by the VB1 and the fourth resistor R4 and is input to the base electrode of the first triode Q1 and the base electrode of the second triode Q2; the second switching transistor Q10 is controlled to be turned on or off by the control signal ch1_ctrol2, so that whether the bias current is generated between the VB1 and the fifth resistor R5 is input to the base of the third transistor Q3 and the base of the fourth transistor Q4.

Alternatively, the first switching transistor Q9 may be an NMOS transistor or an NPN transistor. When the first switching tube Q9 is an NMOS tube, the input end of the first switching tube Q9 is the drain electrode of the NMOS tube, the output end of the first switching tube Q9 is the source electrode of the NMOS tube, and the control end of the first switching tube Q9 is the grid electrode of the NMOS tube; when the first switching tube Q9 is an NPN-type triode, the input end of the first switching tube Q9 is a collector of the NPN-type triode, the output end of the first switching tube Q9 is an emitter of the NPN-type triode, and the control end of the first switching tube Q9 is a base of the NPN-type triode. The second switching transistor Q10 may be an NMOS transistor or an NPN transistor, and the configuration of the input terminal, the output terminal, and the control terminal of the second switching transistor Q10 are the same as those of the first switching transistor Q9, and will not be described here.

Based on the same idea, the third bias signal and the fourth bias signal may be the same signal, and in particular, reference may be made to the description of the first bias signal and the second bias signal, which will not be further described herein.

Fig. 7 is a circuit diagram of a constant current adjusting circuit according to an embodiment of the present invention. As shown in fig. 7, the constant current adjusting circuit 22 includes a first amplifier U1 and a second capacitor C2, the non-inverting input terminal of the first amplifier U1 is connected to the main control module 10 to obtain the excitation voltage (the DAC port outputs the excitation voltage) provided by the main control module 10, and the non-inverting input terminal of the first amplifier U1 is grounded through the second capacitor C2, the inverting input terminal of the first amplifier U1 is connected to the output terminal of the first amplifier U1, and the output terminal of the first amplifier U1 is used for accessing the lower arm left bridge H3 and the lower arm right bridge H4. Referring to fig. 2 in combination, the main control module 10 outputs an excitation voltage to the constant current adjusting circuit 22 through the DAC port, and the excitation voltage forms a current through the ground resistor and is input to the lower-arm left bridge H3 and the lower-arm right bridge H4 for controlling and adjusting the stimulus intensity (amplitude). The stimulation intensity can be adjusted in real time by controlling the main control module 10 to adjust the value of the stimulation voltage in real time during the actual treatment. Stimulus intensity = stimulus voltage/ground resistance.

Specifically, referring to fig. 5 in combination, the constant current adjusting circuit 22 is connected to the lower arm left bridge H3 and the lower arm right bridge H4, further, the output end of the first amplifier U1 is connected to the bases of the fifth to eighth triodes Q9, and the first amplifier U1 can perform closed-loop control on the currents passing through the fifth and sixth triodes Q5 and Q6, and the currents of the third and eighth triodes Q3 and Q9, so as to output a constant current to the H bridge circuit, thereby avoiding the variation of the stimulus intensity along with the variation of the human body impedance. For the first loop in which the upper arm left bridge H1 and the lower arm right bridge H4 are located, stimulus intensity = stimulus voltage/(parallel value of R8 and R9); for the second loop where the upper arm right bridge H2 and the lower arm left bridge H3 are located, stimulus intensity=stimulus voltage/(parallel value of R6 and R7). The present embodiment can configure the parallel value of R6 and R7 to be equal to the parallel value of R8 and R9.

Preferably, the constant current adjusting circuit 22 is connected to the main control module 10 through a voltage follower 90 to improve the load capacity, improve the driving force of the exciting voltage provided by the main control module 10, and reduce the voltage fluctuation. Fig. 8 is a schematic diagram of a voltage follower according to an embodiment of the present invention, as shown in fig. 8, the voltage follower 90 includes a second amplifier U2, a third capacitor C3 and a fourth capacitor C4, an inverting input terminal of the second amplifier U2 is grounded, a non-inverting input terminal of the second amplifier U2 is connected to a DAC port of the main control module 10 to obtain an excitation voltage, the non-inverting input terminal of the second amplifier U2 is grounded through the third capacitor C3 and the fourth capacitor C4 (the third capacitor C3 and the fourth capacitor C4 are connected in parallel), and an output terminal of the second amplifier U2 is connected to the constant current adjusting circuit 22, specifically connected to the non-inverting input terminal of the first amplifier U1.

Optionally, the electrical stimulation system includes a current detection module 80 connected to the electrical stimulation module 20, where the current detection module 80 is configured to detect, in real time, a current value of an excitation pulse signal output by the electrical stimulation module 20 to the treatment object X. Specifically, the current sampling module is connected to the first electrode 31 and the second electrode 32, and collects the stimulus intensity of the pulse wave of the first electrode 31 and the second electrode 32. Referring to fig. 9, fig. 9 is a circuit diagram of a current detection circuit according to an embodiment of the invention, the current detection circuit includes a tenth resistor R10, an eleventh resistor R11, a twelfth resistor R12, and a fifth capacitor C5, wherein a first end of the tenth resistor R10 is connected to an output end of a lower arm left bridge H3, specifically connected to a collector of a fifth triode Q5 and a collector of a sixth triode Q6, and a second end of the tenth resistor R10 is grounded; the first end of the eleventh resistor R11 is connected with the output end of the lower arm right bridge H4, and particularly connected with the collector of the seventh triode Q7 and the collector of the eighth triode Q9, and the second end of the eleventh resistor R11 is grounded; the first end of the twelfth resistor R12 is connected to the first end of the tenth resistor R10 and the first end of the eleventh resistor R11, the second end of the twelfth resistor R12 is connected to the main control module 10, and the second end of the twelfth resistor R12 is grounded through the fifth capacitor C5. Thus, the current of the second loop can be collected through the grounded tenth resistor R10, and the current of the first loop can be collected through the grounded eleventh resistor R11.

Optionally, the electrical stimulation system includes a voltage detection module 40 connected to the electrical stimulation module 20, where the voltage detection module 40 is configured to detect a voltage value of an excitation pulse signal output by the electrical stimulation module 20 to the treatment object X in real time, and determine the working state of the electrical stimulation module 20 according to the voltage value. The voltage detection module 40 may feed back the collected voltage value to the main control module 10, for example, through an ADC port of the main control module 10. In practice, it may be determined whether the electro-stimulation module 20 normally outputs the excitation pulse signal according to the detected voltage value, specifically, the voltage detection module 40 is connected to the first electrode 31 and the second electrode 32, and determines whether the circuit state of the formed first circuit and/or second circuit has a circuit failure (such as an open circuit or a short circuit) according to the detected voltage value.

Further, the voltage detection module 40 is further configured to be connected to the battery module 50 to collect the voltage of the battery module 50 in real time, so as to achieve the purpose of monitoring the battery state of the battery module 50 in real time, and avoid the influence of the too low electric quantity of the battery module 50 on the normal operation of the device. In addition, the magnitude of the human body impedance of the treatment part of the treatment object X in the current treatment process can be calculated through the cooperation of the voltage detection module 40 and the current detection module 80.

Preferably, an interrupt management unit 14 is disposed in the main control module 10, and the interrupt management unit 14 is configured to ensure the operation priority of the clock unit 11. Specifically, after the main control module 10 controls the clock unit 11 to generate a pulse after the cycle timing for multiple times, the clock unit 11 may not immediately perform the next cycle timing and generate a pulse wave due to the operation priority of other devices in the main control module 10, that is, the priority of the operation of the clock unit 11 is affected by the other devices, and the interrupt management unit 14 may be the timely continuity of the cycle of the clock unit 11, so as to generate a continuous pulse wave, which is beneficial to the continuous electrical stimulation treatment of the treatment object X.

Optionally, a watchdog unit 16 is disposed in the main control module 10, and the watchdog unit 16 is configured to monitor an operation state of the main control module 10 in real time, and determine whether the electrical stimulation module 20 stops outputting the excitation pulse signal according to the operation state. In practice, the main control module 10 controls the electric stimulation circuit to output the excitation pulse signal through a preconfigured program, and when the watchdog unit 16 monitors abnormal program operation, the main control module 10 immediately controls the electric stimulation module 20 to stop outputting the excitation pulse signal, so as to avoid injury to the treatment object X.

Preferably, the main control module 10 is provided with a serial port 13, and the main control module 10 is used for communication connection with the third party device 60 through the serial port 13 and information interaction. For example, a bluetooth connection. The third party device 60 performs information interaction with the main control module 10, the third party device 60 may be, for example, a mobile terminal, and an operator may remotely preset excitation parameters of a required excitation pulse signal on the mobile terminal, where the excitation parameters include at least one of frequency, pulse width and amplitude, and then send the excitation parameters to the main control module 10, and the main control module 10 controls the electric stimulation module 20 to output the excitation pulse signal with the preset excitation parameters. In addition, the working state of the equipment can be uploaded to cloud service, so that the excitation parameters adopted by patients in different treatment stages can be recorded, and the summary can be reviewed.

Preferably, a Flash unit 15 is provided in the main control module 10, where the Flash unit 15 is configured to store an excitation parameter of the excitation pulse signal, and the excitation parameter includes at least one of a pulse width, a frequency and an amplitude. Therefore, when the treatment object X is treated next time, the equipment can work according to the last stored excitation parameters when the equipment is started next time, and the equipment has a memory function.

Fig. 10 is a timing diagram of an excitation pulse signal according to an embodiment of the present invention. As shown in fig. 10, the main control module 10 drives the electric stimulation module 20 to output the excitation pulse signal according to a plurality of pulse groups, each pulse group including a plurality of pulse waves, and a time interval is provided between two adjacent pulse groups. In the prior art, continuous pulse waves are adopted by a patient in the current treatment stage, the time is long, the patient is easy to produce muscle fatigue, the pulse waves are output according to a plurality of pulse groups with time intervals, the muscles of the patient can be buffered for a short time after the electric stimulation excitation, and then the electric stimulation is carried out, so that the clinical electrotherapy effect can be improved. Specifically, the main control module 10 can cut off the upper arm left bridge H1, the upper arm right bridge H2, the lower arm left bridge H3 and the lower arm right bridge H4 at corresponding time intervals.

Further, the main control module 10 drives the electrical stimulation module 20 to control the frequency of the pulses in the pulse group to gradually increase or decrease. Therefore, the effective current value of the current pulse group can be increased or reduced, the inadaptability of the patient is reduced, and the treatment experience of the patient is improved.

Further, the main control module 10 drives the electrical stimulation module 20 to control the absolute value of the amplitude of the pulses in the pulse group to gradually increase from a first desired value to a second desired value, and then to end with the time the second desired value continues until the current pulse group. Specifically, the value of the excitation voltage output to the constant current adjustment circuit 22 by the DAC port of the main control module 10 may be gradually increased from a first desired value (the first desired value may be, for example, zero) to a second desired value. Thus, the stimulation intensity (pulse amplitude) rises in a trapezoid shape, so that the patient is gradually adapted, the constant voltage mode is avoided, the high voltage is directly loaded on the patient through the metal electrode, the patient is painful, and discomfort is brought to the patient.

Preferably, the main control module 10 drives the electric stimulation module 20 to control the pulse polarities of at least two pulse groups to be opposite, so that the muscle of the patient can generate beating or kneading feeling, and the electric stimulation treatment effect is improved. Preferably, the main control module 10 drives the electrical stimulation module 20 to control the pulse polarities of two adjacent pulse groups to be opposite, so as to further improve the therapeutic effect. In addition, the present embodiment may also configure a single pulse group to have both positive and negative bi-directional pulse waves. In specific implementation, it may be defined that when the upper arm left bridge H1 and the lower arm right bridge H4 are turned on, the polarity of the pulse wave is positive, and when the upper arm right bridge H2 and the lower arm left bridge H3 are turned on, the polarity of the pulse wave is negative. The existing electric stimulation pulse usually adopts the same pulse polarity, which can lead to excessive muscle fatigue and reduce the therapeutic effect

Based on the above-mentioned electrical stimulation system, the invention further provides an electrical stimulation device comprising the electrical stimulation system. Further, the electro-stimulation device further comprises an electrode set 30, the electrode set 30 comprises two metal electrodes for being placed on the treatment object X, and the electro-stimulation module 20 outputs the excitation pulse signal to the treatment object X through the electrode set 30. Preferably, the metal electrode is in the form of a sheet, rather than a needle, and the metal electrode is in contact with the skin of subject X, such that the electro-stimulation therapy device is a non-invasive therapy device, and the pain sensation of the patient during the electro-stimulation therapy is avoided or reduced as much as possible.

The invention also provides a regulation and control method of the excitation pulse signal, which comprises the following steps:

step one: an excitation pulse signal and a clock signal are provided, the clock signal reflecting the number of clock cycles clocked according to a base value. It can be appreciated that the waveform of the excitation pulse signal is a pulse wave, and further can be specifically a square wave; the specific value of the base value clock and the timing manner are not limited in this embodiment, for example, the base value clock may be set to 50us, the clock unit 11 counts down or counts down according to the 50us, and after each time, the clock unit resets to start the next time.

Step two: and controlling the period and the duty ratio of the excitation pulse signal according to the clock signal reflecting the timing times, and enabling the pulse width of the excitation pulse signal to be an integral multiple of the basic value clock. The period of the excitation pulse signal is a multiple of the base value clock, for example, the clock unit 11 is cycled for 10 times, the period of the excitation pulse signal is 10 times of the base value clock, 4 times of the 10 times of the period is output as high level, and the pulse width is 4 times of the base value clock.

In some embodiments, the method further includes one or more steps/functions that the master control module 10 is capable of performing, as described above, such as: outputting the excitation pulse signal according to a plurality of pulse groups, wherein a time interval is reserved between two adjacent pulse groups; causing the frequency of pulses in the pulse train to be gradually increased or decreased; gradually increasing the absolute value of the amplitude of at least some of the pulses in the pulse train from a first desired value to a second desired value; such that the pulse polarities of at least two of the pulse groups are opposite. Other functions are not described here in detail as will be appreciated by those skilled in the art from the description of the present application.

Based on the method for regulating and controlling the excitation pulse signal, the invention also provides a storage medium, wherein a readable and writable program is stored on the storage medium, and the program can realize the method for regulating and controlling the excitation pulse signal when being executed. Specifically, the method for regulating and controlling the excitation pulse signal provided by the invention can be programmed or software, and stored on the readable storage medium, in actual use, each step of the method for regulating and controlling the excitation pulse signal is executed by using the program stored in the storage medium, and the storage medium can be integrally arranged in the electric stimulation system or the electric stimulation device or independently arranged in other hardware.

In summary, in the electrical stimulation system, the device thereof, the method for regulating and controlling the excitation pulse signal and the storage medium provided by the invention, the electrical stimulation system comprises a main control module and an electrical stimulation module, wherein a clock unit is arranged in the main control module, the clock unit is clocked according to a preset basic value clock, the electrical stimulation module outputs the excitation pulse signal to a treatment object under the control of the main control module, and the main control module adjusts the period and the duty ratio of the excitation pulse signal according to the number of times of the clock unit clock, and enables the pulse width of the excitation pulse signal to be clocked according to the basic value of integer multiples. According to the configuration, the period and the duty ratio of the excitation pulse signals output by the electric stimulation module can be adjusted in real time through the set clock unit, so that the frequency and the pulse width of the excitation pulse signals can be adjusted in real time, the frequency and the pulse width of the excitation pulse signals output by the electric stimulation module to a treatment object can be adjusted continuously along with the treatment process, the treatment experience and the treatment effect of a patient can be improved, and pulse waves with different frequencies and pulse widths can be adopted for different patients and different indications of the patient. In addition, the frequency of the excitation pulse signal can be gradually increased as the treatment process proceeds, so that the effective current value of the excitation pulse signal can be increased.

The foregoing description is only illustrative of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention in any way, and any changes and modifications made by those skilled in the art in light of the foregoing disclosure will be deemed to fall within the scope and spirit of the present invention.

Claims (16)

1. The electric stimulation system is characterized by comprising a main control module and an electric stimulation module, wherein a clock unit is arranged in the main control module, the clock unit is clocked according to a preset basic value clock, the electric stimulation module outputs an excitation pulse signal under the control of the main control module, the main control module adjusts the period and the duty ratio of the excitation pulse signal according to the number of times of the clock unit clock, and enables the pulse width of the excitation pulse signal to be clocked according to an integral multiple of the basic value clock.

2. The electro-stimulation system of claim 1, wherein the master control module controls the electro-stimulation module to output the stimulation pulse signal in a plurality of pulse bursts with a time interval between adjacent pulse bursts.

3. The electrical stimulation system of claim 2, wherein the frequency of pulses in the pulse train is gradually increased or decreased.

4. The electrical stimulation system of claim 2, wherein the absolute value of the amplitude of at least some of the pulses in the pulse train is gradually increased from a first desired value to a second desired value.

5. The electrical stimulation system of claim 2, wherein the pulse polarities of at least two of the pulse groups are opposite.

6. The electrical stimulation system of claim 1, wherein the electrical stimulation module comprises:

the voltage adjusting circuit is provided with an input end for inputting power supply voltage, and the main control module is used for controlling the voltage adjusting circuit to adjust the power supply voltage to a preset voltage and output the power supply voltage;

the H-bridge circuit comprises an upper arm left bridge, an upper arm right bridge, a lower arm left bridge and a lower arm right bridge, wherein the upper arm left bridge and the upper arm right bridge are used for acquiring the preset voltage; the main control module is used for controlling the time and frequency of the simultaneous conduction of the upper arm left bridge and the lower arm right bridge or controlling the time and frequency of the simultaneous conduction of the upper arm right bridge and the lower arm left bridge according to the times of the cyclic timing of the clock unit;

and the main control module is used for controlling the constant current adjusting circuit to adjust the current value of the excitation pulse signal transmitted by the H bridge circuit.

7. The electrical stimulation system of claim 6, wherein the voltage adjustment circuit comprises:

the first end of the energy storage inductor is used as the input end of the voltage regulating circuit;

the positive end of the first diode is connected with the second end of the energy storage inductor, and the reverse end of the first diode is used as the output end of the voltage regulating circuit;

the input end of the switching tube is connected between the energy storage inductor and the first diode, the output end of the switching tube is grounded, the control end of the switching tube is connected to the main control module, and the main control module is used for adjusting the switching frequency of the switching tube.

8. The electrical stimulation system of claim 7, wherein the main control module comprises a PWM generation circuit coupled to the control terminal of the switching tube.

9. The electrical stimulation system of claim 8, wherein the PWM generation circuit comprises:

the two input ends of the AND gate are respectively used for acquiring a first level signal and a second level signal, and the output end of the AND gate is connected to the control end of the switching tube through a first resistor;

a first capacitor connected in parallel with the first resistor.

10. The electrical stimulation system of claim 7, wherein the switching tube is an NMOS tube, the input end of the switching tube is the drain electrode of the NMOS tube, the output end of the switching tube is the source electrode of the NMOS tube, and the control end of the switching tube is the gate electrode of the NMOS tube;

or the switching tube is an NPN triode, the input end of the switching tube is a collector electrode of the NPN triode, the output end of the switching tube is an emitter electrode of the NPN triode, and the control end of the switching tube is a base electrode of the NPN triode.

11. The electro-stimulation system of claim 6 wherein the electrical stimulation device comprises a plurality of electrodes,

the upper arm left bridge comprises a first triode and a second triode, and an emitter of the first triode and an emitter of the second triode are used as an input end of the upper arm left bridge together so as to acquire the preset voltage; the collector of the first triode and the collector of the second triode are used as the output end of the upper arm left bridge together; the base electrode of the first triode and the base electrode of the second triode are used for jointly acquiring a first bias signal;

the upper arm right bridge comprises a third triode and a fourth triode, and an emitter of the third triode and an emitter of the fourth triode are used as input ends of the upper arm right bridge together so as to acquire the preset voltage; the collector of the third triode and the collector of the fourth triode are used as the output end of the upper arm right bridge together; the base electrode of the third triode and the base electrode of the fourth triode are used for jointly acquiring a second bias signal;

The lower arm left bridge comprises a fifth triode and a sixth triode, and a collector of the fifth triode and a collector of the sixth triode are used as input ends of the lower arm left bridge together; the emitter of the fifth triode and the emitter of the sixth triode are used as the output end of the lower arm left bridge together and are grounded; the bases of the fifth triode and the sixth triode are used for jointly acquiring a third bias signal;

the lower arm right bridge comprises a seventh triode and an eighth triode, and a collector electrode of the seventh triode and a collector electrode of the eighth triode are used as input ends of the lower arm right bridge together; the emitter of the seventh triode and the emitter of the eighth triode are used as the output end of the lower arm right bridge together and are grounded; the bases of the fifth triode and the sixth triode are used for jointly acquiring a fourth bias signal;

the first triode, the second triode and the third triode are PNP type triodes, and the fifth triode, the eighth triode and the third triode are NPN type triodes.

12. The electrical stimulation system of claim 6, wherein the constant current adjustment circuit comprises a first amplifier and a second capacitor, wherein the non-inverting input of the first amplifier is connected to the main control module to obtain the excitation voltage provided by the main control module, and the non-inverting input of the first amplifier is grounded through the second capacitor, and the inverting input of the first amplifier is connected to the output of the first amplifier, and the output of the first amplifier is used to connect to the lower left arm bridge and the lower right arm bridge.

13. The electrical stimulation system of claim 12, wherein the constant current regulation circuit is connected to the main control module via a voltage follower.

14. An electro-stimulation device comprising an electro-stimulation system as claimed in any one of claims 1 to 13 and an electrode set for connection to a subject, the electro-stimulation module outputting the stimulation pulse signal to the subject via the electrode set.

15. A method for modulating an excitation pulse signal, comprising:

providing an excitation pulse signal and a clock signal, wherein the clock signal reflects the number of times of clock cycle timing according to a basic value;

and controlling the period and the duty ratio of the excitation pulse signal according to the clock signal reflecting the timing times, and enabling the pulse width of the excitation pulse signal to be an integral multiple of the basic value clock.

16. A storage medium having a readable and writable program stored thereon, wherein the program is executable to implement the method of modulating an excitation pulse signal according to claim 15.

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