CN118681134A - Stroke rehabilitation control equipment and systems - Google Patents

Abstract

The present invention relates to the technical field of medical equipment, and discloses a stroke rehabilitation control device and system. The control device comprises: a rehabilitation training task generation module, which is used to obtain stroke rehabilitation reference information of a target object, and generate a rehabilitation training task based on the stroke rehabilitation reference information; a task guidance module, which is used to display the rehabilitation training actions in the rehabilitation training task execution sequence to guide the target object to perform the rehabilitation training actions; a stimulation signal control module, which is used to generate a stimulation trigger instruction based on a stimulation parameter combination of the current rehabilitation training task execution sequence, and send a stimulation trigger instruction to a neural stimulator during the rehabilitation training action guidance display process, and the neural stimulator can output a stimulation signal to the target object according to the stimulation trigger instruction. The present invention can realize the generation of rehabilitation training tasks, and automatically pair the application of stimulation signals with rehabilitation training actions, so that the stimulation signal output is more accurate.

Description

Stroke rehabilitation control equipment and systems

Technical Field

The present invention relates to the technical field of medical equipment, and in particular to a stroke rehabilitation control device and system.

Background Art

Stroke is a disease in which damage to cerebral blood vessels causes ischemia or hemorrhage of brain tissue, which in turn leads to damage. Studies have shown that vagus nerve stimulation is an innovative and effective means to promote stroke rehabilitation. It is usually combined with rehabilitation tasks. Vagus nerve electrical stimulation is applied during the execution of rehabilitation exercises. The principle is to activate the ascending afferent network of the vagus nerve, enhance brain nerve protection and plasticity, and thus improve the patient's motor function. However, the existing rehabilitation program requires therapists to continuously pay attention to the patient's execution of the task during the patient's motor task and manually apply stimulation repeatedly. There are problems such as inconvenient operation, large errors due to manual operation, and high labor costs.

Summary of the invention

In view of this, the present invention provides a stroke rehabilitation control device and system to solve the problems of inconvenient operation and large errors caused by the need for manual stimulation in existing solutions.

In a first aspect, the present invention provides a stroke rehabilitation control device, comprising:

A rehabilitation training task generation module, used to obtain stroke rehabilitation reference information of a target object, and generate a rehabilitation training task based on the stroke rehabilitation reference information; the stroke rehabilitation reference information is used to characterize the physical condition of the target object; the rehabilitation training task includes at least one set of rehabilitation training task execution sequences, and the rehabilitation training task execution sequence includes a combination of rehabilitation task guidance parameters and stimulation parameters;

A task guiding module, used for displaying the rehabilitation training actions in the rehabilitation training task execution sequence to guide the target object to perform the rehabilitation training actions;

A stimulation signal control module is used to generate a stimulation trigger instruction based on the stimulation parameter combination of the current rehabilitation training task execution sequence, and to send a stimulation trigger instruction to a neurostimulator during the rehabilitation training action guidance display process. The neurostimulator can output a stimulation signal to the target object according to the stimulation trigger instruction.

Preferably, the task guiding module includes:

A task display script generation submodule is used to generate a corresponding rehabilitation exercise display script based on the rehabilitation training task;

The display submodule is used to play the rehabilitation exercise demonstration script to guide the target object to perform rehabilitation training movements.

Preferably, the stimulation signal control module is used to send a stimulation trigger instruction to the neurostimulator based on the rehabilitation training task execution sequence to which the currently played rehabilitation training action belongs during the playback of the rehabilitation exercise demonstration script.

Preferably, the rehabilitation exercise demonstration script includes at least one group of rehabilitation training movements, and each group of rehabilitation training movements is guided and demonstrated at least once.

Preferably, the stimulation signal control module comprises:

The execution monitoring submodule is used to obtain the execution time of a single guided display of the rehabilitation training action of the current rehabilitation training task execution sequence;

An information extraction submodule, used for extracting the stimulus application delay from the stimulus parameter combination of the current rehabilitation training task execution sequence;

A determination submodule, used for determining whether to trigger an output stimulation signal based on the execution time and the stimulation application delay during playback of the rehabilitation exercise demonstration script;

The stimulation signal triggering submodule is used to send a stimulation triggering instruction to the neural stimulator when the determination submodule determines that the stimulation signal output needs to be triggered.

Preferably, the stimulation application delay includes the instruction trigger delay and the time interval from the issuance of the stimulation trigger instruction to the output of the stimulation signal by the neurostimulator;

If the determination submodule determines that the execution time reaches the instruction trigger delay, the stimulation signal trigger submodule sends a stimulation trigger instruction to the neural stimulator.

Preferably, the stroke rehabilitation control device further comprises:

A recording module, used to obtain and record feedback information of the target object performing the rehabilitation training action under the stimulation signal;

An information analysis module, used for analyzing the target object's execution of rehabilitation training actions based on the feedback information;

The rehabilitation training task generating module is further used to adjust the rehabilitation task guiding parameters and/or the stimulation parameter combination based on the situation of the target object performing the rehabilitation training action.

Preferably, the feedback information includes: a performance score of the target object in executing the task, a reaction time of the target object in executing the action, a motion sensor signal, a video signal and one or more of a physiological signal.

Preferably, the control device is preset with a data training model, and the data training model can generate rehabilitation training tasks based on the stroke rehabilitation reference information. The data training model is generated by training the correspondence between multiple groups of rehabilitation training task settings and evaluation results.

Another aspect of the present invention provides a stroke rehabilitation system, comprising a vagus nerve stimulator and the above-mentioned stroke rehabilitation control device;

The vagus nerve stimulator is communicatively connected to the control device to receive a stimulation trigger instruction issued by the control device.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

FIG1 is a schematic structural diagram of a stroke rehabilitation control device according to an embodiment of the present invention;

FIG2 is a schematic structural diagram of another stroke rehabilitation control device according to an embodiment of the present invention;

FIG3 is a schematic structural diagram of another stroke rehabilitation control device according to an embodiment of the present invention;

FIG4A is a schematic diagram of a process flow of a rehabilitation training task according to an embodiment of the present invention;

FIG4B is a schematic diagram of a rehabilitation training task execution sequence according to an embodiment of the present invention;

FIG5 is a schematic structural diagram of yet another stroke rehabilitation control device according to an embodiment of the present invention;

FIG6 is a schematic structural diagram of yet another stroke rehabilitation control device according to an embodiment of the present invention;

FIG. 7 is a schematic flow chart of an automatic stimulation method for stroke rehabilitation according to an embodiment of the present invention.

DETAILED DESCRIPTION

In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

Stroke is a disease caused by ischemia or hemorrhage of brain tissue due to damage to cerebral blood vessels, which leads to damage. It has a very high disability rate. About 80% of acute stroke patients have upper limb movement disorders, and about 60% of patients still have upper limb dysfunction 6 months after stroke. Studies have shown that vagus nerve stimulation is an innovative and effective means of stroke rehabilitation treatment. It is usually combined with rehabilitation tasks. Vagus nerve electrical stimulation is given during the execution of rehabilitation exercises. The principle is to activate the ascending afferent network of the vagus nerve, enhance brain nerve protection and plasticity, and then improve the patient's motor function. However, the existing rehabilitation program requires therapists to continuously pay attention to the execution of the patient's motor tasks during the patient's rehabilitation in the hospital and manually apply stimulation repeatedly. There are problems such as inconvenient operation, large errors due to manual operation, and high labor costs.

Therefore, the present invention proposes a stroke rehabilitation control device and system, which can recommend rehabilitation training tasks, automatically implement stimulation, and adjust the rehabilitation training tasks according to feedback, in order to improve the efficiency and convenience of rehabilitation.

Embodiment 1:

In this embodiment, a stroke rehabilitation control device is provided. FIG. 1 is a schematic structural diagram of a stroke rehabilitation control device according to an embodiment of the present invention. As shown in FIG. 1 , the stroke rehabilitation control device mainly includes:

The rehabilitation training task generation module 10 is used to obtain the stroke rehabilitation reference information of the target object and generate the rehabilitation training task based on the stroke rehabilitation reference information; the stroke rehabilitation reference information is used to characterize the physical condition of the target object; the rehabilitation training task includes at least one set of rehabilitation training task execution sequence, and the rehabilitation training task execution sequence includes a combination of rehabilitation task guidance parameters and stimulation parameters;

In this embodiment, the target object may refer to a patient suffering from a stroke. For the target object, the prerequisite for performing stroke rehabilitation automatic stimulation is to first collect the stroke rehabilitation reference information of the target object. The stroke rehabilitation reference information generally refers to information that can be used to characterize the physical condition of the target object, such as the evaluation results of the physical condition, various physical indicators, etc. The acquisition of the stroke rehabilitation reference information can come from professionals such as doctors and rehabilitation therapists; it can also come from monitoring equipment, such as motion sensors, cameras, physiological signal acquisition equipment, etc., and the present invention is not limited thereto.

Rehabilitation training tasks refer to the content that patients need to complete during the entire process of a training session, which includes multiple rehabilitation training task execution sequences. Correspondingly, each rehabilitation training task execution sequence generally includes a set of actions. The contents of the rehabilitation training task execution sequence include: rehabilitation training task guidance parameters (for example, the type of training action, number of repetitions, duration, continuous speed, interval time, etc.), stimulation parameter combinations (for example, amplitude, frequency, pulse width, stimulation time, stimulation application delay, etc.). Doctors can check and confirm the generated rehabilitation training task execution sequence and can make modifications.

After the stroke rehabilitation reference information of the target object is obtained, a rehabilitation training action of the target object is selected from a pre-stored action library based on the stroke rehabilitation reference information. The rehabilitation training action content may include some limb movement actions, such as raising the arm, bending and straightening the elbow joint, turning the forearm, bending the wrist, moving the wrist up and down, bending and straightening the fingers, etc. Each rehabilitation training task sequence contains at least one rehabilitation training action, and the stimulation parameter combination is associated with the rehabilitation training action. Different rehabilitation training actions correspond to the same or different stimulation parameter combinations.

The task guiding module 20 is used to display the rehabilitation training actions in the rehabilitation training task execution sequence to guide the target object to perform the rehabilitation training actions;

In this embodiment, the rehabilitation training guidance can be presented to the target object in the form of text, video, audio or multimedia to guide the target object to perform the corresponding rehabilitation training action. Therefore, the task guidance module 20 can guide the rehabilitation training action according to the embodiment of the rehabilitation training action.

The stimulation signal control module 30 is used to obtain the stimulation parameter combination of the current rehabilitation training task execution sequence, generate a stimulation trigger instruction based on the stimulation parameter combination, and send a stimulation trigger instruction to the neurostimulator during the rehabilitation training action guidance display process, and the neurostimulator outputs a stimulation signal to the target object according to the stimulation trigger instruction. In the present invention, the neurostimulator is an implantable vagus nerve stimulator. In some other embodiments, the stimulator can also be a non-implantable cervical vagus nerve stimulator or an ear vagus nerve stimulator.

The stroke rehabilitation control device provided in this embodiment can generate rehabilitation training tasks based on the stroke rehabilitation reference information of the target object, making the rehabilitation training more targeted and also making the operation more convenient, reducing the programming burden of doctors and other professionals; and, it can perform automated vagus nerve stimulation according to the rehabilitation training task execution sequence of the target object, so that the application of stimulation is automatically paired with specific rehabilitation movements, making the signal output more accurate and reducing labor costs.

Embodiment 2:

In this embodiment, a stroke rehabilitation control device is provided. FIG. 2 is a schematic structural diagram of a stroke rehabilitation control device according to an embodiment of the present invention. As shown in FIG. 2 , the stroke rehabilitation control device mainly includes:

For details of the rehabilitation training task generating module 10, the task guiding module 20, and the stimulation signal controlling module 30, please refer to the relevant introduction of the embodiment 1 shown in FIG. 1, which will not be described again here.

In this embodiment, the stroke rehabilitation control device also includes a recording module 40, through which the target object performs rehabilitation training actions under the stimulation signal. Specifically, the feedback information of the target object is recorded. The feedback information may include: the performance score of the target object in performing the task, the reaction time of the target object's action execution, the signal collected by the motion sensor device (reaction time measurement, accelerometer, gyroscope, etc.), the motion detection of the video signal, the collection of physiological signals, etc., wherein the physiological signal may include EEG information, ECG information, myoelectric information, breathing information, etc.; in specific implementation, some wearable devices can be used to measure the EEG, ECG, myoelectric, breathing, etc. of the target object during the execution of the rehabilitation training task for scoring and feedback.

Correspondingly, the control device is used to adjust the rehabilitation task guidance parameters, or the stimulation parameters, or both, based on the physical condition, movement condition, reaction condition, etc. of the target object reflected by the feedback information, so that the adjusted rehabilitation task guidance parameters and stimulation parameters can be more suitable for the target object. In this embodiment, the control device also includes: an information analysis module 50, which is used to analyze the situation of the target object performing rehabilitation training actions based on the feedback information; the rehabilitation training task generation module 10 is also used to adjust the rehabilitation task guidance parameters and/or stimulation parameter combination based on the situation of the target object performing rehabilitation training actions.

During the period when the target subject performs the rehabilitation training task, the professional can monitor the target subject's task execution and appropriately adjust the rehabilitation task guidance parameters and/or stimulation parameter combinations. For example, when it is found that the target subject's task execution is later than the stimulation application time, the subsequent rehabilitation training task parameters can be adjusted to partially or uniformly increase the stimulation application delay. Monitoring feedback can be carried out through some motion sensing devices, such as sensor devices on rehabilitation equipment (reaction time measurement, accelerometer, gyroscope, etc.), motion detection of video signals, etc.; or use some wearable devices to measure the target subject's EEG, ECG, EMG, breathing, etc. during rehabilitation exercise for scoring and feedback.

The stroke rehabilitation control device provided in this embodiment can generate rehabilitation training tasks according to the stroke rehabilitation reference information of the target object, making the rehabilitation training more targeted, and also making the operation more convenient, reducing the programming burden of doctors and other professionals; and can automatically stimulate the vagus nerve according to the rehabilitation training task execution sequence of the target object, so that the application of stimulation is paired with specific rehabilitation movements, making the signal output more accurate, and can reduce labor costs. In addition, based on the above-mentioned task performance score, reaction time, motion sensor signal, video signal, and physiological signal, the target object is analyzed in the process of performing rehabilitation training movements under the application of stimulation signals, and adjustments are made according to the conditions, so as to obtain rehabilitation training task content and corresponding stimulation signals that are more matched to the target object, which can help improve the rehabilitation effect and efficiency for the target object.

Embodiment 3:

In this embodiment, a stroke rehabilitation control device is provided. FIG3 is a schematic diagram of the structure of a stroke rehabilitation control device according to an embodiment of the present invention. As shown in FIG3 , the stroke rehabilitation control device mainly includes:

For details of the rehabilitation training task generating module 10 and the stimulation signal controlling module 30 , please refer to the related introduction of the embodiment 1 shown in FIG. 1 , which will not be described in detail here.

In this embodiment, the task guidance module 20 also includes: a task display script generation submodule 201, which is used to generate a corresponding rehabilitation exercise display script based on the rehabilitation training task; and a display submodule 202, which is used to play the rehabilitation exercise display script to guide the target object to perform rehabilitation training movements.

In this embodiment, the rehabilitation training guidance can be presented to the target object in a variety of different forms such as text, video, audio or multimedia, to guide the target object to perform corresponding rehabilitation training movements.

In some optional embodiments, the display of rehabilitation training movements can be a rehabilitation training guidance video organized in a manner similar to a video script. According to the evaluation results of the target object, the corresponding rehabilitation training guidance video is selected, and the rehabilitation task guidance parameters (number of repetitions per group of movements, duration, continuous speed, interval time, etc.) are recommended. The rehabilitation exercise display script includes at least one group of rehabilitation training movements, and each group of the rehabilitation training movements is guided to be displayed at least once. In this embodiment, the rehabilitation training task example is shown in Figure 4A. The rehabilitation training task is mainly based on daily upper limb movements (such as front and back swinging arms, rotating swinging arms, up and down swinging arms, etc.). In some other embodiments, it can also be a specific behavioral action such as combing hair. Each group of actions lasts 30s, repeated 2 times, the playback speed is 80%, the interval between actions is 10s, the stimulation time is 0.5s, and the stimulation is applied with a delay of 5s, that is, each time after the action guidance video is played for 5s, a command is sent to the neurostimulator for stimulation triggering. The stimulation triggering process can consider the communication delay and make corresponding time corrections. The stimulation application delay includes the instruction trigger delay and the time interval from the issuance of the stimulation trigger instruction to the output of the stimulation signal by the neurostimulator. For example, the communication time is generally 0.5s, and the instruction trigger delay calculation method is stimulation application delay 5s-communication time 0.5s=4.5s. Then the stimulation signal control module can send the stimulation trigger instruction to the neurostimulator 4.5s after the video playback start signal, that is, the stimulation signal control module sends the stimulation trigger instruction after the execution time reaches the instruction trigger delay. Correspondingly, the single rehabilitation training task execution sequence of the rehabilitation training task is shown in Figure 4B, which shows a group of training actions repeated at an interval of 10s. The corresponding parameters in the task sequence are: forward and backward arm swing training action, repeated 2 times, playback time lasting 30s, interval 10s, stimulation parameters 0.8mA/100μs/30Hz/stimulation time 0.5s, and stimulation application delay 5s. In the present invention, the stimulation application delay = the instruction trigger delay + the time interval (communication time) from the issuance of the stimulation trigger instruction to the output of the stimulation signal by the neurostimulator. If the communication time is not considered, the stimulation trigger instruction is issued according to the stimulation application delay control. If the communication time is considered, the communication time is subtracted from the stimulation application delay, and the stimulation trigger instruction is issued according to the instruction trigger delay control, so that the time when the target object is stimulated is more accurately coordinated with the display content of the rehabilitation training action.

In this embodiment, the stimulation signal control module 30 is used to send a stimulation trigger instruction to the neurostimulator based on the rehabilitation training task execution sequence to which the currently played rehabilitation training action belongs during the playback of the rehabilitation exercise demonstration script, and specifically generates a stimulation trigger instruction based on the stimulation parameter combination corresponding to the current rehabilitation training task execution sequence. The stimulation signal control module 30 includes:

The execution monitoring submodule is used to obtain the execution time of a single guided display of the rehabilitation training action of the current rehabilitation training task execution sequence;

An information extraction submodule, used for extracting the stimulus application delay from the stimulus parameter combination of the current rehabilitation training task execution sequence;

In this embodiment, the stimulation application delay is used to represent the time difference between the start of a single rehabilitation training action guide display and the application of the stimulation signal; therefore, the execution time of the current single rehabilitation training action guide display and the stimulation application delay are required;

In some optional embodiments, the delay in applying the stimulation may be when a single rehabilitation training action guidance display is executed for a certain time, and the time may be a fixed duration, such as 5 seconds, etc.; or it may be when the rehabilitation training action is executed to a certain node, such as after the target object starts or completes a set of actions, etc., and the duration may be pre-set by the relevant operator, or may be generated by fitting based on the execution of historical data, and the present invention is not limited to this.

The determination submodule is used to determine whether to trigger the output stimulation signal based on the execution time and the stimulation application delay during the playback of the rehabilitation exercise demonstration script;

The determination submodule determines whether the execution time at that time has reached the time difference required to trigger the output of the stimulation signal based on the acquired execution time and the stimulation application delay. If the communication time is considered, the communication time is subtracted from the stimulation application delay to obtain the instruction trigger delay. If the determination submodule determines that the execution time has reached the instruction trigger delay, the stimulation signal trigger submodule sends a stimulation trigger instruction to the neurostimulator. In the present invention, whether to consider the communication time can be set in the stroke rehabilitation control device.

The stimulation signal triggering submodule is used to send a stimulation triggering instruction to the neurostimulator when the determination submodule determines that the stimulation signal output needs to be triggered.

The stroke rehabilitation control device provided in this embodiment can generate rehabilitation training tasks according to the stroke rehabilitation reference information of the target object, so that the rehabilitation training is more targeted, and the operation is also more convenient, reducing the programming burden of doctors and other professionals, and the rehabilitation training tasks can be displayed in the form of video, so that relevant personnel can present the rehabilitation training action guidance more intuitively and conveniently; and it can automatically stimulate the vagus nerve according to the rehabilitation training task execution sequence of the target object, so as to achieve the pairing of the stimulation application with specific rehabilitation movements, making the signal output more accurate and more convenient to use. De-humanization can also make the generation and execution of corresponding plans more accurate and complete.

In the present invention, when the technical solutions do not conflict, the technical features in Examples 1-3 can be combined with each other.

It should be noted that the stroke rehabilitation control device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and/or other devices that can provide the above functions.

Embodiment 4:

In this embodiment, a stroke rehabilitation system is also provided, as shown in FIG5 , and the stroke rehabilitation system mainly includes: a vagus nerve stimulator 500 and a stroke rehabilitation control device described in any of the above embodiments. Through the stroke rehabilitation control device, a rehabilitation training task is generated based on the actual situation of the target object. In the process of the target object performing the rehabilitation training action, according to the current training action execution time, the stimulation trigger instruction of the rehabilitation task training execution sequence to which the current training action belongs, the current training action execution time (display, play time) reaches the set time (stimulation application delay), and the control device actively sends a stimulation trigger instruction to the vagus nerve stimulator 500. The vagus nerve stimulator 500 configures the stimulation parameters according to the stimulation trigger instruction and the stimulation parameter combination of the current rehabilitation task training execution sequence, and sends a stimulation signal to stimulate the target object. In the present invention, the nerve stimulator is an implantable vagus nerve stimulator. In some other embodiments, the stimulator can also be a non-implantable cervical vagus nerve stimulator or an ear vagus nerve stimulator.

In some optional embodiments, the above-mentioned stroke rehabilitation system can be implemented as a vagus nerve stimulation stroke rehabilitation system as shown in FIG. 6 , wherein the vagus nerve stimulation stroke rehabilitation system includes a control device and a vagus nerve stimulator 500 , which cooperate with each other through wireless communication.

Among them, the control equipment mainly includes:

(1) Input module 60, mainly used to receive information input, including but not limited to the evaluation level or score of patient symptoms, adjustment of rehabilitation training tasks, issuance of manual mode control stimulation trigger instructions, feedback on patient task execution, etc. Information input can come from professionals such as doctors and rehabilitation therapists; it can also come from monitoring equipment, such as motion sensors, cameras, physiological signal acquisition equipment, etc. The input module 60 interacts with the control module 100.

(2) Control module 100, which is mainly responsible for rehabilitation task control and stimulation control.

The control module 100 includes the rehabilitation training task generation module 10, the task guidance module 20, and the stimulation signal control module 30 in the above-mentioned embodiment. The control module 100 mainly generates rehabilitation training tasks and controls the presentation of rehabilitation training tasks to patients. The rehabilitation training guidance can be presented to the patient in the form of text, video, audio or multimedia to guide the target object to perform rehabilitation training actions. The content of the rehabilitation training action may include some limb movement actions, such as raising the arm, bending and straightening the elbow joint, turning the forearm, bending the wrist, moving the wrist up and down, bending and straightening the fingers, etc. The rehabilitation training task includes at least one set of rehabilitation training task execution sequence, and the rehabilitation training task execution sequence includes rehabilitation task guidance parameters and stimulation parameter combinations. The rehabilitation task guidance parameters include the type of training action, the number of repetitions, the duration, the continuous speed, the interval time, etc., and the stimulation parameter combination includes stimulation parameters and stimulation application delay, etc. The control module 100 can generate a recommended rehabilitation training task execution sequence based on the patient symptom assessment results from the input module 60 and the existing data training model, and doctors and other professionals can adjust the parameters of the rehabilitation training task execution sequence in combination with the patient's rehabilitation situation.

Stimulation control mainly has the functions of stimulation parameter programming and stimulation switch control. The stimulation parameters mainly include stimulation amplitude, pulse width, frequency, stimulation time, etc. The recommended stimulation parameter combination can be generated based on the information from the input module (such as: patient assessment level) and the existing data training model. The existing training mode is obtained through training with data corresponding to patients with different ratings and rehabilitation training tasks. Doctors, rehabilitation therapists and other professionals can adjust the stimulation parameters and program the vagus nerve stimulator. During the execution of the rehabilitation task, the stimulation application delay and the current rehabilitation training action playback time information are obtained to determine whether the stimulation needs to be triggered. If necessary, a stimulation trigger instruction is sent to the vagus nerve stimulator, and the vagus nerve stimulator starts the stimulation.

(3) The recording module 40 is interactively connected with the control module 100 and is used to obtain and record the feedback information of the target object performing the rehabilitation training action under the stimulation signal. It can also record the rehabilitation task and stimulation related data, such as the start and end time of the guided video playback, the time of manual triggering of the stimulation implementation, etc. Model fitting can also be performed based on the existing recorded data for subsequent rehabilitation training task recommendation.

(4) Information analysis module 50, used to analyze the target object's performance of rehabilitation training movements based on feedback information. The feedback information may include: the target object's performance score for performing the task, the target object's reaction time for performing the movement, the signal collected by the motion sensor device (reaction time measurement, accelerometer, gyroscope, etc.), the motion detection of the video signal, the collection of physiological signals, etc. The performance score may be input by a professional such as a doctor or a rehabilitation therapist. For example, if the difference between the score analyzed and the score input by the input module 60 exceeds a set threshold, the rehabilitation training task generation module 10 may regenerate the rehabilitation training task according to the new performance score, or adjust the rehabilitation task guidance parameters and/or stimulation parameter combinations, such as the type of training movement, continuous speed, stimulation amplitude, stimulation time, stimulation application delay, etc.

(5) The first communication module 70 is interactively connected to the control module 100 and is used to communicate with the vagus nerve stimulator 500 and send a stimulation trigger instruction to the vagus nerve stimulator 500, thereby programming the stimulation parameters of the vagus nerve stimulator 500.

The vagus nerve stimulator 500 mainly includes:

(1) The second communication module 510 is used to communicate with the control device and receive the stimulus triggering instruction.

(2) Stimulation module 520, which programs stimulation parameters and triggers stimulation implementation.

Embodiment 5:

In this embodiment, a stroke rehabilitation automatic stimulation control method is also provided, and the method is executed by the control device in the above embodiment. FIG7 is a flow chart of the stroke rehabilitation automatic stimulation control method according to an embodiment of the present invention. As shown in FIG7 , the process includes the following steps:

Step S101, the control device obtains stroke rehabilitation reference information of the target object, and generates a rehabilitation training task based on the stroke rehabilitation reference information of the target object; the rehabilitation training task includes at least one set of rehabilitation training task execution sequence, and the rehabilitation training task execution sequence includes a combination of rehabilitation task guidance parameters and stimulation parameters;

In this embodiment, the target object may refer to a patient suffering from a stroke. For the target object, the prerequisite for automatic stimulation of stroke rehabilitation is to first collect the stroke rehabilitation reference information of the target object. The stroke rehabilitation reference information generally refers to information that can be used to characterize the physical state of the target object, such as the evaluation results of the physical state, various physical indicators, etc. The acquisition of the stroke rehabilitation reference information can come from professionals such as doctors and rehabilitation therapists; it can also come from monitoring equipment, such as motion sensors, cameras, physiological signal acquisition equipment, etc., and the present invention is not limited to this. The evaluation result can be a specific score (such as a score of 0 to 100), or a rating result (such as level 0-no symptoms, level 1-mild injury, level 2-mild injury, level 3-moderate injury, level 4-severe injury). It can be an evaluation of the overall symptoms of the target object; it can also be a separate evaluation of different symptoms (such as finger movement speed, finger movement flexibility, arm mobility, etc.), and the evaluation results are given separately. The acquisition of the stroke rehabilitation reference information can come from professionals such as doctors and rehabilitation therapists; it can also come from monitoring equipment, such as motion sensors, cameras, physiological signal acquisition equipment, etc., but the present invention is not limited to this. After obtaining the evaluation results of the target object, the corresponding rehabilitation training tasks can be generated based on the score or rating represented by the evaluation results. For example, if the rating result of the target object is level 3-moderate injury, the task volume and/or stimulation parameters of the corresponding rehabilitation training task are relatively higher than those corresponding to the rating result of level 2-mild injury, which is specifically reflected in the rehabilitation task guidance parameters and/or stimulation parameter combinations of the rehabilitation training task.

In some optional implementations, rehabilitation training tasks can be selected according to the overall symptom score or the scores of different symptoms, and rehabilitation tasks of corresponding score segments or rating levels can be recommended and combined. In specific implementations, since there are large individual differences in the motor injuries of each stroke patient, and during the execution of rehabilitation training tasks, their task performance may be unstable due to factors such as fatigue, such as slowed motor response, slower movement execution speed, reduced flexibility, etc., at this time, the corresponding rehabilitation training tasks can be generated by combining the stroke rehabilitation reference information of the target object through the pre-configured rehabilitation task generation data training model. The configuration process of the rehabilitation task generation data training model is as follows:

Step a1: Obtain the rehabilitation training task input by the operating user based on the evaluation result.

In this embodiment, the operating user may be a medical staff or other relevant staff member who sets tasks for the target object. In the process of setting some rehabilitation training tasks, the operating user configures the corresponding rehabilitation training tasks based on the evaluation results, and the specific rehabilitation task guidance parameters include: at least one of the type of training action, number of repetitions, duration, continuous speed, and interval time; the stimulation parameter combination includes at least one of the stimulation amplitude, pulse width, frequency, stimulation time, and stimulation application delay.

Step a2: Perform rehabilitation training tasks and record relevant information;

Execute the rehabilitation training tasks set by the operating user and record the execution of the rehabilitation training tasks. During the execution of some rehabilitation training tasks, the operating user can set the stimulation trigger mode to manual trigger. At the appropriate time when the target object performs rehabilitation exercise (such as the start of the movement, the maximum range of movement, and the strongest force), the operator can manually trigger vagus nerve stimulation. The control device can record the time when the rehabilitation training task guide starts playing and the time when the stimulation is manually triggered.

Step a3: Based on the correspondence between multiple groups of rehabilitation training task settings and evaluation results, a rehabilitation training task generation data training model is obtained.

In the above process, the parameters manually configured by the operator based on different evaluation results are recorded. Statistics can be performed on multiple groups of parameters to calculate the mean, median, mode, variance, etc. Fitting can also be performed, such as linear fitting, polynomial curve fitting, power function fitting, exponential function fitting, etc.

Rehabilitation training tasks refer to the content that patients need to complete during the entire process of a training session, which includes multiple rehabilitation training task execution sequences. Correspondingly, each rehabilitation training task execution sequence generally includes a set of actions. If the training actions are displayed in the form of a video, a set of actions is a video, which can be played repeatedly at intervals. The content of the rehabilitation training task execution sequence includes: rehabilitation task guidance parameters (for example, the type of training action, the number of repetitions, the duration, the continuous speed, the interval time, etc.), and stimulation parameter combinations (for example, amplitude, frequency, pulse width, stimulation time, stimulation application delay, etc.). The generated rehabilitation training task execution sequence can be subsequently checked and confirmed by the doctor and can be modified.

After the stroke rehabilitation reference information of the target object is obtained, a rehabilitation training action of the target object is selected from a pre-stored action library based on the stroke rehabilitation reference information. The content of the rehabilitation training task may include some limb movement actions, such as raising the arm, bending and straightening the elbow joint, turning the forearm, bending the wrist, moving the wrist up and down, bending and straightening the fingers, etc.

Step S102: The control device is used to display the rehabilitation training movements in the rehabilitation training task execution sequence to guide the target object to perform the rehabilitation training movements.

In this embodiment, the rehabilitation training guidance can be presented to the target object in the form of text, video, audio or multimedia to guide the target object to perform the corresponding rehabilitation training movements. Therefore, it is possible to guide the target object to perform the rehabilitation training movements based on the specific content of the rehabilitation training task. A corresponding rehabilitation exercise display script is generated based on the rehabilitation training task, and the rehabilitation exercise display script includes at least one group of rehabilitation training movements, and each group of rehabilitation training movements is guided to be displayed at least once. According to the rehabilitation exercise display script, the rehabilitation training movements in the execution sequence of each rehabilitation training task are played.

Step S103, generating a stimulation trigger instruction based on the stimulation parameter combination of the current rehabilitation training task execution sequence, sending the stimulation trigger instruction to the neurostimulator during the rehabilitation training action guidance display process, and the neurostimulator outputs a stimulation signal according to the stimulation trigger instruction.

During the playback of the rehabilitation exercise demonstration script, the execution time of a single guided display of the rehabilitation training action of the current rehabilitation training task execution sequence is obtained, and the stimulation application delay is extracted from the stimulation parameter combination of the current rehabilitation training task execution sequence. If the judgment submodule determines that the output stimulation signal needs to be triggered, a stimulation trigger instruction is sent to the neurostimulator.

In some optional embodiments, the delay in applying the stimulation may be when the rehabilitation training task is executed for a certain period of time, which may be a fixed duration, such as 5 seconds; or it may be when the rehabilitation training task is executed to a certain node, such as after the target object starts or completes the first set of actions, etc., and the duration may be pre-set by the relevant operator, or may be generated by fitting based on the execution of historical data, and the present invention is not limited to this.

In this embodiment, the stroke rehabilitation automatic stimulation control method may also include a process of recording the target object's situation of performing rehabilitation training tasks under the stimulation signal during the execution process. Specifically, the feedback information of the target object is recorded. The feedback information may include: the performance score of the object's task execution, the reaction time of the target object's action execution, the signal collected by the motion sensing device (reaction time measurement, accelerometer, gyroscope, etc.), the motion detection of the video signal, the collection of physiological signals, etc., wherein the physiological signal may include EEG information, ECG information, myoelectric information, breathing information, etc.; in specific implementation, some wearable devices may be used to measure the EEG, ECG, myoelectric, breathing, etc. of the target object during the rehabilitation training action for scoring and feedback. The control device can adjust the rehabilitation task guidance parameters and/or the stimulation parameter combination based on the feedback information. After obtaining the feedback information, the rehabilitation task guidance parameters can be adjusted according to the physical condition, movement condition, reaction condition, etc. of the target object reflected in the feedback information, or the stimulation parameters can be adjusted, or both can be adjusted, so that the adjusted rehabilitation task guidance parameters and stimulation parameters can be more suitable for the target object.

During the execution of the task, professionals can monitor the target object's task execution and appropriately adjust the rehabilitation training task parameters (i.e., rehabilitation task guidance parameters and/or stimulation parameter combinations). For example, when it is found that the target object's task execution is later than the stimulation application time, the subsequent rehabilitation training task parameters can be adjusted to partially or uniformly increase the stimulation application delay. Monitoring feedback can also be carried out through some motion sensing equipment, such as sensor devices on rehabilitation equipment (reaction time measurement, accelerometers, gyroscopes, etc.), motion detection of video signals, etc.; or use some wearable devices to measure the target object's EEG, ECG, EMG, breathing, etc. during rehabilitation exercise for scoring and feedback.

Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims (10)

1. A stroke rehabilitation control device, comprising:

The rehabilitation training task generation module is used for acquiring the stroke rehabilitation reference information of the target object and generating a rehabilitation training task based on the stroke rehabilitation reference information; the stroke rehabilitation reference information is used for representing physical state conditions of the target object; the rehabilitation training tasks comprise at least one group of rehabilitation training task execution sequences, and the rehabilitation training task execution sequences comprise rehabilitation task guiding parameters and stimulation parameter combinations;

The task guiding module is used for displaying the rehabilitation training actions in the rehabilitation training task execution sequence so as to guide the target object to execute the rehabilitation training actions;

The system comprises a stimulation signal control module, a nerve stimulator and a target object, wherein the stimulation signal control module is used for generating a stimulation trigger instruction based on a stimulation parameter combination of a current rehabilitation training task execution sequence and sending the stimulation trigger instruction to the nerve stimulator in the rehabilitation training action guiding display process, and the nerve stimulator can output a stimulation signal to the target object according to the stimulation trigger instruction.

2. The stroke rehabilitation control device of claim 1, wherein the task guidance module comprises:

the task display script generation sub-module is used for generating a corresponding rehabilitation exercise display script based on the rehabilitation training task;

And the display sub-module is used for playing the rehabilitation exercise demonstration script so as to guide the target object to execute rehabilitation training actions.

3. The stroke rehabilitation control device according to claim 2, wherein the stimulation signal control module is configured to send a stimulation trigger instruction to a neurostimulator based on a rehabilitation training task execution sequence to which a currently played rehabilitation training action belongs during the playing process of the rehabilitation exercise demonstration script.

4. The stroke rehabilitation control device of claim 2, wherein the rehabilitation exercise demonstration script comprises at least one set of rehabilitation training actions, each set of rehabilitation training actions directing a demonstration at least once.

5. The stroke rehabilitation control device of claim 4, wherein the stimulation signal control module comprises:

The execution monitoring sub-module is used for acquiring the execution time of single guidance display of the rehabilitation training action of the current rehabilitation training task execution sequence;

the information extraction sub-module is used for extracting stimulation application delay from the stimulation parameter combination of the current rehabilitation training task execution sequence;

The judging submodule is used for judging whether to trigger the output of the stimulation signal or not based on the execution time and the stimulation application delay in the process of playing the rehabilitation exercise demonstration script;

And the stimulation signal triggering sub-module is used for sending a stimulation triggering instruction to the nerve stimulator when the judging sub-module judges that the stimulation signal needs to be triggered and output.

6. The stroke rehabilitation control device of claim 5, wherein the stimulation application delay comprises a command trigger delay and a time interval from the stimulation trigger command to the neurostimulator outputting a stimulation signal;

And if the judging submodule judges that the execution time reaches the instruction triggering delay, the stimulation signal triggering submodule sends a stimulation triggering instruction to the nerve stimulator.

7. The stroke rehabilitation control device of claim 1, wherein the stroke rehabilitation control device further comprises:

The recording module is used for acquiring and recording feedback information of the rehabilitation training action executed by the target object under the stimulation signal;

The information analysis module is used for analyzing the condition of the target object for executing rehabilitation training actions based on the feedback information;

the rehabilitation training task generating module is further used for adjusting the rehabilitation task guiding parameters and/or the stimulation parameter combination based on the condition that the target object executes rehabilitation training actions.

8. The stroke rehabilitation control device of claim 7, wherein the feedback information comprises: performance score of the target object performing the task, reaction time of the target object's action execution, motion sensor signal, video signal, and physiological signal.

9. The stroke rehabilitation control device according to claim 7, wherein the control device is preset with a data training model capable of generating rehabilitation training tasks based on the stroke rehabilitation reference information, the data training model being generated through training of correspondence between a plurality of sets of rehabilitation training task settings and evaluation results.

10. A stroke rehabilitation system comprising a vagus nerve stimulator and the stroke rehabilitation control device of any one of claims 1-9;

The vagus nerve stimulator is in communication connection with the control device to receive a stimulation trigger instruction sent by the control device.