CN118681134A - Stroke rehabilitation control equipment and system - Google Patents

Abstract

The invention relates to the technical field of medical equipment, and discloses stroke rehabilitation control equipment and a system, wherein the control equipment comprises: 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 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 neural stimulator, a target object, a stimulation signal generation module and a simulation signal generation module, 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 neural stimulator in the guiding and displaying process of the rehabilitation training action, and the neural stimulator can output a stimulation signal to the target object according to the stimulation trigger instruction.

Description

Stroke rehabilitation control equipment and system

Technical Field

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

Background

Stroke is a disease in which cerebral tissue is ischemic or hemorrhagic due to damage to cerebral blood vessels, resulting in damage. The research shows that vagus nerve stimulation is an innovative effective means for promoting the recovery of stroke, is usually matched with a recovery task, and applies vagus nerve electrical stimulation in the recovery exercise execution process, and the principle is that the cerebral nerve protection and plasticity are enhanced by activating a vagus nerve uplink afferent network, so that the exercise function of a patient is improved. However, the existing rehabilitation scheme requires therapists to continuously pay attention to the execution condition of the patient task to manually repeat the application of the stimulus repeatedly for a plurality of times in the process of executing the exercise task by the patient during the rehabilitation of the hospital, and has the problems of inconvenient operation, large error possibly caused by manual operation, high labor cost and the like.

Disclosure of Invention

In view of the above, the invention provides a device and a system for controlling stroke rehabilitation, which are used for solving the problems of inconvenient operation and larger error caused by the fact that the manual stimulation is required to be applied in the existing scheme.

In a first aspect, the present invention provides 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.

Preferably, the task guidance module includes:

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.

Preferably, the stimulation signal control module is configured to send a stimulation trigger instruction to the neurostimulator based on a rehabilitation training task execution sequence to which the rehabilitation training action currently played belongs in the process of playing the rehabilitation exercise display script.

Preferably, the rehabilitation exercise demonstration script comprises at least one set of rehabilitation training actions, and each set of rehabilitation training actions guides the demonstration at least once.

Preferably, the stimulation signal control module includes:

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.

Preferably, the stimulus application delay comprises a command trigger delay and a time interval from the emission of the stimulus trigger command to the output of a stimulus signal by the neurostimulator;

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.

Preferably, 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.

Preferably, the feedback information includes: 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.

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

In another aspect, the invention provides a stroke rehabilitation system comprising a vagus nerve stimulator and the stroke rehabilitation control device;

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

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic structural view of a stroke rehabilitation control device according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of another stroke rehabilitation control device according to an embodiment of the present invention;

FIG. 3 is a schematic structural view of still another stroke rehabilitation control device according to an embodiment of the present invention;

FIG. 4A is a schematic flow chart of a rehabilitation training task according to an embodiment of the present invention;

FIG. 4B is a schematic diagram of a rehabilitation training task execution sequence according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of still another stroke rehabilitation control device according to an embodiment of the present invention;

FIG. 6 is a schematic structural view of still another stroke rehabilitation control device according to an embodiment of the present invention;

fig. 7 is a flow chart of a stroke rehabilitation automatic stimulation method according to an embodiment of the invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Stroke is a disease in which cerebral tissue is ischemic or hemorrhagic due to damage to cerebral vessels, resulting in damage, and has a very high disability rate, with upper limb dyskinesia being associated with about 80% of acute stroke patients, and upper limb dysfunction still being present 6 months after about 60% of stroke patients. The research shows that vagus nerve stimulation is an effective means of innovative rehabilitation therapy of stroke, is usually matched with rehabilitation tasks, and gives vagus nerve electric stimulation in the rehabilitation exercise execution process, and the principle is that the cerebral nerve protection and plasticity are enhanced by activating a vagus nerve uplink afferent network, so that the exercise function of a patient is improved. However, the existing rehabilitation scheme requires therapists to continuously pay attention to the execution condition of the patient task to manually repeat the application of the stimulus repeatedly for a plurality of times in the process of executing the exercise task by the patient during the rehabilitation of the hospital, and has the problems of inconvenient operation, large error possibly caused by manual operation, high labor cost and the like.

Therefore, the invention provides the stroke rehabilitation control device and system, which can recommend and automatically stimulate the rehabilitation training tasks and can adjust the rehabilitation training tasks according to feedback so as to improve the rehabilitation efficiency and convenience.

Example 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, and as shown in fig. 1, the stroke rehabilitation control device mainly includes:

the rehabilitation training task generation module 10 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 a target object; the rehabilitation training tasks comprise at least one group of rehabilitation training task execution sequences, wherein the rehabilitation training task execution sequences comprise rehabilitation task guiding parameters and stimulation parameter combinations;

In this embodiment, the target object may refer to a patient suffering from a stroke, and for the target object, the target object needs to collect first stroke rehabilitation reference information of the target object, where the stroke rehabilitation reference information generally refers to information that can be used to represent the physical state of the target object, such as an evaluation result of the physical state, various indexes of the body, and so on. The stroke rehabilitation reference information can be obtained from professionals such as doctors, rehabilitations and the like; the invention is not limited to the monitoring device, such as a motion sensor, a camera, a physiological signal acquisition device, etc.

Rehabilitation training tasks refer to the content that a patient needs to complete in the whole process of one training, and comprise a plurality of rehabilitation training task execution sequences. Correspondingly, each rehabilitation training task execution sequence generally comprises a set of actions. The content of the rehabilitation training task execution sequence comprises: rehabilitation training task guidance parameters (e.g., type of training action, number of repetitions, duration speed, interval time, etc.), stimulation parameter combinations (e.g., amplitude, frequency, pulse width, stimulation time, stimulation application delay, etc.). And executing the sequence of the generated rehabilitation training tasks, and checking and confirming by a doctor and modifying.

After the stroke rehabilitation reference information of the target object is acquired, the 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 movements may include some movement movements of the limbs, such as raising the arms, bending and straightening the elbow joints, flipping the forearms, bending the wrists, moving the wrists up and down, bending and straightening the fingers, etc. Each rehabilitation training task sequence comprises at least one rehabilitation training action, the stimulation parameter combination is associated with the rehabilitation training action, and the stimulation parameter combinations corresponding to different rehabilitation training actions are the same or different.

The task guidance module 20 is configured to display rehabilitation training actions in a rehabilitation training task execution sequence, so as to guide the target object to execute the rehabilitation training actions;

In this embodiment, the rehabilitation training guidance may be presented to the target object in the form of text, video, audio or multimedia, and guide the target object to perform the corresponding rehabilitation training action. Thus, the task guidance module 20 may guide rehabilitation exercises depending on the implementation of the rehabilitation exercises.

The stimulation signal control module 30 is configured to obtain a stimulation parameter combination of the current rehabilitation training task execution sequence, generate a stimulation trigger instruction based on the stimulation parameter combination, and send the stimulation trigger instruction to the neurostimulator in 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, and in other embodiments, the stimulator may also be a non-implantable cervical vagus nerve stimulator or an aural vagus nerve stimulator.

According to the stroke rehabilitation control equipment provided by the embodiment, the stroke rehabilitation reference information of the target object can be used for generating a rehabilitation training task, so that the rehabilitation training is more targeted, the operation is more convenient, and the program control burden of professionals such as doctors is reduced; and moreover, the automatic vagus nerve stimulation can be performed according to the rehabilitation training task execution sequence of the target object, so that the stimulation application is automatically matched with a specific rehabilitation exercise, the signal output is more accurate, and the labor cost can be reduced.

Example 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, and as shown in fig. 2, the stroke rehabilitation control device mainly includes:

The rehabilitation training task generating module 10, the task guiding module 20, and the stimulation signal control module 30 are detailed in the description of embodiment 1 shown in fig. 1, and are not described herein.

In this embodiment, the stroke rehabilitation control device further includes a recording module 40, and the recording module 40 records the condition that the target object performs the rehabilitation training action under the stimulation signal. Specifically, the feedback information of the target object is recorded. The feedback information may include: performance scoring of a target object executing task, reaction time of the target object executing, motion detection of signals acquired by a motion sensing device (measurement in reaction, an accelerometer, a gyroscope and the like), motion detection of video signals, acquisition of physiological signals and the like, wherein the physiological signals can comprise electroencephalogram information, electrocardiographic information, myoelectric information, respiratory information and the like; in particular implementations, some wearable devices may be used to score and feedback by measuring the target subject's brain electrical, electrocardiographic, myoelectrical, respiratory, etc. during performance of a rehabilitation training task.

Correspondingly, the control device is used for adjusting the rehabilitation task guiding parameters or adjusting the stimulation parameters or adjusting both based on the physical condition, the movement condition, the reaction condition and the like of the target object reflected by the feedback information, so that the adjusted rehabilitation task guiding parameters and the adjusted stimulation parameters can be more matched with the target object. In this embodiment, the control apparatus further includes: an information analysis module 50 for analyzing the condition of the target subject performing the rehabilitation training action based on the feedback information; the rehabilitation training task generating module 10 is further configured to adjust the rehabilitation task guidance parameters and/or the stimulation parameter combination based on the condition that the target subject performs the rehabilitation training action.

During the execution of the rehabilitation training task by the target object, the professional can monitor the task execution condition of the target object and appropriately adjust the rehabilitation task guidance parameters and/or the stimulation parameter combination. For example, when the task execution of the target object is found to be later than the stimulus application time, the subsequent rehabilitation training task parameters can be adjusted to partially or uniformly increase the stimulus application delay. The monitoring feedback may be performed by some motion sensing device, such as sensing means on rehabilitation instrument (measurement in response, accelerometer, gyroscope, etc.), motion detection of video signal, etc.; or using some wearable device, scoring and feedback by measuring the brain, heart, muscle, respiration, etc. of the target subject during rehabilitation exercises.

According to the stroke rehabilitation control equipment provided by the embodiment, the stroke rehabilitation reference information of the target object can be used for generating a rehabilitation training task, so that the rehabilitation training is more targeted, the operation is more convenient, and the program control burden of professionals such as doctors is reduced; and moreover, the automatic vagus nerve stimulation can be performed according to the rehabilitation training task execution sequence of the target object, so that the stimulation is applied and matched with a specific rehabilitation exercise, the signal output is more accurate, and the labor cost can be reduced. In addition, based on the task performance score, the response time, the motion sensor signal, the video signal and the physiological signal, the condition of the target object in the process of executing the rehabilitation training action under the condition that the stimulus signal is applied is analyzed, and the condition is adjusted according to the condition, so that the rehabilitation training task content and the corresponding stimulus signal which are more matched with the target object are obtained, and the rehabilitation effect and the rehabilitation efficiency of the target object can be improved.

Example 3:

In this embodiment, a stroke rehabilitation control device is provided, and fig. 3 is a schematic structural diagram of a stroke rehabilitation control device according to an embodiment of the present invention, as shown in fig. 3, where the stroke rehabilitation control device mainly includes:

The rehabilitation training task generating module 10 and the stimulation signal control module 30 are described in detail with reference to embodiment 1 shown in fig. 1, and will not be described in detail herein.

In this embodiment, the task guidance module 20 further includes: a task display script generation sub-module 201, configured to generate a corresponding rehabilitation exercise display script based on the rehabilitation training task; the display sub-module 202 is configured to play a rehabilitation exercise demonstration script to guide the target object to perform a rehabilitation training action.

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

In some alternative embodiments, the presentation of the rehabilitation training actions may be a rehabilitation training guidance video organized in a manner similar to a video script. And selecting a corresponding rehabilitation training guiding video according to the evaluation result of the target object, and giving recommendation of rehabilitation task guiding parameters (such as the repetition times, duration time, duration speed, interval time and the like) of each group of actions. The rehabilitation exercise demonstration script comprises at least one group of rehabilitation training actions, and each group of rehabilitation training actions guides the demonstration at least once. In this embodiment, as shown in fig. 4A, the rehabilitation task mainly takes daily movements of the upper limb as a main part (such as a front swing arm, a rear swing arm, a rotating swing arm, an upper swing arm, a lower swing arm, etc.), and in other embodiments, the rehabilitation task may also be specific behavior movements such as a comb, etc., each group of movements lasts for 30s, is repeated 2 times, the playing speed is 80%, the interval between the movements is 10s, the stimulating time is 0.5s, the stimulating delay is 5s, that is, each time after the movements are guided to play the video for 5s, an instruction is sent to the nerve stimulator to perform stimulation triggering. The stimulation triggering process can consider the communication delay and perform corresponding time correction, the stimulation application delay comprises an instruction triggering delay and a time interval from the sending of the stimulation triggering instruction to the output of the stimulation signal by the nerve stimulator, for example, the communication time is generally 0.5s, the instruction triggering delay calculating method is that the stimulation application delay is 5s, the communication time is 0.5 s=4.5 s, and the stimulation signal control module can send the stimulation triggering instruction to the nerve stimulator after the video playing starting signal is 4.5s, namely, the stimulation signal control module sends the stimulation triggering instruction after the execution time reaches the instruction triggering delay. Correspondingly, the single rehabilitation training task execution sequence of the rehabilitation training task is shown in fig. 4B, which shows the situation that a group of training actions are repeatedly shown at intervals of 10s, and the corresponding parameters in the task sequence are as follows: the training actions of the front swing arm and the back swing arm are repeated for 2 times, the playing time lasts for 30s, the interval is 10s, the stimulation parameter is 0.8mA/100 mu s/30 Hz/stimulation time is 0.5s, and the stimulation application delay is 5s. In the invention, the stimulus application delay = instruction trigger delay + plus the time interval (communication time) from the stimulus trigger instruction to the output of the stimulation signal by the nerve stimulator, if the communication time is not considered, the stimulus trigger instruction is controlled to be sent according to the stimulus application delay, if the communication time is considered, the communication time is subtracted from the stimulus application delay, and the stimulus trigger instruction is controlled to be sent according to the instruction trigger delay, so that the time of the target object to be stimulated is more accurately matched with the display content of the rehabilitation training action.

In this embodiment, the stimulus signal control module 30 is configured to send a stimulus trigger instruction to the neurostimulator based on a rehabilitation training task execution sequence to which a rehabilitation training action currently played belongs in the process of playing the rehabilitation exercise display script, and specifically generate the stimulus trigger instruction based on a stimulus parameter combination corresponding to the current rehabilitation training task execution sequence. The stimulation signal control module 30 includes:

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;

In this embodiment, the stimulus application delay is used to represent the time difference between the initiation of a single rehabilitation training session leading presentation and the application of the stimulus signal; therefore, there is a need for the execution time of the current single rehabilitation training action guidance presentation and the stimulus application delay;

In some alternative embodiments, the stimulus application delay may be a time to direct presentation execution in a single rehabilitation exercise session, which may be a fixed duration, such as 5 seconds, etc.; the time period may be preset by the related operator, or may be generated by fitting based on the execution condition of the history data, for example, after the target object starts or completes a set of actions.

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

The judging submodule judges whether the execution time reaches the time difference for triggering the output stimulation signals or not based on the acquired execution time and the stimulation application delay. And if the communication time is considered, subtracting the communication time from the stimulation application time delay to obtain the command trigger time delay, and if the judging submodule judges that the execution time reaches the command trigger time delay, the stimulation signal trigger submodule sends a stimulation trigger command to the nerve stimulator. In the present invention, whether or not to consider the communication time may be set in the stroke rehabilitation control device.

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.

According to the stroke rehabilitation control equipment provided by the embodiment, the stroke rehabilitation reference information of the target object can be used for generating the rehabilitation training tasks, so that the rehabilitation training is more targeted, meanwhile, the operation is more convenient, the program control burden of professionals such as doctors is reduced, the rehabilitation training tasks are displayed in the form of videos and the like, and related personnel can more intuitively and conveniently present the rehabilitation training action guidance; and moreover, the automatic vagus nerve stimulation can be performed according to the rehabilitation training task execution sequence of the target object, so that the stimulation is applied and matched with specific rehabilitation motions, the signal output is more accurate, the use is more convenient, and the generation and execution of the corresponding scheme can be more accurate and perfect by means of de-humanization.

In the present invention, the technical features in embodiments 1 to 3 may be combined with each other under the condition that the technical schemes do not conflict.

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

Example 4:

In this embodiment, there is also provided a stroke rehabilitation system, as shown in fig. 5, which mainly includes: vagal nerve stimulator 500 and stroke rehabilitation control device as described in any of the embodiments above. According to the stroke rehabilitation control device, a rehabilitation training task is generated based on the actual condition of a target object, in the process that the target object executes the rehabilitation training action, according to the current training action execution time and the stimulation trigger instruction of the rehabilitation task training execution sequence to which the current training action belongs, the current training action execution time (presentation time and play time) reaches the set time (stimulation application time), the control device actively sends the stimulation trigger instruction to the vagus nerve stimulator 500, the vagus nerve stimulator 500 configures 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 apply stimulation to the target object. In the present invention, the neurostimulator is an implantable vagus nerve stimulator, and in other embodiments, the stimulator may also be a non-implantable cervical vagus nerve stimulator or an aural vagus nerve stimulator.

In some alternative embodiments, the above-described stroke rehabilitation system may be implemented as a vagal nerve stimulation stroke rehabilitation system as shown in fig. 6, which includes a control device and a vagal nerve stimulator 500, which cooperate by wireless communication.

Wherein, the control device mainly includes:

(1) The input module 60 is mainly used for receiving information input, including but not limited to evaluation level or score of patient symptoms, adjustment of rehabilitation training tasks, sending of manual mode control stimulation trigger instructions, feedback of patient task execution conditions, and the like. The information can be input from doctors, rehabilitations and other professionals; the input module 60 may also be from a monitoring device, such as a motion sensor, camera, physiological signal acquisition device, etc., that interacts with the control module 100.

(2) The control module 100 mainly performs rehabilitation task control and stimulation control.

The control module 100 includes the rehabilitation training task generating module 10, the task guiding module 20, and the stimulation signal control module 30 in the above embodiments. The control module 100 primarily performs the generation of rehabilitation training tasks and controls the presentation of rehabilitation training tasks to the patient. The rehabilitation training guidance can be presented to the patient in the form of text, video, audio or multimedia, and guides the target object to perform rehabilitation training actions. The content of the rehabilitation training movements may include some movement movements of the limbs, such as raising the arms, bending and straightening the elbow joints, flipping the forearm, bending the wrist, moving the wrist up and down, bending and straightening the fingers, etc. The rehabilitation training task comprises at least one group of rehabilitation training task execution sequences, wherein the rehabilitation training task execution sequences comprise rehabilitation task guide parameters and stimulus parameter combinations, the rehabilitation task guide parameters comprise the type, the repetition number, the duration speed, the interval time and the like of training actions, and the stimulus parameter combinations comprise stimulus parameters, stimulus application delay and the like. The control module 100 can generate a recommended rehabilitation training task execution sequence according to the patient symptom evaluation result from the input module 60 and the existing data training model, and a doctor or other professional can adjust parameters of the rehabilitation training task execution sequence according to the rehabilitation situation of the patient.

The stimulation control mainly has the functions of stimulation parameter programming and stimulation switch control. The stimulation parameters mainly comprise stimulation amplitude, pulse width, frequency, stimulation time and the like. The recommended stimulation parameter combination may be generated based on information from the input module (e.g., patient assessment level) and the existing data training model. The existing training mode is obtained through training of data corresponding to rehabilitation training tasks by patients with different ratings. The stimulation parameters can be adjusted and programmed by professionals such as doctors, rehabilitations, etc. During the execution of the rehabilitation task, acquiring the stimulation application delay and the current rehabilitation training action playing time information to judge whether the stimulation implementation is required, and if so, sending a stimulation triggering instruction to the vagus nerve stimulator, wherein the vagus nerve stimulator starts the stimulation implementation.

(3) The recording module 40 is interactively connected with the control module 100, and is used for acquiring and recording feedback information of the target object for executing rehabilitation training actions under the stimulation signals, and recording rehabilitation tasks and stimulation related data, such as the starting and ending time of guiding video playing, the time of manually triggering stimulation implementation, and the like. Model fitting can also be performed based on existing recorded data for subsequent rehabilitation training task recommendation.

(4) The information analysis module 50 is configured to analyze the condition of the target subject performing the rehabilitation training action based on the feedback information. The feedback information may include: performance scoring of the target object execution task, reaction time of the target object action execution, motion detection of signals acquired by a motion sensing device (measurement in reaction, accelerometer, gyroscope and the like), motion detection of video signals, acquisition of physiological signals and the like. The performance score may be entered by a practitioner such as a doctor or a rehabilitation engineer, for example, analyzing that the score difference from the score entered by the input module 60 exceeds a set threshold, the rehabilitation task generation module 10 may regenerate the rehabilitation task based on the new performance score, or adjust rehabilitation task guidance parameters and/or stimulation parameter combinations such as type of training action, duration, stimulation amplitude, stimulation time, stimulation application delay, etc.

(5) The first communication module 70 is interactively connected with the control module 100 and is used for communicating with the vagus nerve stimulator 500, sending a stimulation trigger instruction to the vagus nerve stimulator 500, so as to program the stimulation parameters of the vagus nerve stimulator 500.

The vagus nerve stimulator 500 mainly includes:

(1) And the second communication module 510 is used for communicating with the control device and receiving a stimulus triggering instruction.

(2) The stimulation module 520 programs stimulation parameters and triggers stimulation delivery.

Example 5:

Also provided in this embodiment is a stroke rehabilitation automatic stimulation control method, which is performed by the control device in the above embodiment. Fig. 7 is a flowchart of a method for controlling automatic stimulation of stroke rehabilitation according to an embodiment of the present invention, as shown in fig. 7, the flowchart includes the steps of:

step S101, control equipment acquires stroke rehabilitation reference information of a target object, and generates a rehabilitation training task based on the stroke rehabilitation reference information of the target object; the rehabilitation training tasks comprise at least one group of rehabilitation training task execution sequences, wherein the rehabilitation training task execution sequences comprise rehabilitation task guiding parameters and stimulation parameter combinations;

In this embodiment, the target object may refer to a patient suffering from a stroke, and for the target object, the target object needs to collect first stroke rehabilitation reference information of the target object, where the stroke rehabilitation reference information generally refers to information that can be used to represent the physical state of the target object, such as an evaluation result of the physical state, various indexes of the body, and so on. The stroke rehabilitation reference information can be obtained from professionals such as doctors, rehabilitations and the like; the invention is not limited to the monitoring device, such as a motion sensor, a camera, a physiological signal acquisition device, etc. The evaluation result may be a specific score (e.g., 0-100 score), or a rating result (e.g., 0-asymptomatic, 1-mild injury, 2-mild injury, 3-moderate injury, 4-severe injury). The overall symptoms of the target object can be evaluated; different symptoms (such as finger movement speed, finger movement flexibility, arm activity and the like) can be independently evaluated, and evaluation results are respectively given. The stroke rehabilitation reference information can be obtained from professionals such as doctors, rehabilitations and the like; the invention is not limited to the monitoring device, such as a motion sensor, a camera, a physiological signal acquisition device, etc. After the evaluation result of the target object is obtained, a corresponding rehabilitation training task can be correspondingly generated based on the score or the rating condition characterized by the evaluation result. For example, if the rating result of the target object is a grade 3-moderate injury, the task amount and/or the stimulation parameter of the corresponding rehabilitation training task is relatively higher than that of the target object corresponding to the grade 2-mild injury, and the task amount and/or the stimulation parameter is specifically reflected on the rehabilitation task guiding parameter and/or the stimulation parameter combination of the rehabilitation training task.

In some alternative embodiments, rehabilitation tasks with corresponding score segments or rating levels can be selected according to the overall symptom scores or the scores of different symptoms, and recommended and combined. In the implementation, because of the large individual difference of the motion injury condition of each stroke patient, and in the process of executing the rehabilitation training task, the task performance of each stroke patient is possibly unstable due to factors such as fatigue, for example, the motion reaction is slow, the motion execution speed is slow, the flexibility is low, and the like, at the moment, a data training model can be generated through the pre-configured rehabilitation task, and the corresponding rehabilitation training task can be generated by combining the stroke rehabilitation reference information of the target object. The configuration process of the rehabilitation task generation data training model is as follows:

Step a1: and acquiring a rehabilitation training task input by the operation user based on the evaluation result.

In this embodiment, the operation user may be a relevant staff member such as a medical staff member who performs task setting with respect to the target object. In the setting process of some rehabilitation training tasks, an operation user configures corresponding rehabilitation training tasks based on an evaluation result, and the specific related rehabilitation task guiding parameters comprise: at least one of a type, a number of repetitions, a duration speed, an interval time of the training action; the stimulation parameter combination includes at least one of stimulation amplitude, pulse width, frequency, stimulation time, and stimulation application delay.

Step a2: executing a rehabilitation training task and recording related information;

Executing the rehabilitation training task set by the operation user, and recording the execution condition of the rehabilitation training task. During the execution of some rehabilitation training tasks, the user may set the stimulation triggering mode to be manual triggering, and at a proper time (such as the time of starting action, maximum movement amplitude and maximum force) when the target object performs rehabilitation movement, the user may manually trigger vagal nerve stimulation. The control device may record the time at which the rehabilitation training task is directed to play the beginning and manually trigger the stimulation to be performed.

Step a3: and obtaining a rehabilitation training task generation data training model based on the corresponding relation between the multiple groups of rehabilitation training task settings and the evaluation result.

In the above process, the parameters and the like manually configured by the operator based on different evaluation results are recorded. Counting can be performed aiming at a plurality of groups of parameters, and mean, median, mode, variance and the like are calculated; fitting may also be performed, such as linear fitting, polynomial curve fitting, power function fitting, exponential function fitting, and the like.

Rehabilitation training tasks refer to the content that a patient needs to complete in the whole process of one training, and comprise a plurality of rehabilitation training task execution sequences. Correspondingly, each rehabilitation training task execution sequence generally comprises a set of actions, and if the training actions are displayed in a video mode, one set of actions is a video, and the actions can be repeatedly played at intervals. The content of the rehabilitation training task execution sequence comprises: rehabilitation task guidance parameters (e.g., type of training action, number of repetitions, duration speed, interval time, etc.), stimulation parameter combinations (e.g., amplitude, frequency, pulse width, stimulation time, stimulation application delay, etc.). And executing the sequence of the generated rehabilitation training tasks, and checking and confirming by a subsequent doctor and modifying.

After the stroke rehabilitation reference information of the target object is acquired, the 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 movement of the limbs, such as raising the arms, bending and straightening the elbow joints, flipping the forearms, bending the wrists, moving the wrists up and down, bending and straightening the fingers, etc.

Step S102, the control device is configured to display the rehabilitation training actions in the rehabilitation training task execution sequence, so as to guide the target object to execute the rehabilitation training actions.

In this embodiment, the rehabilitation training guidance may be presented to the target object in the form of text, video, audio or multimedia, and guide the target object to perform the corresponding rehabilitation training action. Therefore, the rehabilitation training task can be guided to execute the rehabilitation training action according to the specific content of the rehabilitation training task. And generating a corresponding rehabilitation exercise display script based on the rehabilitation training task, wherein the rehabilitation exercise display script comprises at least one group of rehabilitation training actions, and each group of rehabilitation training actions is guided to be displayed at least once. And playing the rehabilitation training actions in the execution sequences of the rehabilitation training tasks according to the rehabilitation exercise display script.

Step S103, generating a stimulation trigger instruction based on the stimulation parameter combination of the current rehabilitation training task execution sequence, and sending the stimulation trigger instruction to a nerve stimulator in the rehabilitation training action guiding display process, wherein the nerve stimulator outputs a stimulation signal according to the stimulation trigger instruction.

In the process of playing the rehabilitation exercise demonstration script, acquiring the execution time of single guidance demonstration of the rehabilitation training action of the current rehabilitation training task execution sequence, extracting the stimulation application delay from the stimulation parameter combination of the current rehabilitation training task execution sequence, and sending a stimulation trigger instruction to the nerve stimulator if the judgment submodule judges that the stimulation signal needs to be triggered and output.

In some alternative embodiments, the stimulus application delay may be at the time the rehabilitation training task is performed, which may be a fixed duration, such as 5s, etc.; the time period may be preset by the related operator, or may be generated by fitting based on the execution condition of the history data, for example, after the target object starts or completes the first set of actions.

In this embodiment, the automatic stimulation control method for stroke rehabilitation may further include a recording process of the condition that the target object performs the rehabilitation training task under the stimulation signal during the execution process. Specifically, the feedback information of the target object is recorded. The feedback information may include: performance scoring of the object execution task, reaction time of the object action execution, motion detection of signals acquired by a motion sensing device (measurement in reaction, accelerometer, gyroscope and the like), motion detection of video signals, acquisition of physiological signals and the like, wherein the physiological signals can comprise electroencephalogram information, electrocardiographic information, myoelectric information, respiratory information and the like; in particular implementations, some wearable devices may be used to score and feedback by measuring the target subject's brain electrical, electrocardiographic, myoelectrical, respiratory, etc. during performance of a rehabilitation training maneuver. The control device is capable of adjusting the rehabilitation task guidance parameters and/or the stimulation parameter combinations based on the feedback information. After the feedback information is obtained, the rehabilitation task guiding parameters or the stimulation parameters or both of the rehabilitation task guiding parameters and the stimulation parameters can be adjusted according to the physical conditions, the movement conditions, the reaction conditions and the like of the target object reflected by the feedback information, so that the adjusted rehabilitation task guiding parameters and the adjusted stimulation parameters can be more matched with the target object.

During task execution, a professional may monitor the task performance of the target subject and appropriately adjust the rehabilitation training task parameters (i.e., the rehabilitation task guidance parameters and/or the stimulation parameter combinations). For example, when the task execution of the target object is found to be later than the stimulus application time, the subsequent rehabilitation training task parameters can be adjusted to partially or uniformly increase the stimulus application delay. Monitoring feedback may also be performed by some motion sensing device, such as sensing means on rehabilitation equipment (measurements on reaction, accelerometers, gyroscopes, etc.), motion detection of video signals, etc.; or using some wearable device, scoring and feedback by measuring the brain, heart, muscle, respiration, etc. of the target subject during rehabilitation exercises.

Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as 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.