CN217886787U

CN217886787U - Electrical stimulation system and device thereof

Info

Publication number: CN217886787U
Application number: CN202123362857.2U
Authority: CN
Inventors: 谢飞; 楼鹏; 陈永耀
Original assignee: Suzhou Minimally Invasive Rehabilitation Medical Technology Group Co ltd; Shanghai Microport Medical Group Co Ltd
Current assignee: Suzhou Minimally Invasive Rehabilitation Medical Technology Group Co ltd; Shanghai Microport Medical Group Co Ltd
Priority date: 2021-12-28
Filing date: 2021-12-28
Publication date: 2022-11-25
Anticipated expiration: 2031-12-28

Abstract

The utility model provides an electrical stimulation system and equipment thereof, wherein the system comprises a main control module and an electrical stimulation module; the master control module is internally provided with a clock unit which is used for clock cycle timing according to a preset base value; the main control module is used for controlling the electrical stimulation module to output an excitation pulse signal to a treatment object; the main control module adjusts the period and the duty ratio of the excitation pulse signal according to the number of times of the cycle timing of the clock unit, and enables the pulse width of the excitation pulse signal to be output according to the integral multiple of the basic value clock. As described above, the period and duty ratio of the excitation pulse signal can be adjusted in real time by the set clock unit, so as to adjust the frequency and pulse width, on one hand, the frequency and pulse width of the excitation pulse signal can be continuously adjusted along with the progress of the treatment process, which is beneficial to improving the treatment experience and treatment effect of the patient, and on the other hand, the pulse waves with different frequencies and pulse widths can be adopted for different patients and different indications of the patient.

Description

Electrical stimulation system and device thereof

Technical Field

The utility model relates to the technical field of medical equipment, in particular to electrical stimulation system and equipment thereof.

Background

Low-frequency electrical stimulation is widely used clinically, but currently, medical units or households basically use the low-frequency electrical stimulation to output stimulation pulse waves in a constant-voltage source mode or use a constant-voltage source mode in a medium-frequency mode. In recent years, low-frequency electrical stimulation devices have been proposed, but the waveform of the stimulation pulse wave is mainly a symmetrical rectangular wave or a unidirectional wave, and the waveform, frequency and pulse width of the whole stimulation pulse wave are basically unchanged without artificially adjusting the frequency, pulse width and intensity of the stimulation pulse wave during the whole treatment process, and the impedance of the human body stimulation part is reduced in the whole stimulation process due to the adoption of a constant-voltage source mode for outputting the stimulation pulse wave, so that a patient feels slight prickle and discomfort.

The current loop mode only provides a current source mode to control the intensity of the stimulation pulse wave, and cannot adopt different waveforms and frequencies of the stimulation pulse wave according to different parts of a patient and different indications.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an electrical stimulation system and equipment thereof to solve the unchangeable amazing pulse wave of the most output frequency of current equipment and pulse width, lead to unable different frequency and the amazing pulse wave of pulse width of adoption to different patients and the different indications of patient.

For solving the technical problem, based on the utility model discloses a first aspect, the utility model provides an electrical stimulation system, it includes main control module and electrical stimulation module, be equipped with a clock unit in the main control module, the clock unit is according to the timing of predetermined basic value clock cycle, electrical stimulation module is in output excitation pulse signal under main control module's control, main control module basis the number of times adjustment that clock unit cycle was timed excitation pulse signal's cycle and duty cycle, and make excitation pulse signal's pulsewidth is according to the integer multiple basic value clock output.

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

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

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

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

Optionally, the electrical stimulation module includes:

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

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

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

Optionally, the voltage adjusting unit includes:

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

a first diode, a forward end of which is connected with the second end of the energy storage inductor, and a reverse end of which is used as an output end of the voltage adjusting circuit;

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

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

Optionally, the PWM generating circuit includes:

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

a first capacitor connected in parallel with the first resistor.

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

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

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

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

the lower arm left bridge comprises a fifth triode and a sixth triode, and a collector of the fifth triode and a collector of the sixth triode are jointly used as an input end of the lower arm left bridge; an emitter of the fifth triode and an emitter of the sixth triode are jointly used as an output end of the lower arm left bridge and are connected with the ground; the base electrodes of the fifth triode and the sixth triode are used for obtaining a third bias signal together;

the lower arm right bridge comprises a seventh triode and an eighth triode, and a collector of the seventh triode and a collector of the eighth triode are jointly used as the input end of the lower arm right bridge; an emitter of the seventh triode and an emitter of the eighth triode are jointly used as an output end of the lower arm right bridge and are connected with the ground in parallel; the base electrodes of the fifth triode and the sixth triode are used for acquiring a fourth bias signal together;

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

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

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

Based on the second aspect of the present invention, the present invention also provides an electrical stimulation apparatus, which includes the electrical stimulation system and the electrode set as described above, wherein the electrode set is used to connect with a treatment object, and the electrical stimulation module passes through the electrode set to the treatment object outputs the excitation pulse signal.

In summary, the utility model provides an among the electrical stimulation system and equipment thereof, the electrical stimulation system includes main control module and electrical stimulation module, the interior clock unit that establishes of main control module, the clock unit is according to the timing of predetermined basic value clock cycle, the electrical stimulation module is in to treatment object output excitation pulse signal under main control module's control, main control module basis the number of times adjustment that clock unit cycle timed excitation pulse signal's cycle and duty cycle, and make excitation pulse signal's pulse width is according to the integer multiple basic value clock output. According to the configuration, the period and the duty ratio of the excitation pulse signal output by the electrical stimulation module can be adjusted in real time through the set clock unit, so that the frequency and the pulse width of the excitation pulse signal can be adjusted in real time, on one hand, the frequency and the pulse width of the excitation pulse signal output to a treatment object by the electrical stimulation module can be continuously adjusted along with the progress of a treatment process, the treatment experience and the treatment effect of a patient can be improved, and on the other hand, pulse waves with different frequencies and pulse widths can be adopted for different patients and different indications of the patient. In addition, the frequency of the excitation pulse signal can be gradually increased as the treatment process progresses, so that the effective current value of the excitation pulse signal can be increased.

Drawings

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

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

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

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

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

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

fig. 6 is a schematic view of an electrode assembly according to an embodiment of the present invention being coupled to a subject;

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

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

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

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

In the drawings:

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

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

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

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

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

c1-a first capacitor; a second capacitor; c3-a third capacitor; c4-fourth capacitance; c5-fifth capacitance;

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

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

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

Detailed Description

To make the objects, advantages and features of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. It is to be noted that the drawings are in simplified form and are not to scale, but rather are provided for the purpose of facilitating and distinctly claiming the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings are intended to show different emphasis, sometimes in different proportions.

As used in this application, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally employed in a sense including "and/or," the terms "a", "an" and "the" are generally employed in a sense including "at least one", the terms "at least two" and "two or more" are generally employed in a sense including "two or more", and moreover, the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or imply that there is a number of technical features being indicated. Thus, features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, "one end" and "the other end" and "proximal end" and "distal end" generally refer to the corresponding two parts, which include not only the end points, but also the terms "mounted", "connected" and "connected" should be understood broadly, e.g., as a fixed connection, as a detachable connection, or as an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. Furthermore, as used in the present application, the disposition of an element with another element generally only means that there is a connection, coupling, fit, or drive relationship between the two elements, and the connection, coupling, fit, or drive between the two elements may be direct or indirect through intermediate elements, and is not to be understood as indicating or implying any spatial relationship between the two elements, i.e., an element may be in any orientation within, outside, above, below, or to one side of another element unless the content clearly dictates otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

An embodiment of the utility model provides an electrical stimulation system and equipment thereof to solve the unchangeable amazing pulse wave of the most output frequency of current equipment and pulse width, lead to unable different frequency and the amazing pulse wave of pulse width of adoption to different patients and the different indications of patient.

The electrical stimulation system and the electrical stimulation apparatus of the present embodiment are described in detail below with reference to the accompanying drawings.

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

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

With reference to fig. 1, the electrical stimulation module 20 includes an H-bridge circuit, a constant current adjusting circuit 22 and a voltage adjusting circuit 21, and the H-bridge circuit may be connected to the main control module through GPIO pins, for example. The voltage adjusting circuit 21 is externally connected with a power voltage, the main control module 10 is configured to control the voltage adjusting circuit 21 to adjust the power voltage to a preset voltage, and the voltage adjusting circuit is connected with the H-bridge circuit to load the preset voltage to the H-bridge circuit, that is, the voltage adjusting circuit 21 is used to adjust the range of the output voltage of the H-bridge circuit. The manner in which the voltage regulation circuit 21 regulates the power supply voltage includes, but is not limited to, a boost and/or buck process. Regarding the supply of the power voltage, for example, the electrical stimulation system of the present embodiment may be provided with a battery module 50 connected to the main control module 10 and the electrical stimulation module 20, the battery module 50 being used to supply the power voltage. The constant current adjusting circuit 22 is connected with the main control module 10 and the H-bridge circuit, the main control module 10 is configured to control the constant current adjusting circuit 22 to adjust a current value of an excitation pulse signal transmitted by the H-bridge circuit, and a constant current adjusting unit is used to control the H-bridge circuit to ensure constant current output in the process of outputting the excitation pulse signal.

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

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

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

In other embodiments, when the accessed power voltage exceeds a preset voltage required to be output, the voltage adjusting circuit 21 may be configured as a voltage reducing circuit, so as to reduce the power voltage.

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

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

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

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

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

Fig. 6 is a schematic diagram of the electrode assembly 30 and the treatment object X in an embodiment of the present invention, wherein a first electrode 31 and a second electrode 32 of the electrode assembly 30 are disposed on the treatment object X, and with reference to fig. 2 to 5, the first electrode 31 is used to connect the output end of the upper arm left bridge H1 and the input end of the lower arm left bridge H3, and the second electrode 32 is used to connect the output end of the upper arm right bridge H2 and the input end of the lower arm right bridge H4.

The first to fourth bias signals may be current format signals, and the operating state of the transistor is controlled by controlling the base current of the transistor. For example, in the present embodiment, the voltage format signal VB1 is converted into a current format signal through a resistor and connected to the base electrodes of the first to fourth transistors. In order to avoid that the access of the same signal may cause the upper arm left bridge H1 and the upper arm right bridge H2 to be turned on or turned off simultaneously, in this embodiment, a first switch tube Q9 and a second switch tube Q10 are configured to control, specifically, an input end of the first switch tube Q9 is connected to a base of the first triode Q1 and a base of the second triode Q2, an output end of the first switch tube Q9 is grounded through a fourth resistor R4, a control end of the first switch tube Q9 is connected to a control signal CH1_ CTROL1, an input end of the second switch tube Q10 is connected to a base of the third triode Q3 and a base of the fourth triode Q4, an output end of the second switch tube Q10 is grounded through a fifth resistor R5, and a control end of the second switch tube Q10 is connected to the control signal CH1_ CTROL2. The switching on or off of the first switching tube Q9 is controlled by a control signal CH1_ CTROL1, so that whether bias current is generated by VB1 and a fourth resistor R4 or not is input to the base electrode of the first triode Q1 and the base electrode of the second triode Q2; the second switching tube Q10 is controlled to be turned on or off by the control signal CH1_ CTROL2, so that whether bias current is generated by VB1 and the fifth resistor R5 or not is input to the base of the third transistor Q3 and the base of the fourth transistor Q4.

Optionally, the first switching transistor Q9 may be an NMOS transistor or an NPN transistor. When the first switch tube Q9 is an NMOS tube, the input end of the first switch tube Q9 is the drain electrode of the NMOS tube, the output end of the first switch tube Q9 is the source electrode of the NMOS tube, and the control end of the first switch tube Q9 is the gate electrode of the NMOS tube; when the first switch tube Q9 is an NPN type triode, the input end of the first switch tube Q9 is a collector of the NPN type triode, the output end of the first switch tube Q9 is an emitter of the NPN type triode, and the control end of the first switch tube Q9 is a base of the NPN type triode. The second switch Q10 may also be an NMOS transistor or an NPN transistor, and the configuration of the input terminal, the output terminal, and the control terminal of the second switch Q10 is the same as that of the first switch Q9, and will not be described herein.

Based on the same idea, the third bias signal and the fourth bias signal may also be the same signal, and the description on the first bias signal and the second bias signal may be referred to in the same manner, and will not be further described here.

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

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

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

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

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

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

Preferably, an interrupt management unit 14 is disposed in the main control module 10, and the interrupt management unit 14 is configured to ensure a priority level of operation of the clock unit 11. Specifically, the main control module 10 controls the clock unit 11 to generate a pulse wave for multiple times during the cycle timing, and possibly due to the operation priority of other devices inside the main control module 10, the clock unit 11 cannot immediately perform the next cycle timing and generate the pulse wave, that is, the other devices affect the operation priority of the clock unit 11, and through the interrupt management unit 14, the clock unit 11 can be in timely continuity of the cycle, and generate continuous pulse waves, which is beneficial to the therapeutic object X to continuously perform the electrical stimulation therapy.

Optionally, a watchdog unit 16 is arranged in the main control module 10, and the watchdog unit 16 is configured to monitor an operation state of the main control module 10 in real time, and determine whether the electrical stimulation module 20 stops outputting the excitation pulse signal according to the operation state. Actually, the main control module 10 controls the electrical stimulation circuit to output the excitation pulse signal through the pre-configured program, and when the watchdog unit 16 monitors that the program runs abnormally, the main control module 10 immediately controls the electrical stimulation module 20 to stop outputting the excitation pulse signal, so as to avoid the injury of the treatment object X.

Preferably, the main control module 10 is provided with a serial port 13, and the main control module 10 is configured to be in communication connection with a third party device 60 through the serial port 13 and perform information interaction. Such as a bluetooth connection. The third-party device 60 performs information interaction with the main control module 10, the third-party device 60 may be, for example, a mobile terminal, an operator may remotely preset excitation parameters of a required excitation pulse signal on the mobile terminal, the excitation parameters include at least one of frequency, pulse width and amplitude, and then the excitation parameters are issued to the main control module 10, and the main control module 10 controls the electrical stimulation module 20 to output the excitation pulse signal with the preset excitation parameters. In addition, the operating state of the device can also be uploaded to a cloud service, so that the stimulation parameters adopted by the patient in different treatment stages are recorded for review of the summary.

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

Fig. 10 is a timing diagram of an excitation pulse signal according to an embodiment of the present invention. As shown in fig. 10, the main control module 10 drives the electrical stimulation module 20 to output the excitation pulse signal according to a plurality of pulse groups, each pulse group includes a plurality of pulse waves, and a time interval is provided between two adjacent pulse groups. In the prior art, a patient adopts continuous pulse waves in the current treatment stage, the time is long, and the patient is easy to feel muscular fatigue. Specifically, the upper arm left bridge H1, the upper arm right bridge H2, the lower arm left bridge H3, and the lower arm right bridge H4 may all be cut off by the main control module 10 for a corresponding time interval.

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

Further, the main control module 10 drives the electrical stimulation module 20 to control the absolute value of the amplitude of the pulses in the pulse group to gradually increase from a first desired value to a second desired value, and then the process is ended by the time when the second desired value lasts until the current pulse group. Specifically, the value of the excitation voltage that can be output to the constant current adjustment circuit 22 through the DAC port of the main control module 10 can be gradually increased from the first desired value (the first desired value may be zero, for example) to the second desired value. So, the intensity of stimulation (pulse amplitude) rises with trapezoidal, lets the patient adapt to gradually, avoids adopting the constant voltage mode, lets the high voltage directly pass through metal electrode and load on one's body to the patient, leads to the patient to have produced painful sense, brings uncomfortable sense for the patient.

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

Based on foretell electrical stimulation system, the utility model discloses still provide an electrical stimulation equipment, it includes as above the electrical stimulation system. Further, the electrical stimulation apparatus further includes an electrode group 30, the electrode group 30 includes two metal electrodes, the metal electrodes are configured to be disposed on the object X, and the electrical stimulation module 20 outputs the excitation pulse signal to the object X through the electrode group 30. Preferably, the metal electrode is in a sheet shape rather than a needle shape, and the metal electrode is attached to the skin of the treated object X, so that the electric stimulation treatment device is a non-invasive treatment device, and pain of a patient during the electric stimulation treatment process is avoided or reduced as much as possible.

The present embodiment also provides a method for regulating an excitation pulse signal, including:

the method comprises the following steps: providing an excitation pulse signal and a clock signal, the clock signal reflecting the number of clock cycles clocked in accordance with a base value. Understandably, the waveform of the excitation pulse signal is a pulse wave, and further can be a square wave specifically; the specific value and timing manner of the basic value clock are not limited in this embodiment, for example, the basic value clock may be set to 50us, the clock unit 11 performs clockwise timing or countdown according to 50us, and after each timing is finished, the next timing is started by resetting.

Step two: and controlling the period and the duty ratio of the excitation pulse signal according to the clock signal reflecting the timing times, and enabling the pulse width of the excitation pulse signal to be integral multiple of the basic value clock. It can be seen that the period of the excitation pulse signal is a multiple of the basic value clock, for example, the clock unit 11 counts 10 times in a cycle, the period of the excitation pulse signal is 10 times the basic value clock, 4 times of the 10 times are output as a high level, and the pulse width is 4 times the basic value clock.

In some embodiments, the method further comprises one or more steps/functions that the main control module 10 can perform as described above, such as: outputting the excitation pulse signal according to a plurality of pulse groups, wherein a time interval is formed between every two adjacent pulse groups; causing the frequency of pulses in the pulse train to progressively increase or decrease; gradually increasing the absolute value of the amplitude of at least some of the pulses in the pulse train from a first desired value to a second desired value; such that the pulses of at least two of said pulse groups are of opposite polarity. Other functions are as those skilled in the art can understand through the description of the present application and are not described in detail herein.

Based on the method for regulating and controlling the excitation pulse signal, the present embodiment further provides a storage medium, on which a readable and writable program is stored, and the program can be executed to implement the method for regulating and controlling the excitation pulse signal. Specifically, the present invention provides a method for regulating and controlling an excitation pulse signal, which can be programmed into a program or software, and stored in the readable storage medium, wherein in actual use, the program stored in the storage medium is utilized to execute each step of the method for regulating and controlling an excitation pulse signal, and the storage medium can be integrally disposed in the electrical stimulation system or the electrical stimulation device, or independently disposed in other hardware.

In summary, in the utility model provides an among the electrical stimulation system and equipment thereof, the electrical stimulation system includes main control module and electrical stimulation module, be equipped with a clock unit in the main control module, the clock unit is according to the timing of preset basic value clock cycle, the electrical stimulation module is in to treatment object output excitation pulse signal under main control module's control, main control module basis the number of times adjustment of clock unit cycle timing excitation pulse signal's cycle and duty cycle to make excitation pulse signal's pulse width is according to the integer multiple basic value clock output. According to the configuration, the period and the duty ratio of the excitation pulse signal output by the electrical stimulation module can be adjusted in real time through the set clock unit, so that the frequency and the pulse width of the excitation pulse signal can be adjusted in real time, on one hand, the frequency and the pulse width of the excitation pulse signal output to a treatment object by the electrical stimulation module can be continuously adjusted along with the progress of a treatment process, the treatment experience and the treatment effect of a patient can be improved, and on the other hand, pulse waves with different frequencies and pulse widths can be adopted for different patients and different indications of the patient. In addition, the frequency of the excitation pulse signal can be gradually increased as the treatment process progresses, so that the effective current value of the excitation pulse signal can be increased.

The above description is only for the description of the preferred embodiment of the present invention, and not for any limitation of the scope of the present invention, and any modification and modification made by those skilled in the art according to the above disclosure all belong to the protection scope of the technical solution of the present invention.

Claims

1. An electrical stimulation system is characterized by comprising a main control module and an electrical stimulation module;

the master control module is internally provided with a clock unit, and the clock unit is used for generating a clock signal which reflects the number of times of clock cycle timing of a basic value;

the electrical stimulation module comprises an H-bridge circuit, and the electrical stimulation module is driven by the main control module to output an excitation pulse signal through the H-bridge circuit; the H-bridge circuit comprises an upper arm left bridge, an upper arm right bridge, a lower arm left bridge and a lower arm right bridge;

the H-bridge circuit receives the clock signal to adjust the time and frequency of the simultaneous conduction of the upper arm left bridge and the lower arm right bridge or the time and frequency of the simultaneous conduction of the upper arm right bridge and the lower arm left bridge; and the pulse width of the excitation pulse signal is integral multiple of the basic value clock.

2. The electrical stimulation system of claim 1, wherein the main control module controls the electrical stimulation module to output the stimulation pulse signal according to a plurality of pulse groups, and a time interval is provided between two adjacent pulse groups.

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

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

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

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

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

the upper arm left bridge and the upper arm right bridge are used for acquiring the preset voltage;

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

a forward end of the first diode is connected with the second end of the energy storage inductor, and a reverse end of the first diode is used as an output end of the voltage regulation circuit;

8. The electrical stimulation system of claim 7, wherein the main control module comprises a PWM generating circuit, and the PWM generating circuit is connected with the control end of the switching tube.

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

a first capacitor connected in parallel with the first resistor.

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

11. The electrical stimulation system of claim 6,

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

the lower arm left bridge comprises a fifth triode and a sixth triode, and a collector of the fifth triode and a collector of the sixth triode are jointly used as an input end of the lower arm left bridge; an emitter of the fifth triode and an emitter of the sixth triode are jointly used as an output end of the lower arm left bridge and connected with the ground in parallel; the base electrodes of the fifth triode and the sixth triode are used for obtaining a third bias signal together;

the lower arm right bridge comprises a seventh triode and an eighth triode, and a collector of the seventh triode and a collector of the eighth triode are jointly used as an input end of the lower arm right bridge; an emitter of the seventh triode and an emitter of the eighth triode are jointly used as an output end of the lower arm right bridge and connected with the ground; the base electrodes of the fifth triode and the sixth triode are used for acquiring a fourth bias signal together;

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

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

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