WO2005122894B1 - Method and electronic computing device for suppressing and evaluating tremors and spastic movements in relation to input and control peripherals - Google Patents

Method and electronic computing device for suppressing and evaluating tremors and spastic movements in relation to input and control peripherals

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Publication number
WO2005122894B1
WO2005122894B1 PCT/ES2005/070089 ES2005070089W WO2005122894B1 WO 2005122894 B1 WO2005122894 B1 WO 2005122894B1 ES 2005070089 W ES2005070089 W ES 2005070089W WO 2005122894 B1 WO2005122894 B1 WO 2005122894B1
Authority
WO
WIPO (PCT)
Prior art keywords
movement
command
signal
input
disorder
Prior art date
Application number
PCT/ES2005/070089
Other languages
Spanish (es)
French (fr)
Other versions
WO2005122894A1 (en
Inventor
Rovira Jose Luis Pons
De Lima Eduardo Rocon
Estevez Leopoldo Calderon
Ruiz Ramon Ceres
Original Assignee
Consejo Superior Investigacion
Rovira Jose Luis Pons
De Lima Eduardo Rocon
Estevez Leopoldo Calderon
Ruiz Ramon Ceres
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Consejo Superior Investigacion, Rovira Jose Luis Pons, De Lima Eduardo Rocon, Estevez Leopoldo Calderon, Ruiz Ramon Ceres filed Critical Consejo Superior Investigacion
Publication of WO2005122894A1 publication Critical patent/WO2005122894A1/en
Publication of WO2005122894B1 publication Critical patent/WO2005122894B1/en

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6887—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient mounted on external non-worn devices, e.g. non-medical devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient ; user input means
    • A61B5/7475—User input or interface means, e.g. keyboard, pointing device, joystick
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/038—Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1101—Detecting tremor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/40—Detecting, measuring or recording for evaluating the nervous system
    • A61B5/4076—Diagnosing or monitoring particular conditions of the nervous system
    • A61B5/4082—Diagnosing or monitoring movement diseases, e.g. Parkinson, Huntington or Tourette

Abstract

The invention relates to an electronic computing device which, when applied to a digital or analogue signal from an input peripheral (computer mouse, wheelchair control system, etc.), can be used to distinguish a voluntary movement from shaking caused by neurological disorders suffered by the user. The inventive device adapts automatically to the specific characteristics of the user's tremor, regardless of whether it is a resting tremor (characteristic of Parkinson's disease), a postural tremor (characteristic of an essential tremor) or a kinetic/intention tremor. As a result, the device does not have to be specifically adapted to the characteristics of the user. The output signal from the device corresponds to a pathological-tremor-free command.

Claims

REIVINDICACIONES MODIFICADAS MODIFIED CLAIMS
[recibidas por Ia Oficina Internacional el 12 diciembre de 2005 (12.12.2005): reivindicaciones 1-8 reemplazadas por reivindicaciones 1-7 modificada][received by the International Bureau on December 12, 2005 (12.12.2005): claims 1-8 replaced by claims 1-7 amended]
1,- Método de reducción, cancelación o eliminación y valoración de la severidad del efecto indéseado de un trastorno del movimiento de origen neurαlógico sotare la acción da un periférico o mando de entrada especifico o general para el comando ds todo tipo de dispositivos o artefactos o sobre la introducción de datos caracterizado porque comprende las siguientes etapas: a) la identificación y seguimiento del movimiento voluntario (exento del componenbe involuntario debido al trastorno del movimiento) , adaptable de 'modo continuo y automáLico a posibles alteraciones del mismo, efecto de cambios de cualquier tipo en la condición del usuario o al cambio de usuario del dispositivo, en tiempo real a partir de la señal eléctrica de entrada de mandos o periféricos de carácter general o especifico, b) la identificación, seguimiento y caracterización del temblor patológico, si estuviera presente, en la .señal eléctrica de entrada de mandos o periféricos de carácter general o especifico,. adaptable de modo continuo y automático a posibles alteraciones del mismo, efecto de cambios de cualquier tipo en la condición del usuario o al cambio de usuario del dispositivo, c) la identificación, seguimiento y caracterización de movimiento espástico, si estuviera presente, en la señal eléctrica de entrada de mandos o periféricos de carácter general o especifico, adaptable de modo continuo y automático a posibles alteraciones del mismo, efecto de cambios ds cualquier tipo en la condición del usuario o al cambio de usuario del dispositivo, d) la eliminación del trastorno del movimiento mediante la implantación en tiempo real de un lazo de identificación y seguimiento del movimiento voluntario de acuerdo a un algoritmo en el dominio del tiempo o la 19 frecuencia fundamentado Gn el modelado de la caraσterishica esencialmente armónica del temblor mediante un desarrollo en serie de un conjunto n de armónicos principales de frecuencia fi y el correspondiente conjunto de M secundarios, tal como refleja la ecuación (1) , (1)
Figure imgf000003_0001
donde el error, εk, entre el modelo de la ecuación (1) y la señal efectivamente obtenida a través de una variedad de sensores o de cualquier dispositivo que recoja ol movimiento LaI como es el caso de los periféricos de comando en el instante k, sk, puede establecerse según la ecuación (2) ,1, - Method of reduction, cancellation or elimination and assessment of the severity of the negative effect of a movement disorder of neurological origin sotare the action of a peripheral or specific or general input command for the command ds all types of devices or artifacts or on introducing characterized data comprising the following steps: a) identifying and monitoring of voluntary movement (free of involuntary componenbe due to movement disorder), adaptable for 'continuous automáLico possible alterations likewise effect changes any type in the condition of the user or the change of user of the device, in real time from the electrical input signal of commands or peripherals of general or specific character, b) the identification, monitoring and characterization of the pathological tremor, if present, in the electrical input signal of controls or peripherals of character ge neral or specific ,. adaptable in a continuous and automatic way to possible alterations of the same, effect of changes of any type in the condition of the user or to the user's change of the device, c) identification, tracking and characterization of spastic movement, if present, in the signal electrical input of commands or peripherals of a general or specific nature, adaptable in a continuous and automatic way to possible alterations of the same, effect of changes of any type in the condition of the user or to the change of user of the device, d) elimination of the disorder of the movement by means of the real-time implantation of a loop of identification and follow-up of the voluntary movement according to an algorithm in the time domain or the 19 founded frequency Gn the modeling of the essentially harmonic face of tremor by a series development of a set n of principal harmonics of frequency fi and the corresponding set of secondary Ms, as reflected in equation (1), (1)
Figure imgf000003_0001
where the error, εk, between the model of equation (1) and the signal actually obtained through a variety of sensors or any device that picks up the LaI movement as is the case of the command peripherals at instant k, sk, can be established according to equation (2),
( 2 )
Figure imgf000003_0002
el cual puede utilizarse para plantear un proceso de seguimiento por optimización por mínimos cuadrados o cualquier otro procedimiento de los parámetros del modelo de la ecuación (1) , y* o) la valoración funcional de la severidad del trastorno del movimiento y su evolución fundamentada en las etapas anteriores Ib, Ic y Id.( two )
Figure imgf000003_0002
which can be used to propose a follow-up process by least-squares optimization or any other procedure of the model parameters of equation (1), and * o) the functional assessment of the severity of the movement disorder and its evolution based on the previous stages Ib, Ic and Id.
2.- Método de reducción, cancelación o eliminación, y valoración según la reivindicación 1 caracterizado porque el trastorno del movimiento de origen neurológico pertenece al siguiente grupo: temblor patológico de reposo, postural, cinético, intencional, fisiológico, fisiológico aumentado y movimientos espásticos .2. Method of reduction, cancellation or elimination, and assessment according to claim 1 characterized in that the movement disorder of neurological origin belongs to the following group: pathological tremor of rest, postural, kinetic, intentional, physiological, physiological increased and spastic movements.
3.- Método de reducción, cancelación o eliminación, y valoración según la reivindicación 1 caracterizado porque el periférico o mando de entrada de carácter especifico pertenece al siguiente grupo: ratones y joysbicks de 20 computadoras, y tabletas digitalizadoras y porque el periférico o mando de carácter general pertenece al siguiente grupo: mandos de sillas de ruedas, joysbicks, palancas, teclados, pulsadores y apuntadores. 3. Method of reduction, cancellation or elimination, and evaluation according to claim 1 characterized in that the peripheral or input command of specific character belongs to the following group: mice and joysbicks of 20 computers, and digitizing tablets and because the peripheral or general control belongs to the following group: wheelchair controls, joysbicks, levers, keyboards, push buttons and pointers.
4. Móhodo de reducción, cancelación o eliminación, y valoración según la reivindicación 1 caracterizado porque el artefacto de comando no incluye un procesador o elemento programable por lo que la implantación en tiempo real de un lazo de identificación de l.d) se debe llevar a cabo en un dispositivo eJ ectrónico adecuado que adopta la forma de un adaptador electrónico que selecciona el componente voluntario de la señal de comando que le llega desde el periférico de entrada y ofrece una señal de comando exenta de movimiento involuntario.4. Method of reduction, cancellation or elimination, and evaluation according to claim 1, characterized in that the command artifact does not include a processor or programmable element, so the real-time implementation of an identification loop of ld) must be carried out in a suitable electronic device that takes the form of an electronic adapter that selects the voluntary component of the command signal that arrives from the input peripheral and offers a command signal free of involuntary movement.
5.- Método de reducción, cancelación o eliminación, y valoración según la reivindicación 4 caracterizado porque el dispositivo electrónico comprende los siguientes componentes: a) Componente electrónico para la adquisición de señales de comando afectadas por trastornos del movimiento, analógicas o digitales, recibidas con generalidad desde cualquier dispositivo periférico de mando o de entrada de un artefacto, b) Componente electrónico de pre-procesarniento, de¬ modulación si hubiera lugar y adecuación de la señal adqui rida en a) para la implementación del lazo de seguimiento, c) Componente programable, un controlador o procesador, sobre el que es posible la implementación del lazo de identificación y seguimiento del movimiento voluntario y valoración de la severidad del trastorno neurológico, 21 d) Componente electrónico para el almacenamiento y transmisión cableada o inalámbrica de los resultados de la valoración funcional de la severidad del trastorno, y e) Componente electrónico para post-procesamiento, modulación, codificación y/o formateado para la restauración de la señal de mando exenta de efectos del trastorno del movimiento de acuerdo con las características concretas del artefacto a ser comandado.5. Method of reduction, cancellation or elimination, and assessment according to claim 4 characterized in that the electronic device comprises the following components: a) Electronic component for the acquisition of command signals affected by movement disorders, analog or digital, received with generality from any peripheral device for control or input of an appliance, b) Electronic pre-processing component, modulation if there is room and adaptation of the signal acquired in a) for the implementation of the tracking loop, c) Component programmable, a controller or processor, on which the implementation of the identification and monitoring loop of the voluntary movement and assessment of the severity of the neurological disorder is possible, 21 d) Electronic component for storage and wired or wireless transmission of the results of the functional assessment of the severity of the disorder, and e) Electronic component for post-processing, modulation, coding and / or formatting for the restoration of the control signal free from effects of movement disorder according to the specific characteristics of the artifact to be commanded.
6- Método de reducción, cancelación o eliminación, y valoración según la reivindicación 1 caracterizado porque el artefacto comandado incluye elementos programables y la implantación en tiempo real de un lazo de identificación de l.d) se lleva a cabo como un programa informático del dispositivo comandado (computadora) , en cuyo caso puede actuar de forma directa sobre la señal del periférico o mando de entrada sin etapas previas de acondicionamiento de la señal.6- Method of reduction, cancellation or elimination, and evaluation according to claim 1, characterized in that the command device includes programmable elements and the real-time implementation of an identification loop of ld) is carried out as a computer program of the command device ( computer), in which case you can act directly on the signal from the peripheral or input control without previous stages of signal conditioning.
7,- Dispositivo electrónico necesario para llevar a cabo el método según la reivindicación 5 caracterizado porque comprende los siguientes componentes: a) Componente electrónico para la adquisición de señales de comando afectadas por trastornos del movimiento, analógicas o digitales, recibidas con generalidad desde cualquier dispositivo periférico de mando o de entrada de un artefacto, b) Componente electrónico de pre-procesarrπento, de¬ modulación si hubiera lugar y adecuación de la señal adquirida en a) para la implementación del lazo de seguimiento, c) Componente electrónico con componentes programables (procesadores, controladoxes...) sobre los que es posible la implementación de los lazos de identificación, seguimiento y valoración del movimiento voluntario, 22 d) Componente electrónico para el almacenamiento y transmisión cableada o inalámbrica de los resultados de la valoración funcional de la severidad del trastorno, y e) Componente electrónico para post-procesamiento, modulación, codificación y/o formateado para la restauración de la señal de mando exenta de efectos del trastorno del movimiento de acuerdo con las características concretas del artefacto comandado. 7, Electronic device necessary to carry out the method according to claim 5 characterized in that it comprises the following components: a) Electronic component for the acquisition of command signals affected by movement disorders, analog or digital, generally received from any device peripheral control or input of a device, b) Electronic component of pre-processing, de¬ modulation if there is place and adequacy of the signal acquired in a) for the implementation of the tracking loop, c) Electronic component with programmable components ( processors, controlled ...) on which the implementation of the identification, monitoring and evaluation of the voluntary movement ties is possible, 22 d) Electronic component for wired or wireless storage and transmission of the results of the functional assessment of the severity of the disorder, and e) Electronic component for post-processing, modulation, coding and / or formatting for the restoration of the control signal free from effects of movement disorder according to the specific characteristics of the commanded artifact.
PCT/ES2005/070089 2004-06-11 2005-06-10 Method and electronic computing device for suppressing and evaluating tremors and spastic movements in relation to input and control peripherals WO2005122894A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES200401439A ES2253077B1 (en) 2004-06-11 2004-06-11 METHOD AND ELECTRONIC AND INFORMATIC DEVICE OF SUPPRESSION AND VALUATION OF TEMPORARY AND SPASTIC MOVEMENT IN ENTRY AND CONTROL PERIPHERALS.
ESP200401439 2004-06-11

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US10765856B2 (en) 2015-06-10 2020-09-08 Cala Health, Inc. Systems and methods for peripheral nerve stimulation to treat tremor with detachable therapy and monitoring units
US10603482B2 (en) 2015-09-23 2020-03-31 Cala Health, Inc. Systems and methods for peripheral nerve stimulation in the finger or hand to treat hand tremors
JP6952699B2 (en) 2016-01-21 2021-10-20 カラ ヘルス, インコーポレイテッドCala Health, Inc. Systems, methods and devices for peripheral nerve regulation to treat diseases associated with overactive bladder
CN109689151A (en) 2016-07-08 2019-04-26 卡拉健康公司 With lucky N number of electrode and the system and method for improving the dry N number of nerve of electrode stimulating
US11331480B2 (en) 2017-04-03 2022-05-17 Cala Health, Inc. Systems, methods and devices for peripheral neuromodulation for treating diseases related to overactive bladder
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ES2253077A1 (en) 2006-05-16
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