WO2022161046A1 - 一种脑卒中患者运动与感觉神经联合康复装置及控制方法 - Google Patents

一种脑卒中患者运动与感觉神经联合康复装置及控制方法 Download PDF

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WO2022161046A1
WO2022161046A1 PCT/CN2021/140686 CN2021140686W WO2022161046A1 WO 2022161046 A1 WO2022161046 A1 WO 2022161046A1 CN 2021140686 W CN2021140686 W CN 2021140686W WO 2022161046 A1 WO2022161046 A1 WO 2022161046A1
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stimulation
module
cold
temperature
heat
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PCT/CN2021/140686
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English (en)
French (fr)
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张军
李汉
宋爱国
刘琪
周敬淞
陈柳辰
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东南大学
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
    • A61M2021/0005—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus
    • A61M2021/0044—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus by the sight sense
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
    • A61M2021/0005—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus
    • A61M2021/0066—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus with heating or cooling

Definitions

  • the invention relates to a combined rehabilitation device and control method of motor and sensory nerves for stroke patients, which belong to the intersecting fields of robotics, rehabilitation technology, control science, computer science and sensing technology.
  • Muscle spasms are a common complication in stroke patients. Muscle spasm is a sign of motor neuron disease. Spasm of the affected limb often inhibits the efficacy of physical therapy in the treatment of stroke or other central nervous system diseases, and is also an important cause of disability after stroke.
  • stroke patients are often accompanied by sensory nerve damage and reduced somatosensory function.
  • somatosensory damage in the arm and hand may hinder the recovery of motor nerves, while patients with more complete hand sensory function can obtain better motor nerve rehabilitation treatment effects, and sensory stimulation of patients can enhance their motor function.
  • exercise rehabilitation can also improve sensory recovery in chronic stroke patients.
  • Hot and cold stimulation therapy is a common rehabilitation method for stroke patients.
  • the therapy adopts the periodic stimulation of alternating cold and heat to alternately relax and contract blood vessels, improve capillary permeability, thereby effectively promoting the absorption of exudates, reducing muscle tension and muscle contractility, relieving muscle spasm, and promoting motor nerves. Yuan's recovery.
  • hot and cold stimulation can also activate the hot and cold sensory receptors on the skin surface to generate sensory signals, thereby stimulating sensory nerve channels and promoting the recovery of sensory nerves.
  • Visual stimulation is also a rehabilitation method. By watching relevant images or videos, the perceptual and imitative regions of the brain can be activated to generate corresponding sensory and motor signals, thereby stimulating and rehabilitating nerves.
  • the visual stimulation method is combined with other rehabilitation methods, the sensory stimulation effect can be enhanced, resulting in better efficacy.
  • the current rehabilitation devices often only focus on the rehabilitation of one type of nerve, and do not combine the rehabilitation of sensory and motor nerves, resulting in low efficiency of nerve recovery.
  • a rehabilitation device that includes various sensory stimulations such as vibration, pressure, and temperature (invention patent application number: CN201310181540.X), which only focuses on the rehabilitation of sensory nerves, and only puts different sensory stimulation methods together, without in-depth Explore the synergy and facilitation between them.
  • CN201310181540.X various sensory stimulations
  • CN201310181540.X which only focuses on the rehabilitation of sensory nerves, and only puts different sensory stimulation methods together, without in-depth Explore the synergy and facilitation between them.
  • a neurorehabilitation therapy chair that realizes multiple stimulation methods (invention patent application number: 201810227367.5), but its volume is large, the system is complex, and it is not easy to carry. Therefore, designing a device that is portable, easy to operate, and deeply integrates sensory and motor nerve rehabilitation technologies to achieve good rehabilitation effects is of great significance for
  • the purpose of the present invention is to solve the deficiencies of the prior art and solve the problems that the current neurorehabilitation device only focuses on the rehabilitation of a single type of nerve, simple stacking of multiple stimulation methods, excessive volume, complex system, and inconvenience to carry.
  • a combined motor and sensory nerve rehabilitation device for stroke patients can effectively combine motor and sensory nerve rehabilitation, so that they can synergize and promote each other, and improve the portability and ease of use of the device, thereby improving the safety of stroke patients. Rehabilitation effect.
  • the present invention proposes a combined rehabilitation device and control method of motor and sensory nerves for stroke patients.
  • the combined motor and sensory nerve rehabilitation device and control method for stroke patients include: an array-type hot and cold stimulation module, a visual stimulation module, a water cooling module, a control module and a control method matched with the device.
  • the array type cold and heat stimulation module adopts a modular design, and is composed of a flexible thermal conductive film, a flexible circuit board and a plurality of cold and heat stimulation units in a series and parallel modular manner;
  • the cold and heat stimulation unit is composed of a film type. It consists of a platinum resistor, a semiconductor refrigeration sheet and a radiator; the thin film platinum resistor is located on the lower side of the semiconductor refrigeration sheet and is used to measure the skin temperature; the semiconductor refrigeration sheet is a square sheet and is used to adjust the skin temperature;
  • the The radiator is fixed on the upper surface of the semiconductor refrigeration sheet with thermally conductive silica gel, and consists of a metal body, a female water pipe interface and a male water pipe interface.
  • the tails of the two interfaces are flexible materials, and the top is provided with a buckle and a card slot, and is equipped with
  • the silicone sealing ring and the separating ring can not only ensure the airtightness, but also facilitate the assembly and disassembly of multiple modules, and at the same time make the thermal stimulation unit have a certain flexibility;
  • the heat sink is fixed on the upper surface of the semiconductor refrigeration sheet with thermal conductive It consists of a metal main body, a female water pipe interface and a male water pipe interface.
  • the metal main body is a rectangular block with a hollow structure inside.
  • Two adjacent side walls are respectively provided with a circular hole, and a circular hole is connected with a
  • the female water pipe interface another circular hole is connected with the male water pipe interface
  • the top of the female water pipe interface is provided with an annular groove
  • the annular groove is provided with a silicone sealing ring
  • the outer side of the female water pipe interface is provided with a plurality of snaps
  • the male The top of the head water pipe interface is provided with an annular protrusion corresponding to the annular groove
  • the outer side of the male water pipe interface is provided with a snap groove corresponding to the buckle
  • the rear end of the male water pipe interface is provided with a separation ring.
  • the flexible thermal conductive film has good thermal conductivity, can achieve sufficient heat exchange between the skin and the semiconductor refrigeration sheet, and is provided with mounting holes corresponding to the cold and heat stimulation unit; the flexible circuit board is covered with The upper side of the cold and heat stimulation unit has an array-type electrical interface for connecting the semiconductor refrigeration chip and the thin-film platinum resistance.
  • the visual stimulation module mainly includes a computer monitor and VR glasses.
  • VR technology is used to provide visual stimulation of the shape, color, temperature, etc. of virtual objects, so as to deepen the sensory stimulation effect and correct the wrong temperature perception. .
  • the water cooling module is composed of a water tank, a water pump and a water pipe joint; the water tank contains an appropriate amount of water; the water pump is placed in the water tank to drive the flow of water; the water pipe joints are divided into a group A water outlet joint and a group of water inlet joints; the water outlet joint can be connected with the water pipe interface at one end of the array type cold and heat stimulation module radiator through a water pipe, and the water inlet joint is connected to the other end of the array type cold and heat stimulation module radiator.
  • the water pipe interface is connected, and the water can flow through the water pipe and the radiator under the drive of the water pump, so as to achieve the effect of cooling.
  • the control module includes a temperature sensor data acquisition unit, a main control unit, a drive module, a power supply module, buttons and an LCD display screen;
  • the temperature sensor data acquisition unit will collect the resistance value of the thin-film platinum resistance, and then carry out
  • the main control unit can adjust the voltage of the semiconductor refrigeration chip and the flow rate of the water pump in real time according to the set target temperature value and the actual temperature value output by the temperature sensor data acquisition unit, thereby adjusting the hot and cold stimulation At the same time, it can control the visual stimulation module to generate corresponding visual stimulation and deepen the sensory stimulation effect;
  • the drive module adjusts the resistance value of the digital potentiometer through the control signal input from the main control unit , thereby changing the magnitude of the output voltage of the booster circuit, and at the same time using the H-bridge chip to change the direction of the output voltage, finally generating a multi-channel and independently adjustable voltage to achieve independent driving of the semiconductor refrigeration chip;
  • the power supply supplies power to the temperature sensor data acquisition unit, the main control unit, the drive module, and the
  • the control method includes a temperature control method, a hot-cold stimulation mode, and a combined temperature-visual stimulation control method; the temperature control method is based on the skin temperature feedback measured by the thin-film platinum resistance, combined with a pre-established target temperature. , using the PID algorithm to adjust the voltage across the semiconductor refrigeration sheet to achieve precise control of the skin temperature, so as to treat muscle spasm and achieve motor nerve rehabilitation.
  • the cold and heat stimulation modes include time domain variation mode, space variation mode and time-space variation mode; the time domain variation mode includes the temperature linear increase mode, the temperature linear decrease mode, and the sine wave temperature of all semiconductor refrigeration chips.
  • the change mode and temperature are in a square wave change mode, and any temperature change law can be realized by software according to the requirements.
  • the realization process is: after setting the time domain change mode, collect the initial temperature of the skin, and then use the PID algorithm to calculate the output voltage, Drive the semiconductor refrigeration piece to work, then continuously measure the skin temperature and adjust the voltage across the semiconductor refrigeration piece, so that the skin temperature changes according to the set rule, and when the treatment time reaches the preset value, it stops working.
  • the space change mode drives different semiconductor refrigeration slices through the drive module to realize different cold and heat stimulations in different areas of the array type cold and heat stimulation module, thereby generating different cold and heat stimulation shapes, including straight lines, oblique lines, back-shaped, Heart-shaped, numbers 0-9, 26 English letters, etc., so as to activate different hot and cold sense receptors.
  • the spatio-temporal variation pattern is to drive the different semiconductor cooling sheets in the array-type cold and heat stimulation module, so that the cold and heat stimulation can change with any regularity in time and space.
  • the temperature-visual joint stimulation control method when using the cold-heat stimulation module to stimulate the patient with cold and heat, and allowing the patient to feel and guess the applied stimulation mode, the visual stimulation module is used to display different virtual objects Such as ice cubes, flames, etc., different hot and cold stimulation modes, such as displaying a straight line, diagonal line, back-shaped, heart-shaped, numbers 0-9, 26 English letters and other shapes, as well as the speed of stimulation, etc., make the patient Actively participate in it, realize the dual stimulation of vision and temperature sense, improve the efficiency of hot and cold stimulation, and feel the interest and effect of rehabilitation training.
  • different virtual objects such as ice cubes, flames, etc.
  • different hot and cold stimulation modes such as displaying a straight line, diagonal line, back-shaped, heart-shaped, numbers 0-9, 26 English letters and other shapes, as well as the speed of stimulation, etc.
  • the steps of using the device are:
  • Step 1 Assemble the array-type hot and cold stimulation module into the required size and shape according to the stimulation site and other factors, and connect the wires and water pipes;
  • Step 2 the patient wears the device
  • Step 3 The doctor sets the stimulation parameters such as stimulation time, stimulation temperature, stimulation shape, and visual stimulation images according to the actual condition of the patient, and then starts the treatment;
  • Step 4 The control module adjusts the output voltage to drive the cold and heat stimulation module and the water cooling module to work;
  • Step 5 Continuously read the temperature sensor data
  • Step 6 The control module judges whether the temperature exceeds the set temperature error threshold. If it exceeds, it adjusts the output voltage and adjusts the power of the hot and cold stimulation module, otherwise drives the visual stimulation module to work, and records the cold and hot stimulation and the effective time of the visual stimulation ;
  • Step 7 The control module judges whether the accumulated effective time exceeds the set treatment time, if not, the control module controls the stimulation module to continue to work, and if so, controls the stimulation module to stop working;
  • Step 8 The screen prompts the completion of the treatment, and asks the patient about the treatment experience and effect;
  • Step 9 Ask whether to adjust the stimulation parameters to perform treatment again, if yes, go to Step 3, if no, quit the work.
  • the combined motor and sensory nerve rehabilitation device and control method for stroke patients of the present invention have the following advantages: (1) It can accurately and quickly measure and adjust the skin temperature, realize a variety of hot and cold stimulation modes, and achieve a good cooling effect. Thermal stimulation effect; (2) It can stimulate sensory nerves and motor nerves at the same time, so that the rehabilitation process of the two can promote and coordinate with each other, and enhance the rehabilitation effect; (3) The deep integration of visual stimulation and hot and cold stimulation can effectively enhance the Feel the stimulation effect, improve the recovery efficiency and fun; (4) The hot and cold stimulation part adopts a modular design, which can be assembled into different sizes and shapes according to the stimulation part. The assembly and disassembly process is extremely simple and has strong applicability ; (5) The device is compact and simple, easy to carry, and patients can perform rehabilitation treatment at home.
  • Fig. 1 is the composition block diagram of the rehabilitation device of the present invention
  • FIG. 2 is a perspective view of the rehabilitation device of the present invention
  • FIG. 3 is a perspective view of the cold and heat stimulation unit of the present invention.
  • FIG. 4 is a schematic diagram of a layered structure of an array-type cold and heat stimulation module of the present invention.
  • FIG. 5 is a perspective view of a square mechanism assembled by the cold and heat stimulation unit of the present invention.
  • FIG. 6 is a perspective view of a circular mechanism assembled by the cold and heat stimulation unit of the present invention.
  • FIG. 7 is a schematic diagram of an array-type cold-heat stimulation module drive circuit of the present invention.
  • Fig. 8 is the flow chart of the control software algorithm of the array type cold and heat stimulation module of the present invention.
  • FIG. 9 is a schematic diagram of a time-domain variation pattern of an array-type cold-heat stimulation module of the present invention.
  • FIG. 10 is a schematic diagram of the spatial variation pattern of the array type cold and heat stimulation module of the present invention.
  • FIG. 11 is a schematic diagram of the spatiotemporal variation pattern of the array-type cold and heat stimulation module of the present invention.
  • FIG. 12 is a schematic diagram of the thermo-visual joint stimulation control method of the present invention.
  • FIG. 13 is a flow chart of the working steps of the rehabilitation device of the present invention.
  • the combined motor and sensory nerve rehabilitation device and control method for stroke patients include: an array-type hot and cold stimulation module 1, a visual stimulation module 2, a water cooling module 3, a control module 4, and a The corresponding control method of the device.
  • the array type cold and heat stimulation module 1 adopts a modular design, and consists of a flexible thermal conductive film 1-1, a flexible circuit
  • the plate 1-2 and a plurality of cold and heat stimulation units 1-3 are spliced together in a modular manner of series and parallel;
  • -3-2 is composed of a radiator 1-3-3;
  • the thin film platinum resistor 1-3-1 is located on the lower side of the semiconductor refrigeration sheet 1-3-2, and is used to measure the skin temperature;
  • the semiconductor refrigeration sheet 1-3-2 is a square sheet, used to adjust the skin temperature;
  • the radiator 1-3-3 is fixed on the upper surface of the semiconductor refrigeration sheet 1-3-2 with thermally conductive silica gel, and the metal body 1-3 -3-1, composed of female water pipe interface 1-3-3-2 and male water pipe interface 1-3-3-3, the metal main body 1-3-3-1 is a rectangular block, and the interior is hollow structure, two adjacent side walls are respectively provided with a circular hole, one circular hole is connected with the female seat water pipe interface 1-3-
  • the flexible thermal conductive film 1-1 has good thermal conductivity, can achieve sufficient heat exchange between the skin and the semiconductor refrigeration sheet 1-3-2, and is provided with the cold and heat stimulation unit 1-3 Corresponding mounting holes 1-1-1; the flexible circuit board 1-2 covers the upper side of the thermal stimulation unit 1-3, and has an array-type electrical interface for connecting the semiconductor refrigeration chip 1- 3-2 and thin film platinum resistance 1-3-1.
  • the visual stimulation module 2 mainly includes a computer monitor 2-1 and VR glasses 2-2.
  • VR technology is used to provide visual stimuli such as the shape, color, and temperature of virtual objects, deepening the sensory stimulation effect, and correcting erroneous temperature perception.
  • the water cooling module 3 is composed of a water tank 3-1, a water pump 3-2 and a water pipe joint 3-3; the water tank 3-1 contains an appropriate amount of water; the The water pump 3-2 is placed in the water tank to drive the flow of water; the water pipe joints 3-3 are divided into a group of water outlet joints 3-3-1 and a group of water inlet joints 3-3-2;
  • the water outlet joint 3-3-1 can be connected with the water pipe interface at one end of the array type cold and heat stimulation module 1 through a water pipe, and the water inlet joint 3-3-2 is connected with the water pipe interface at the other end of the array type cold and heat stimulation module 1, Driven by the water pump 3-2, the water can flow through the radiator 1-3-3 of the array type cold and heat stimulation module 1, so as to achieve the effect of cooling.
  • the control module 4 includes a temperature sensor data acquisition unit 4-1, a main control unit 4-2, a drive module 4-3, a power module 4-4, and a button 4 -5 and LCD display 4-6;
  • the temperature sensor data acquisition unit 4-1 will collect the resistance value of the thin film platinum resistance 1-3-1, and then process it and convert it into a temperature value;
  • the main The control unit 4-2 can adjust the voltage of the semiconductor refrigeration chip 1-3-2 and the flow rate of the water pump 3-2 in real time according to the set target temperature value and the actual temperature value output by the temperature sensor data acquisition unit 4-1, thereby adjusting
  • the temperature of the hot and cold stimuli, appropriate temperature sensation and motion stimulation can be controlled, and the visual stimulation module 2 can be controlled to generate corresponding visual stimulation to deepen the sensory stimulation effect;
  • the drive module 4-3 is introduced through the main control unit 4-2.
  • the control signal of the control signal adjusts the resistance value of the digital potentiometer 4-3-1, thereby changing the magnitude of the output voltage of the booster circuit 4-3-2, and at the same time using the H bridge chip 4-3-3 to change the direction of the output voltage, finally generating
  • the multi-channel and independently adjustable voltage realizes the independent driving of the semiconductor refrigeration chips 1-3-2;
  • the power module 4-4 is the temperature sensor data acquisition unit 4-1, the main control unit 4-2, drive module 4-3, water cooling module 3 power supply;
  • described button 4-5 can be used to set the mode and parameters of hot and cold stimulation and visual stimulation;
  • described LCD display 4-6 can display the set parameters and actual temperature.
  • the control method includes a temperature control method, a hot and cold stimulation mode, and a combined thermo-visual stimulation
  • the control method is based on the skin temperature feedback measured by the thin-film platinum resistance 1-3-1, combined with the pre-established target temperature, and uses the PID algorithm to adjust the voltage across the semiconductor refrigeration chip to achieve Precise control of skin temperature to treat muscle spasms and achieve motor nerve rehabilitation.
  • the cold and heat stimulation modes include time domain variation mode, space variation mode and time-space variation mode;
  • the time domain variation mode includes the temperature of all refrigerating sheets 1-3-2 Linear increase mode, linear temperature decrease mode, temperature sine wave change mode, temperature square wave change mode, and any temperature change law can be realized by software as needed.
  • the realization process is: after setting the time domain change mode, Collect the initial temperature of the skin, and then use the PID algorithm to calculate the output voltage, drive the semiconductor cooling chip 1-3-2 to work, and then continuously measure the skin temperature and adjust the voltage across the semiconductor cooling chip 1-3-2, so that the skin temperature is in accordance with the desired temperature.
  • the spatial variation mode drives different semiconductor refrigeration chips 1-3-2 through the drive module 4-3, so as to achieve different hot and cold stimuli in different regions, thereby generating different shapes of cold and hot stimuli , including straight lines, slashes, back-shaped, heart-shaped, numbers 0-9, 26 English letters, etc., so as to activate different heat and cold receptors.
  • the spatio-temporal variation mode is that the temperature of different regions can be changed arbitrarily with time by driving different semiconductor refrigeration chips 1-3-2 through the drive module.
  • described temperature sense-visual joint stimulation control method when using described hot and cold stimulation module 1 to carry out hot and cold stimulation to the patient, and let the patient feel and guess the applied stimulation mode, use visual stimulation Module 2 displays different virtual objects such as ice cubes, flames, etc., different hot and cold stimulation modes, such as displaying a straight line, diagonal line, back-shaped, heart-shaped, numbers 0-9, 26 English letters and other shapes, and The speed of stimulation, etc., allows patients to actively participate in it, realizes dual stimulation of vision and temperature sense, improves the efficiency of hot and cold stimulation, and makes rehabilitation training interesting and effective.
  • visual stimulation Module 2 displays different virtual objects such as ice cubes, flames, etc.
  • different hot and cold stimulation modes such as displaying a straight line, diagonal line, back-shaped, heart-shaped, numbers 0-9, 26 English letters and other shapes, and The speed of stimulation, etc., allows patients to actively participate in it, realizes dual stimulation of vision and temperature sense, improves the efficiency of hot and cold stimulation, and makes rehabilitation training interesting and
  • the steps of using the device are:
  • Step S1 According to factors such as the stimulation site, assemble the array type cold and heat stimulation module into the required size and shape, and connect the wires and water pipes;
  • Step S2 the patient wears the device
  • Step S3 The doctor sets the stimulation parameters such as stimulation time, stimulation temperature, stimulation shape, and visual stimulation image according to the actual condition of the patient, and then starts the treatment;
  • Step S4 the control module adjusts the output voltage, and drives the cold and heat stimulation module and the water cooling module to work;
  • Step S5 continuously read the temperature sensor data
  • Step S6 The control module judges whether the temperature exceeds the set temperature error threshold, and if it exceeds, adjusts the output voltage, adjusts the power of the cooling and heating module, otherwise drives the visual stimulation module to work, and records the cold and heat stimulation and the effective time of the visual stimulation ;
  • Step S7 the control module judges whether the accumulated effective time exceeds the set treatment time, if not, the control module controls the stimulation module to continue to work, and if so, controls the stimulation module to stop working;
  • Step S8 the screen prompts the completion of the treatment, and asks the patient about the treatment experience and effect;
  • Step S9 Inquire whether to adjust the stimulation parameters to perform the treatment again, if yes, go to step 3, if no, exit the work.

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Abstract

一种卒中患者运动与感觉神经联合康复装置包括阵列式冷热刺激模块(1)、视觉刺激模块(2)、水冷模块(3)以及控制模块(4)。阵列式冷热刺激模块(1)、视觉刺激模块(2)、水冷模块(3)均与控制模块(4)相连。阵列式冷热刺激模块(1)包括柔性导热薄膜(1-1)、柔性电路板(1-2)以及多个冷热刺激单元(1-3)。柔性导热薄膜(1-1)上设有与冷热刺激单元(1-3)相对应的安装孔(1-1-1)。柔性电路板(1-2)设置于冷热刺激单元(1-3)的上方。冷热刺激单元(1-3)包括薄膜式铂电阻(1-3-1)、半导体制冷片(1-3-2)以及散热器(1-3-3)。薄膜式铂电阻(1-3-1)设置于半导体制冷片(1-3-2)下方。散热器(1-3-3)设置于半导体制冷片(1-3-2)的上方。半导体制冷片(1-3-2)和薄膜式铂电阻(1-3-1)通过导线与柔性电路板(1-2)相连。

Description

一种脑卒中患者运动与感觉神经联合康复装置及控制方法 技术领域
本发明涉及一种脑卒中患者运动与感觉神经联合康复装置及控制方法，属于机器人学、康复技术、控制科学、计算机科学、传感技术的交叉领域。
背景技术
随着社会的快速发展，人口结构老龄化趋势明显，脑卒中等发病率较高，虽然目前医学已经很发达，但是脑卒中在世界范围内仍旧是造成残疾的首要原因之一。因此，脑卒中患者的康复治疗显得尤为重要。
对于脑卒中患者来说，肌肉痉挛是一种常见的并发症。肌肉痉挛是运动神经元病变的标志，患肢的痉挛常会抑制物理疗法治疗脑卒中或其他中枢神经疾病的功效，也是脑卒中后致残的重要原因。
脑卒中患者除了运动神经受损外，往往也伴随着感觉神经的损伤和体觉功能的降低。研究表明，体觉和运动功能联系紧密。对于脑卒中患者，胳膊和手的体觉损伤可能阻碍运动神经的恢复，而手部感觉功能更完整的患者能够获得更好的运动神经康复治疗效果，对患者的感觉刺激能够增强其运动功能。此外，有研究发现运动康复也可以改善慢性卒中患者的感觉恢复。
冷热刺激疗法是一种常见的脑卒中患者的康复方法。该疗法采用冷-热交替的周期性刺激，使血管交替舒缩，改善毛细血管通透性， 从而有效地促进渗出液的吸收，降低肌张力和肌肉收缩力，缓解肌肉痉挛，促进运动神经元的康复。同时，冷热刺激还可以激活皮肤表面的冷热觉感受器，使之产生感觉信号，从而刺激感觉神经通道，促进感觉神经的康复。
视觉刺激也是一种康复方法。通过观看相关图像或视频，可以激活大脑的感知区域和模仿区域，产生相应的感觉信号和运动信号，从而对神经产生刺激康复效果。当视觉刺激方法与其他康复方法结合时，可以增强感觉刺激效果，产生更好的疗效。
目前的康复装置常常只关注一类神经的康复，没有把感觉和运动神经的康复组合起来，导致神经恢复效率不高。例如有包含震动、压力和温度等多种感觉刺激的康复装置(发明专利申请号：CN201310181540.X)，其只关注感觉神经的康复，并且只是把不同的感觉刺激方法放在一起，并没有深入挖掘它们之间的协同和促进作用。此外，还有实现多种刺激方式的神经康复治疗椅(发明专利申请号：201810227367.5)，但是其体积较大，系统复杂，不便于携带。因此，设计穿戴便携、操作简单、深度融合感觉和运动神经康复技术从而实现良好康复效果的装置，对于脑卒中患者的康复治疗具有重要的意义，是本领域人员需要突破的技术。
发明内容
技术问题：
本发明的目的是为了解决现有技术的不足，解决目前神经康复装 置只关注单独一类神经的康复、对多种刺激方式的简单堆砌、体积过大、系统复杂、不便于携带等问题，提出一种脑卒中患者运动与感觉神经联合康复装置，能够有效结合运动神经康复和感觉神经康复，使它们能够相互协同、相互促进，并且提升装置的便携性和易用性，从而提升脑卒中患者的康复效果。
技术方案：
为了实现以上目的，本发明提出一种卒中患者运动与感觉神经联合康复装置及控制方法。
所述的卒中患者运动与感觉神经联合康复装置及控制方法包括：阵列式冷热刺激模块、视觉刺激模块、水冷模块、控制模块以及与装置相配套的控制方法。
所述的阵列式冷热刺激模块采用模块化设计，由柔性导热薄膜、柔性电路板和多个冷热刺激单元以串、并联模块化方式拼接而成；所述的冷热刺激单元由薄膜式铂电阻、半导体制冷片和散热器组成；所述薄膜式铂电阻位于所述半导体制冷片下侧，用来测量皮肤温度；所述半导体制冷片为方形薄片，用来调节皮肤温度；所述的散热器用导热硅胶固定在所述的半导体制冷片上表面，由金属主体、母座水管接口和公头水管接口组成，两种接口的尾部为柔性材料，顶部设置有卡扣和卡槽，并且配有硅胶密封圈和分离环，既能保证密封性，又便于多模块组装和拆卸，同时还使冷热刺激单元具有一定的柔性；所述的散热器用导热硅胶固定在所述的半导体制冷片上表面，由金属主体、母座水管接口和公头水管接口组成，金属主体为长方形块状，内部为 空心结构，其相邻的两个侧壁上分别设置有一个圆形孔，一个圆形孔连接有母座水管接口，另一个圆形孔连接有公头水管接口，母座水管接口的顶部设有环形槽，环形槽内设有硅胶密封圈，母座水管接口外侧设置有多个卡扣，公头水管接口的顶部设置有与环形槽相对应的环形凸起，公头水管接口的外侧设置有与卡扣相对应的卡槽，公头水管接口后端设置有分离环。所述柔性导热薄膜具有良好的导热性，能够实现皮肤和半导体制冷片之间充分的热交换，并且设有与所述的冷热刺激单元相对应的安装孔；所述的柔性电路板覆盖于冷热刺激单元上侧，具有阵列式的电气接口，用于连接所述的半导体制冷片和薄膜式铂电阻。
所述的视觉刺激模块主要包括电脑显示器和VR眼镜，在进行冷热刺激时，使用VR技术提供虚拟物体的形状、颜色、温度等的视觉刺激，加深感觉刺激效果，并且可以纠正错误的温度感知。
所述的水冷模块由水箱、水泵、水管接头组成；所述的水箱内盛有适量的水；所述的水泵放在水箱中，用来驱动水的流动；所述的水管接头分为一组出水接头和一组进水接头；所述的出水接头可以通过水管与阵列式冷热刺激模块散热器一端的水管接口相连，所述的进水接头与阵列式冷热刺激模块散热器另一端的水管接口相连，水在水泵的驱动下，可以流经水管和散热器，从而实现降温的效果。
所述的控制模块包括温度传感器数据采集单元、主控单元、驱动模块、电源模块、按键和LCD显示屏；所述的温度传感器数据采集单元将采集薄膜式铂电阻的阻值，然后对其进行处理，转换为温度值； 所述的主控单元可以根据所设的目标温度值和温度传感器数据采集单元输出的实际温度值，实时调节半导体制冷片的电压和水泵的流速，从而调节冷热刺激的温度，进行适当的温度感觉和运动刺激，同时可以控制视觉刺激模块产生相应的视觉刺激，加深感觉刺激效果；所述的驱动模块通过主控单元传入的控制信号调节数字电位器的电阻值，从而改变升压电路的输出电压的大小，同时使用H桥芯片改变输出电压的方向，最终产生多通道并且可独立调节的电压，实现对所述的半导体制冷片的独立驱动；所述的电源模块为所述的温度传感器数据采集单元、主控单元、驱动模块、水冷模块供电；所述的按键可以用来设置冷热刺激和视觉刺激的模式和参数；所述的显示屏可以显示所设置的参数和实际温度等信息。
所述的控制方法包含温度控制方法、冷热刺激模式和温觉-视觉联合刺激控制方法；所述的温度控制方法根据所述的薄膜式铂电阻测量的皮肤温度反馈，结合预先设立的目标温度，使用PID算法调节所述的半导体制冷片两端的电压，实现对皮肤温度的精准控制，从而治疗肌肉痉挛，实现运动神经的康复。
所述的冷热刺激模式包括时域变化模式、空间变化模式和时-空变化模式；所述时域变化模式包括所有半导体制冷片的温度线性升高模式、温度线性降低模式、温度呈正弦波变化模式、温度呈方波变化模式，并且任意的温度变化规律可以根据需求通过软件实现，实现过程为：在设定时域变化模式之后，采集皮肤的初始温度，然后使用PID算法计算输出电压，驱动半导体制冷片工作，之后不断测量皮肤 温度和调节半导体制冷片两端电压，使得皮肤温度按照所设定的规律变化，当治疗时间达到预设值时，停止工作。
所述的空间变化模式通过驱动模块来驱动不同的半导体制冷片，实现阵列式冷热刺激模块不同区域的不同冷热刺激，进而产生不同的冷热刺激形状，包括直线、斜线、回字形、心形，0-9的数字、26个英文字母等，从而激活不同的冷热觉感受器。所述的时-空变化模式是通过驱动阵列式冷热刺激模块中不同的半导体制冷片，使冷热刺激在时间和空间上能够以任意的规律变化。
所述的温觉-视觉联合刺激控制方法：在使用所述的冷热刺激模块对患者进行冷热刺激、并且让患者感受和猜测所施加的刺激模式时，采用视觉刺激模块显示不同的虚拟物体如冰块、火苗等，不同的冷热刺激模式，如显示一条直线、斜线、回字形、心形、0-9的数字、26个英文字母和其他形状，以及刺激的快慢等，使患者主动参与其中，实现视觉与温度觉的双重刺激，提升冷热刺激的效率、感觉康复训练的趣味性和效果。
所述的装置的使用步骤为：
步骤1：根据刺激的部位等因素，把阵列式冷热刺激模块组装为需要的大小和形状，连接电线和水管；
步骤2：患者穿戴所述装置；
步骤3：医生根据患者实际患病情况，设置刺激时间、刺激温度、刺激形状、视觉刺激图像等刺激参数，然后开始治疗；
步骤4：控制模块调节输出电压，驱动冷热刺激模块和水冷模块 工作；
步骤5：不断读取温度传感器数据；
步骤6：控制模块判断温度是否超过设定的温度误差阈值，如果超过，则调整输出电压，调节冷热刺激模块的功率，否则驱动视觉刺激模块工作，并且记录冷热刺激以及视觉刺激的有效时间；
步骤7：控制模块判断累计有效时间是否超过设定的治疗时间，如果否，控制模块控制刺激模块继续工作，如果是，则控制刺激模块停止工作；
步骤8：屏幕提示此次治疗完成，询问患者治疗感受和效果；
步骤9：询问是否调整刺激参数再次进行治疗，如果选择是，则进入步骤3，如果选择否，则退出工作。
有益效果：
本发明的一种脑卒中患者运动与感觉神经联合康复装置及控制方法，具有以下几种优点：(1)能够精准快速地测量和调节皮肤温度，实现多种冷热刺激模式，达到良好的冷热刺激效果；(2)能够同时刺激感觉神经和运动神经，使两者的康复过程能够相互促进、相互协调，增强康复效果；(3)把视觉刺激和冷热刺激深度融合，能够有效地增强感觉刺激效果，提升康复效率和趣味性；(4)冷热刺激部分采用模块化设计，可根据刺激部位将其组装为不同的大小和形状，组装和拆卸过程极为简单，具有极强的适用性；(5)装置小巧简洁，便于携带，患者可在家进行康复治疗。
附图说明
图1为本发明的康复装置组成框图；
图2为本发明的康复装置立体视图；
图3为本发明的冷热刺激单元的立体视图；
图4为本发明的阵列式冷热刺激模块的分层结构示意图；
图5为本发明的冷热刺激单元所组装成的正方形机构的立体视图；
图6为本发明的冷热刺激单元所组装成的圆形机构的立体视图；
图7为本发明的阵列式冷热刺激模块驱动电路的原理图；
图8为本发明的阵列式冷热刺激模块控制软件算法流程图；
图9为本发明的阵列式冷热刺激模块时域变化模式示意图；
图10为本发明的阵列式冷热刺激模块空间变化模式示意图；
图11为本发明的阵列式冷热刺激模块时-空变化模式示意图；
图12为本发明的温觉-视觉联合刺激控制方法示意图；
图13为本发明康复装置的工作步骤流程图。
具体实施方式
下面结合附图和实施例，对本发明的工作原理和工作过程作进一步详细说明。
实施例
参照附图1和附图2，本发明所述的卒中患者运动与感觉神经联合康复装置及控制方法包括：阵列式冷热刺激模块1、视觉刺激模块 2、水冷模块3、控制模块4以及与装置相配套的控制方法。
参照附图1、附图2、附图3、附图4、附图5和附图6，所述的阵列式冷热刺激模块1采用模块化设计，由柔性导热薄膜1-1、柔性电路板1-2和多个冷热刺激单元1-3以串、并联模块化方式拼接而成；所述的冷热刺激单元1-3由薄膜式铂电阻1-3-1、半导体制冷片1-3-2和散热器1-3-3组成；所述薄膜式铂电阻1-3-1位于所述半导体制冷片1-3-2下侧，用来测量皮肤温度；所述半导体制冷片1-3-2为方形薄片，用来调节皮肤温度；所述的散热器1-3-3用导热硅胶固定在所述的半导体制冷片1-3-2上表面，由金属主体1-3-3-1、母座水管接口1-3-3-2和公头水管接口1-3-3-3组成，所述的金属主体1-3-3-1为长方形块状，内部为空心结构，其相邻的两个侧壁上分别设置有一个圆形孔，一个圆形孔连接有母座水管接口1-3-3-2，另一个圆形孔连接有公头水管接口1-3-3-3，母座水管接口1-3-3-2和公头水管接口1-3-3-3的尾部为柔性材料，母座水管接口1-3-3-2的顶部设有环形槽1-3-3-5，外侧设置有4个卡扣1-3-3-4，环形槽1-3-3-5内设有硅胶密封圈1-3-3-6，公头水管接口1-3-3-3的顶部设置与环形槽1-3-3-5相对应的环形凸起1-3-3-8，公头水管接口1-3-3-3的外侧设置有与卡扣1-3-3-4相对应的卡槽1-3-3-7，公头水管接口1-3-3-3后端套有分离环1-3-3-9，分离环1-3-3-9可在公头水管接口1-3-3-3上滑动，既能保证密封性，又便于多模块组装和拆卸，同时还使冷热刺激单元1-3具有一定的柔性；所述柔性导热薄膜1-1具有良好的导热性，能够实现皮肤和半导体制冷片1-3-2之间充分的热交换，并且 设有与所述的冷热刺激单元1-3相对应的安装孔1-1-1；所述的柔性电路板1-2覆盖于冷热刺激单元1-3上侧，具有阵列式的电气接口，用于连接所述的半导体制冷片1-3-2和薄膜式铂电阻1-3-1。当进行模块组装时，只需要将多个散热器1-3-3的母座水管接口1-3-3-2和公头水管接口1-3-3-3两两配合，组装成目标形状，例如正方形和圆形，然后装入柔性导热薄膜1-1的安装孔1-1-1内，并且盖上柔性电路板1-2，就可以组装成不同大小和形状的阵列式冷热刺激模块1。
参照附图1、附图2和附图12，所述的视觉刺激模块2主要包括电脑显示器2-1和VR眼镜2-2。在进行冷热刺激时，使用VR技术提供虚拟物体的形状、颜色、温度等视觉刺激，加深感觉刺激效果，并且可以纠正错误的温度感知。
参照附图1和附图2，所述的水冷模块3由水箱3-1、水泵3-2和水管接头3-3组成；所述的水箱3-1内盛有适量的水；所述的水泵3-2放在水箱中，用来驱动水的流动；所述的水管接头3-3分为一组出水接头3-3-1和一组进水接头3-3-2；所述的出水接头3-3-1可以通过水管与阵列式冷热刺激模块1一端的水管接口相连，所述的进水接头3-3-2与阵列式冷热刺激模块1另一端的水管接口相连，水在水泵3-2的驱动下，可以流经阵列式冷热刺激模块1的散热器1-3-3，从而实现降温的效果。
参照附图1、附图2和附图7，所述的控制模块4包括温度传感器数据采集单元4-1、主控单元4-2、驱动模块4-3、电源模块4-4、按键4-5和LCD显示器4-6；所述的温度传感器数据采集单元4-1将 采集薄膜式铂电阻1-3-1的阻值，然后对其进行处理，转换为温度值；所述的主控单元4-2可以根据所设的目标温度值和温度传感器数据采集单元4-1输出的实际温度值，实时调节半导体制冷片1-3-2的电压和水泵3-2的流速，从而调节冷热刺激的温度，进行适当的温度感觉和运动刺激，同时可以控制视觉刺激模块2产生相应的视觉刺激，加深感觉刺激效果；所述的驱动模块4-3通过主控单元4-2传入的控制信号调节数字电位器4-3-1的电阻值，从而改变升压电路4-3-2的输出电压的大小，同时使用H桥芯片4-3-3改变输出电压的方向，最终产生多通道并且可独立调节的电压，实现对所述的半导体制冷片1-3-2的独立驱动；所述的电源模块4-4为所述的温度传感器数据采集单元4-1、主控单元4-2、驱动模块4-3、水冷模块3供电；所述的按键4-5可以用来设置冷热刺激和视觉刺激的模式和参数；所述的LCD显示器4-6可以显示所设置的参数和实际温度等信息。
参照附图1、附图8、附图9、附图10、附图11、附图12和附图13，所述的控制方法包含温度控制方法、冷热刺激模式和温觉-视觉联合刺激控制方法；所述的温度控制方法根据所述的薄膜式铂电阻1-3-1测量的皮肤温度反馈，结合预先设立的目标温度，使用PID算法调节所述的半导体制冷片两端的电压，实现对皮肤温度的精准控制，从而治疗肌肉痉挛，实现运动神经的康复。
参照附图8和附图9，所述的冷热刺激模式包括时域变化模式、空间变化模式和时-空变化模式；所述时域变化模式包括所有半导体制冷片1-3-2的温度线性升高模式、温度线性降低模式、温度呈正弦 波变化模式、温度呈方波变化模式，并且任意的温度变化规律可以根据需要通过软件实现，实现过程为：在设定时域变化模式之后，采集皮肤的初始温度，然后使用PID算法计算输出电压，驱动半导体制冷片1-3-2工作，之后不断地测量皮肤温度和调节半导体制冷片1-3-2两端电压，使得皮肤温度按照所设定的规律变化，当治疗时间达到预设值时，停止工作。
参照附图10和附图11，所述的空间变化模式通过驱动模块4-3驱动不同的半导体制冷片1-3-2，实现不同区域的不同冷热刺激，进而产生不同的冷热刺激形状，包括直线、斜线、回字形、心形，0-9的数字、26个英文字母等，从而激活不同的冷热觉感受器。所述的时-空变化模式是通过驱动模块驱动不同的半导体制冷片1-3-2实现不同区域的温度随时间任意地变化。
参照附图12，所述的温觉-视觉联合刺激控制方法：在使用所述的冷热刺激模块1对患者进行冷热刺激、并且让患者感受和猜测所施加的刺激模式时，采用视觉刺激模块2显示不同的虚拟物体如冰块、火苗等，不同的冷热刺激模式，如显示一条直线、斜线、回字形、心形、0-9的数字、26个英文字母和其他形状，以及刺激的快慢等，使患者主动参与其中，实现视觉与温度觉的双重刺激，提升冷热刺激的效率，康复训练的趣味性和效果。
所述的装置的使用步骤为：
步骤S1：根据刺激部位等因素，把阵列式冷热刺激模块组装为需要的大小和形状，连接电线和水管；
步骤S2：患者穿戴所述装置；
步骤S3：医生根据患者实际患病情况，设置刺激时间、刺激温度、刺激形状、视觉刺激图像等刺激参数，然后开始治疗；
步骤S4：控制模块调节输出电压，驱动冷热刺激模块和水冷模块工作；
步骤S5：不断读取温度传感器数据；
步骤S6：控制模块判断温度是否超过设定的温度误差阈值，如果超过，则调整输出电压，调节制冷制热模块的功率，否则驱动视觉刺激模块工作，并且记录冷热刺激以及视觉刺激的有效时间；
步骤S7：控制模块判断累计有效时间是否超过设定的治疗时间，如果否，控制模块控制刺激模块继续工作，如果是，则控制刺激模块停止工作；
步骤S8：屏幕提示此次治疗完成，询问患者治疗感受和效果；
步骤S9：询问是否调整刺激参数再次进行治疗，如果选择是，则进入步骤3，如果选择否，则退出工作。
上述实施例仅为本发明的优选技术方案，而不应视为对于本发明的限制，本发明的保护范围应以权利要求记载的技术方案，包括权利要求记载的技术方案中技术特征的等同替换方案为保护范围，即在此范围内的等同替换改进，也在本发明的保护范围之内。

Claims (8)

  1. 一种卒中患者运动与感觉神经联合康复装置，其特征在于：包括阵列式冷热刺激模块(1)、视觉刺激模块(2)、水冷模块(3)以及控制模块(4)；阵列式冷热刺激模块(1)、视觉刺激模块(2)、水冷模块(3)均与控制模块(4)相连；
    阵列式冷热刺激模块(1)包括柔性导热薄膜(1-1)、柔性电路板(1-2)以及多个冷热刺激单元(1-3)；柔性导热薄膜(1-1)上设有与冷热刺激单元(1-3)相对应的安装孔(1-1-1)；柔性电路板(1-2)设置于冷热刺激单元(1-3)的上方，冷热刺激单元(1-3)包括薄膜式铂电阻(1-3-1)、半导体制冷片(1-3-2)以及散热器(1-3-3)，薄膜式铂电阻(1-3-1)设置于半导体制冷片(1-3-2)下方，散热器(1-3-3)设置于半导体制冷片(1-3-2)的上方；半导体制冷片(1-3-2)和薄膜式铂电阻(1-3-1)通过导线与柔性电路板(1-2)相连。
  2. 根据权利要求1所述的一种卒中患者运动与感觉神经联合康复装置，其特征在于：多个冷热刺激单元(1-3)以串、并联模块化方式拼接而成，相邻两个多个冷热刺激单元(1-3)之间可拆卸连接。
  3. 根据权利要求2所述的一种卒中患者运动与感觉神经联合康复装置，其特征在于：散热器(1-3-3)包括金属主体(1-3-3-1)、母座水管接口(1-3-3-2)以及公头水管接口(1-3-3-3)，金属主体(1-3-3-1)为长方形块状，内部为空心结构，其相邻的两个侧壁上分别设置有一个圆形孔，一个圆形孔连接有母座水管接口(1-3-3-2)， 另一个圆形孔连接有公头水管接口(1-3-3-3)，母座水管接口(1-3-3-2)的顶部设有环形槽(1-3-3-5)，环形槽(1-3-3-5)内设有硅胶密封圈(1-3-3-6)，母座水管接口(1-3-3-2)外侧设置有多个卡扣(1-3-3-4)，公头水管接口(1-3-3-3)的顶部设置有与环形槽(1-3-3-5)相对应的环形凸起(1-3-3-8)，公头水管接口(1-3-3-3)的外侧设置有与卡扣(1-3-3-4)相对应的卡槽(1-3-3-7)，公头水管接口(1-3-3-3)后端设置有分离环(1-3-3-9)。
  4. 根据权利要求1所述的一种卒中患者运动与感觉神经联合康复装置，其特征在于：视觉刺激模块(2)包括电脑显示器(2-1)以及VR眼镜(2-2)，电脑显示器(2-1)、VR眼镜(2-2)均与控制模块(4)相连。
  5. 根据权利要求1所述的一种卒中患者运动与感觉神经联合康复装置，其特征在于：水冷模块(3)包括水箱(3-1)、水泵(3-2)以及水管接头(3-3)，水箱(3-1)通过水泵(3-2)与水管接头(3-3)相连，水管接头(3-3)与阵列式冷热刺激模块(1)相连。
  6. 根据权利要求1所述的一种卒中患者运动与感觉神经联合康复装置，其特征在于：控制模块(4)包括温度传感器数据采集单元(4-1)、主控单元(4-2)、驱动模块(4-3)、电源模块(4-4)、按键(4-5)和LCD显示器(4-6)，主控单元(4-2)通过温度传感器数据采集单元(4-1)与柔性电路板(1-2)相连；主控单元(4-2)通过驱动模块(4-3)与柔性电路板(1-2)相连；电源模块(4-4)、按键(4-5)、LCD显示器(4-6)均与主控单元(4-2)相连。
  7. 一种基于权利要求1-6所述的一种卒中患者运动与感觉神经联合康复装置的控制方法，其特征在于：控制方法包括温度控制方法、冷热刺激模式和温觉-视觉联合刺激控制方法；温度控制方法根据薄膜式铂电阻(1-3-1)测量的皮肤温度反馈和预先设立的目标温度，使用PID算法调节半导体制冷片(1-3-2)两端的电压，实现对皮肤温度的精准控制；
    冷热刺激模式包括时域变化模式、空间变化模式和时-空变化模式，使冷热刺激在时间和空间上能以任意规律变化；
    温觉-视觉联合刺激控制方法是在使用阵列式冷热刺激模块(1)对患者进行冷热刺激时，采用视觉刺激模块(2)显示不同的虚拟物体及其运动、温度属性变化，来展现相应的冷热刺激模式，实现视觉与温度觉的双重刺激，提升感觉康复训练的趣味性和效果。
  8. 一种如权利要求1-6任一所述的装置的使用方法，其特征在于，使用步骤如下：
    步骤S1：根据刺激部位等因素，把阵列式冷热刺激模块组装为需要的大小和形状，连接电线和水管；
    步骤S2：患者穿戴所述装置；
    步骤S3：医生根据患者实际患病情况，设置刺激时间、刺激温度、刺激形状、视觉刺激图像等刺激参数，然后开始治疗；
    步骤S4：控制模块调节输出电压，驱动冷热刺激模块和水冷模块工作；
    步骤S5：不断读取温度传感器数据；
    步骤S6：控制模块判断温度是否超过设定的温度误差阈值，如果超过，则调整输出电压，调节制冷制热模块的功率，否则驱动视觉刺激模块工作，并且记录冷热刺激以及视觉刺激的有效时间；
    步骤S7：控制模块判断累计有效时间是否超过设定的治疗时间，如果否，控制模块控制刺激模块继续工作，如果是，则控制刺激模块停止工作；
    步骤S8：屏幕提示此次治疗完成，询问患者治疗感受和效果；步骤S9：询问是否调整刺激参数再次进行治疗，如果选择是，则进入步骤3，如果选择否，则退出工作。
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