CN101234227B - Implantation type wireless limbs sport control nerve stimulation network system - Google Patents
Implantation type wireless limbs sport control nerve stimulation network system Download PDFInfo
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- CN101234227B CN101234227B CN2007100932449A CN200710093244A CN101234227B CN 101234227 B CN101234227 B CN 101234227B CN 2007100932449 A CN2007100932449 A CN 2007100932449A CN 200710093244 A CN200710093244 A CN 200710093244A CN 101234227 B CN101234227 B CN 101234227B
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Abstract
The invention requests to protect an implantation-type nervous stimulation system of controlling wireless limb motions and a control method thereof, which relates to a technical field of human implantation-type medical devices. The system makes use of the principle of advanced wireless sensing network technology, constructs a star-type network and not limits to a wireless stimulation network of star-type network topology, and the topological structure is flexible and the extensibility is strong, and stimulation networks with different scales are constructed according to requirements of controlling of different limb motions; by adopting a wireless time synchronous protocol and the coordination work of synchronous dormancy and synchronous awaking of an external control terminal and an internal stimulation unit, the system realizes a multi-target implantation-type nerve stimulation method of wireless limb motion controlling, and the Burst working mode is low in power consumption and can prolong the service life of the internal stimulation unit greatly. The system and the control method thereof provide a novel stimulation device and a control method for the recovery treatment of nervous system diseases or patients of nervous system injury, and are beneficial to realize the controlling over more coordinate and natural limb motions in low trauma through the wireless synchronous controlling stimulation of multiple nerves and multiple muscles.
Description
Technical field
The present invention relates to the Medical Instruments technical field, relating in particular to a kind of implantable nerve of treating nervous system disease or damage stimulates network system and control method thereof.
In some motor nervous system disease and nerve injury rehabilitation, the mode of clinical normal employing functional neurosurgery electricity irritation is treated.The functional neurosurgery electricity irritation is according to human autonomic movement mechanism; Through applying the repetition pulse electrical stimulation signal; Utilize nerve that the Artificial Control signal that adds is transmitted in its response; Thereby produce and excite duplicate neural impulse naturally, make the nerve reconstruction or the restore funcitons of decline, reach the purpose of treatment or functional rehabilitation and reconstruction.
Along with subject development such as biology and electronics, materialogies; The development of implantable nerve stimulating technology rapidly; Worked out at present different implantable nerve stimulation apparatus; The pain therapeutic equipment, DBS device of U.S. Medtronic company typically arranged, and (Deep Brain Stimulator is DBS) with the implantation cochlear implant of Australian Cochlear company etc.In recent years, the domestic research of also carrying out this respect, Li Luming etc. have reported a kind of implantable nerve electric pulse stimulation system that can external software upgrading in Chinese patent (application number 200510116704.6); Li Gangs etc. have reported a kind of dark brain stimulation of implanted system that body internal stimulus device battery is carried out wireless charging through external controller in Chinese patent (application number 200410019937.X).But adopt point-to-point communication between the peripheral control unit of above-mentioned these implantable stimulation systems and the stimulator for implantation in vivo; Only can stimulate, need can't to be applied to the nerve stimulation of the limb motion control that multichannel, many target spots stimulate single nerve or local muscle.
The neural stimulation system of the limb motion control that stimulates for multichannel, many target spots still mainly at present adopts the multichannel based on surface electrode to stimulate design, and this type systematic exists structure numerous and diverse big with stimulating current, often causes the problem of the uncomfortable pain of patient.And the implanted limbs sport control nerve stimulation system that is just developing in recent years all adopts single control unit in the body, connects each target spot stimulating electrode through lead
External control terminal mainly is made up of microprocessor, radio communication transceiver unit, LCDs, button and power supply.Wherein, microprocessor and radio-frequency receiving-transmitting parts and body internal stimulus device adopt the model that is complementary, and with body internal stimulus unit formation star network topology but be not limited only to hub-and-spoke network topology, carry out exchanges data and programme-control through the radio-frequency receiving-transmitting parts; Liquid crystal display component, display control program interface and relevant parameter cooperate button to realize the adjustment and the programme-control of control parameter; Power supply can adopt direct current input and battery powered dual mode.
Summary of the invention
The present invention is based on the implantation type wireless limbs sport control nerve stimulation system of star network topology (being not limited only to hub-and-spoke network topology), take the mode of synchronous dormancy, synchronized wake-up to realize the nerve stimulation of many target spots through external control terminal and body internal stimulus unit.The mode that external control terminal interrupts through button is selected mode of operation, is specified body internal stimulus unit ID number and the stimulus parameter of target area; Send a beacon frame that comprises temporal information as the standard time source after the synchronized wake-up and keep Network Synchronization communication for all body internal stimulus unit, and get into duty; Each body internal stimulus unit is operated in gauged periodic process of synchronous dormancy, synchronized wake-up, lock in time equally, after the synchronized wake-up at once received beacon frame keep network time synchronization, and whether inspection has work order.If have, get into the work request state, receive mode of operation and stimulus parameter and return working status parameter, otherwise continue to get into synchronous resting state to external control terminal.In case the entering duty, the bidirectional constant boost pulse that corresponding amplitude, polarity, pulsewidth and frequency are exported according to the mode of operation and the stimulus parameter of reception in body internal stimulus unit stimulates through the nerve or the muscle of stimulating electrode to appointed part.
The present invention is that nervous system disease or the treatment of damage rehabilitation of patients provide a kind of new stimulating apparatus and control method, and the wireless synchronization control stimulation through polyneural, polymyarian meat helps realizing the limb motion control of more coordination, nature under the low-wound.
Outstanding advantage of the present invention is:
External control terminal mainly is made up of microprocessor, radio communication transceiver unit, LCDs, button and power supply.Wherein, microprocessor and radio-frequency receiving-transmitting parts and body internal stimulus device adopt the model that is complementary, and with body internal stimulus unit formation star network topology but be not limited only to hub-and-spoke network topology, carry out exchanges data and programme-control through the radio-frequency receiving-transmitting parts; Liquid crystal display component, display control program interface and relevant parameter cooperate button to realize the adjustment and the programme-control of control parameter; Power supply can adopt direct current input and battery powered dual mode.
The invention allows for a kind of implantation type wireless limbs sport control nerve stimulation method; This method takes the mode of synchronous dormancy, synchronized wake-up to realize the nerve stimulation of many target spots through external control terminal and body internal stimulus unit based on star network topology but be not limited only to the implantation type wireless limbs sport control nerve stimulation system of hub-and-spoke network topology.Concrete performing step is following: the mode that external control terminal interrupts through button is selected mode of operation, is specified body internal stimulus unit ID number and the stimulus parameter of target area; Send a beacon frame that comprises temporal information as the standard time source after the synchronized wake-up and keep Network Synchronization communication for all body internal stimulus unit, and get into duty; Each body internal stimulus unit is operated in gauged periodic process of synchronous dormancy, synchronized wake-up, lock in time equally, after the synchronized wake-up at once received beacon frame keep network time synchronization, and whether inspection has work order.If have, get into the work request state, receive mode of operation and stimulus parameter and return working status parameter, otherwise continue to get into synchronous resting state to external control terminal.In case the entering duty, the bidirectional constant boost pulse that corresponding amplitude, polarity, pulsewidth and frequency are exported according to the mode of operation and the stimulus parameter of reception in body internal stimulus unit stimulates through the nerve or the muscle of stimulating electrode to appointed part.
The present invention is that nervous system disease or the treatment of damage rehabilitation of patients provide a kind of new stimulating apparatus and control method, and the wireless synchronization control stimulation through polyneural, polymyarian meat helps realizing the limb motion control of more coordination, nature under the low-wound.
Outstanding advantage of the present invention is:
1) utilize advanced radio sensing network know-why to make up star-like but be not limited only to the wireless stimulation network of hub-and-spoke network topology, topological structure is flexible, autgmentability is strong, can be according to different limb motion control needs, and the stimulation network of structure different scales;
2) utilize wireless communication technology, realized that the no lead that many target spots stimulate connects, system structure is succinct, and reliability is high, can effectively simplify operation during use, reduce the sufferer misery;
3) through taking the wireless time synchronous protocol; Realized external control terminal and body internal stimulus unitary " dormancy synchronously, synchronized wake-up " co-ordination; This Burst (explosion type) working method, power consumption is extremely low, can improve the unitary working life of body internal stimulus greatly.
4) body internal stimulus unit has adopted parameters such as little processing controls boost pulse amplitude, pulsewidth, frequency, and motility is strong, and degree of accuracy is high, takes bidirectional pulse to stimulate output can effectively avoid the electrochemistry of nerve fibers damage, makes muscle smooth shrink, reduce tired.
Description of drawings
Shown in Figure 1 is system structure sketch map of the present invention
The stimulating unit functional block diagram that implants for native system shown in Figure 2
Shown in Figure 3 is the external control terminal functional block diagram of native system
Shown in Figure 4 is native system implantation type wireless limbs sport control nerve stimulation method flow diagram
Shown in Figure 5ly be the native system stimulating unit pulsewidth modulation program flow diagram that implants
The specific embodiment
The present invention has designed and has a kind ofly formed topological structure implantation type wireless limbs sport control nerve stimulation network system flexibly by a plurality of body internal stimulus unit and external control terminal, realizes that the controlled in wireless multichannel stimulates.System has further proposed a kind of method of implantation type wireless limbs sport control nerve stimulation; Through external control terminal and body internal stimulus unitary " dormancy synchronously, synchronized wake-up " co-ordination; When realizing that thorniness swashs the passage collaborative work, greatly reduce the work power consumption of system.
Native system is made up of body internal stimulus part and external control terminal two parts, and the body internal stimulus partly comprises a plurality of stimulating unit of corresponding site in the implant into body and the electrode that links to each other with the current impulse stimulus signal outfan of each stimulating unit.Microprocessor, radio communication transceiver unit, constant current bidirectional pulse stimulation parts and power supply are contained in stimulating unit inside.
External control terminal contains microprocessor, radio communication transceiver unit, LCDs, button and power supply.External control terminal can constitute Star Network through the stimulating unit in radio-frequency receiving-transmitting parts and the implant into body but be not limited only to hub-and-spoke network topology; Carry out exchanges data and realize control, realize the implantable nerve muscular irritation of many target area body internal stimulus device.
Below in conjunction with accompanying drawing and specific embodiment detailed explanation is carried out in the enforcement of implanted limbs sport control nerve stimulation network system of the present invention.
Like Fig. 1 is implanted limbs sport control nerve stimulation network system structural representation of the present invention.Native system is by the electrode 3 of corresponding site in a plurality of body internal stimuluss unit in the implant into body 2 and the also implant into body that connects through lead with it; And be positioned at external wireless control terminal 1 and constitute; And external control terminal can constitute star network with a plurality of body internal stimuluss unit but be not limited only to the wireless stimulation network of hub-and-spoke network topology structure; Realize the muscular irritation of many target area of human body implantable neural, thereby reach limb motion control stably.
Like Fig. 2 is the body internal stimulus Elementary Function block diagram in the implant into body of the present invention.Body internal stimulus unit 2 is made up of power supply 8, microprocessor MCU4, nerve stimulator 5, RF transceiver 6, antenna 7.The nerve stimulator outfan stimulates nerve or muscle through lead connection electrode output bidirectional constant boost pulse.
Microprocessor MCU4 selects the high integration low-power scm for use as central control processor, has multiple energy-saving mode, portion is integrated within it memorizer, analog digital conversion ADC and digital-to-analogue conversion DAC, and support from the programming operation; Low-power consumption radio-frequency receiving-transmitting monolithic and crystal oscillator that RF transceiver 6 is selected to be fit to biological tissue's short haul connection constitute, and employing time synchronized communication protocol is constructed star network but is not limited only to the hub-and-spoke network topology structure; Antenna 7 adopts printing board PCB antenna and low-power consumption radio-frequency receiving-transmitting monolithic coupling, the telecommunication circuit of common construction system; Nerve stimulator 5 is made up of single-chip microcomputer DAC pulse output and boost compensator circuit, and the boost compensator circuit is made up of bipolarity change-over circuit and booster circuit, can select many amplifiers of low-power consumption chip.Single-chip microcomputer DAC pulse output drives the boost compensator circuit, and the bipolarity change-over circuit converts DAC unipolar pulse output into bipolar pulse output, output bidirectional constant boost pulse after booster circuit is handled.Adopt chargeable high power lithium battery and voltage conversion circuit to constitute power supply 8.Voltage conversion circuit mainly comprises DC voltage-stabilizing and booster circuit, and the power management chip that select low-power consumption, turn-offs fully constitutes.
Wherein, Microprocessor MCU 4 is the unitary core of this body internal stimulus, and rf receiver and transmitter 6 is connected to microprocessor MCU4, and antenna 7 is connected to RF transceiver 6; Common accomplish and external wireless program controller 1 between data communication; Antenna receives the control command that external controller sends, after delivering to microprocessor and carrying out analyzing and processing, with the dormancy of setting body internal stimulus unit 2, wake up, stimulus parameter and working status parameter etc.
Like Fig. 3 is external control terminal functional block diagram of the present invention.External control terminal 1 mainly comprises microprocessor MCU 12, radio communication transceiver 13, antenna 14, liquid crystal display component LCD9, button 10 and electric power management circuit 11.Parts such as microprocessor MCU12, RF transceiver 13 and antenna 14 adopt the model that is complementary with body internal stimulus unit to constitute; Liquid crystal display component LCD9 is mainly used in display control program interface and relevant parameter, is made up of LCD and control circuit, can realize that Chinese shows; Button 10 is realized mode of operation, parameters of choice, realizes programme-control, is made up of button and related circuit; Electric power management circuit 11, by DC converting circuit, mu balanced circuit constitutes, and makes external control terminal 1 can adopt direct current input and battery powered dual mode to carry out work.
Wherein, Microprocessor MCU 12 is the core of this external controller 1; The rf receiver and transmitter 13 that selection and body internal stimulus unit 2 are complementary is connected to the I/O end of microprocessor MCU 12, and antenna 14 is connected to RF transceiver 13, the data communication between common completion and the body internal stimulus unit 2; Control one or more body internal stimuluss unit 2 by the microprocessor transmitting control commands and produce boost pulse, and accomplish the setting of its duty and stimulus parameter.Button 10 is connected with the input/output interface end of microprocessor MCU 12, realizes the selection of stimulus parameter through the mode of interrupting.Liquid crystal display component LCD 9 is connected with the input/output interface of microprocessor MCU 12, realizes that the duty of control terminal shows.Electric power management circuit 11 provides power supply for whole external control terminal 1, can realize direct current input power supply or battery powered to external control terminal 1 through DC converting circuit and mu balanced circuit.
Like Fig. 4 is the flow chart of implantation type wireless limbs sport control nerve stimulation system control method of the present invention.Implantation type wireless limbs sport control nerve stimulation network system based on the present invention's proposition; Through taking the mode of external control terminal and the dormancy of body internal stimulus units synchronization, synchronized wake-up; Realized that many target spots are neural, muscle is coordinated to stimulate, and reached the purpose of low-power consumption.At first; External control terminal is through mode of operation, body internal stimulus unit ID tabulation and the stimulus parameter of button interrupt mode selective system; Send a beacon frame that comprises temporal information as the standard time source after the synchronized wake-up and keep Network Synchronization communication for all body internal stimulus unit, and get into duty wait and selected device id number corresponding body internal stimulus unit communication.There is unique fixed device id each body internal stimulus unit, and its work is a cycle period process.Original state body internal stimulus unit is in the synchronous dormancy under the timing of microprocessor MCU low-power consumption enumerator; When timer then microprocessor MCU wake radio circuit up; Received beacon frame keeps network time synchronization at once; And judge whether the work order of current stimulating unit device id; Do not close radio circuit and return low-power consumption synchronization timing resting state if then send the work at present state, be connected, receive the running parameter and the stimulus parameter of this stimulating unit if there is work order then to set up with the radio communication of external control terminal.Body internal stimulus unit microprocessor MCU is according to the running parameter and the stimulus parameter that receive; Produce the unipolarity boost pulse of corresponding amplitude, pulsewidth and frequency by the DAC impulse output circuit; Boost compensator circuit conversion output bidirectional constant boost pulse; Stimulate through the nerve or the muscle of stimulating electrode to appointed part, accomplishing stimulates body internal stimulus unit, back that the duty report is sent to external control terminal, and closes radio frequency communications circuitry entering low-power consumption synchronization timing resting state.External control terminal is closed radio frequency communications circuitry after receiving body internal stimulus cell operation state, gets into the synchronization timing resting state.
Like Fig. 5 is pulsewidth modulation flow process of the present invention.After body internal stimulus unit receives the mode of operation and stimulus parameter of external control terminal transmission through radio communication, produce the unipolarity boost pulse control signal of corresponding amplitude, pulsewidth, frequency and stimulation time through the DAC output of pulsewidth modulation programme-control microprocessor MCU.Because pulsewidth, frequency are all and time correlation; Therefore the pulsewidth modulation program defines the Tmin of minimum time unit of optimum precision through the crystal oscillator clock of microprocessor MCU; Pulsewidth, frequency and stimulation time are confirmed by the Tmin of minimum time unit, thereby are produced pulsewidth, frequency and all adjustable impulse stimulation control signal of stimulation time.The amplitude of boost pulse then is the signal controlling through the different sizes of DAC output of microprocessor MCU; The pulse control signal of DAC output further is input to the boost compensator circuit; Conversion output bidirectional constant boost pulse, the nerve or the muscle that act on implant site through stimulating electrode 3 stimulate.Accomplishing stimulates back body internal stimulus device and external controller to return original state.
Claims (4)
1. implantation type wireless limbs sport control nerve stimulation system; Comprise and be positioned at external wireless control terminal; Reach the body internal stimulus device of many target area in the difference implant into body, it is characterized in that, body internal stimulus device comprises body internal stimulus unit and the electrode that connects through lead with it; A plurality of body internal stimuluss unit carries out exchanges data and receives control command through its RF transceiver and external wireless control terminal, constitutes wireless stimulation network; Body internal stimulus unit receives mode of operation and the stimulus parameter that external control terminal sends; Produce the unipolarity boost pulse control signal of corresponding amplitude, pulsewidth, frequency and stimulation time through the DAC output of pulse width modulation controlled microprocessor MCU; The crystal oscillator clock definition Tmin of minimum time unit of microprocessor MCU; Confirm to produce pulsewidth, frequency and all adjustable impulse stimulation control signal of stimulation time by the Tmin of minimum time unit, output to the unitary boost compensator circuit of body internal stimulus; The boost compensator circuit is made up of bipolarity change-over circuit and booster circuit; The unitary single-chip microcomputer DAC of body internal stimulus pulse output drives the boost compensator circuit; The bipolarity change-over circuit converts DAC unipolar pulse output into bipolar pulse output, output bidirectional constant boost pulse after booster circuit is handled; External wireless control terminal interrupts selective system mode of operation, body internal stimulus unit identification list and stimulus parameter through button; Sending beacon frame after the synchronized wake-up keeps Network Synchronization for all body internal stimulus unit; And the body internal stimulus unit communication corresponding with selected device id; Receive the stimulus parameter of this stimulating unit, its described nerve stimulator of microprocessor control produces the constant current bidirectional pulse in the body internal stimulus unit, and it is outputed to the many target area nerves of electrode pair, muscle generation stimulation; Close RF transceiver after accomplishing stimulation, body internal stimulus unit and external control terminal get into the synchronization timing resting state.
2. implantation type wireless limbs sport control nerve stimulation according to claim 1 system is characterized in that, between external wireless control terminal and the body internal stimulus unit based on the wireless stimulation network of radio communication protocol construction starshaped net topology.
3. implantation type wireless limbs sport control nerve stimulation according to claim 1 system; It is characterized in that; The control command that said body internal stimulus unit sends according to external wireless control terminal; DAC impulse output circuit through the pulse width modulation controlled microprocessor produces frequency, pulsewidth and the adjustable pulse signal of amplitude; And through the boost compensator circuit in the nerve stimulator, the control of bipolarity change-over circuit is converted into bipolar pulse, outputs to booster circuit and produces the two-way boost pulse of constant current.
4. implantation type wireless limbs sport control nerve stimulation according to claim 3 system; It is characterized in that; Said pulsewidth modulation is confirmed minimum time unit through the crystal oscillator clock of microprocessor; Pulsewidth, frequency and stimulation time are confirmed that by minimum time unit the amplitude of boost pulse is then exported the signal controlling of different sizes through the DAC of microprocessor.
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101648053B (en) * | 2009-09-03 | 2012-05-30 | 清华大学 | Double-channel embedded nerve stimulator |
| CN102772852B (en) * | 2011-05-13 | 2015-04-15 | 苏州景昱医疗器械有限公司 | Wireless communication implantable medical system and wireless communication method thereof |
| CN103949012A (en) * | 2014-05-21 | 2014-07-30 | 上海谨诺医疗科技有限公司 | Multiple-address controllable miniature neuromuscular blockade electrical stimulation system |
| WO2016048968A2 (en) * | 2014-09-23 | 2016-03-31 | Boston Scientific Neuromodulation Corporation | Systems and methods for receiving user-provided selection of electrode lists |
| CN104888346B (en) * | 2014-12-21 | 2020-10-13 | 徐志强 | Method and device for performing nerve stimulation on coma brain |
| CN107596556B (en) * | 2017-09-09 | 2020-11-27 | 北京工业大学 | Percutaneous vagus nerve stimulation system based on music real-time modulation |
| CN109758668A (en) * | 2018-12-27 | 2019-05-17 | 孟兵 | A kind of awake system solution of implantation type electric stimulation nervus auricularis vagi stupor rush |
| CN110064130A (en) * | 2019-04-17 | 2019-07-30 | 上海黎欧生物科技有限公司 | A kind of gall-bladder pacemaker |
| CN110262336B (en) * | 2019-06-18 | 2021-02-02 | 中国科学院自动化研究所 | Current output circuit and transcranial electrical stimulation device comprising same |
| CN117771545A (en) * | 2024-02-26 | 2024-03-29 | 苏州新云医疗设备有限公司 | Implantable electric stimulator and electric stimulation system |
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| CN1745857A (en) * | 2005-10-28 | 2006-03-15 | 清华大学 | Implant nervous electric pulse stimulus system |
| CN1868555A (en) * | 2006-04-13 | 2006-11-29 | 上海交通大学 | Implanted type programmable nervus stimulator |
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| CN1997424A (en) * | 2004-07-20 | 2007-07-11 | 麦德托尼克公司 | Medical device telemetry arbitration system using signal strength |
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| CN1868555A (en) * | 2006-04-13 | 2006-11-29 | 上海交通大学 | Implanted type programmable nervus stimulator |
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