CN103212156A - Hemiplegic patient self-recovery meter based on body mirror image theory - Google Patents
Hemiplegic patient self-recovery meter based on body mirror image theory Download PDFInfo
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Abstract
The invention discloses a hemiplegic patient self-recovery meter based on a body mirror image theory, and belongs to the field of medical instruments. The hemiplegic patient self-recovery meter comprises a contralateral limb posture signal acquisition device, a signal feature extraction and combination device and an electrical stimulation device, wherein the contralateral limb posture signal acquisition device is used for acquiring the posture information of a contralateral limb of a patient and transmitting the acquired signal to the signal feature extraction and combination device; the signal feature extraction and combination device is used for mapping the posture information of the contralateral limb of the patient from a normal walking gait database according to the received posture information of the contralateral limb and the personal information of the patient, generating a corresponding motion control command, and sending the control command to the electrical stimulation device; and the electrical stimulation device is used for receiving the control command, generating an electrical stimulation signal for stimulating the limb of the patient and making the limb of the patient generate corresponding motion. The recovery meter controls the contralateral limbs of the patient to coordinately move through mirror image copying by taking the posture information of the contralateral limb of the patient, so that effects of balance walking of a hemiplegic patient and reconstruction of a moving function are achieved.
Description
Technical field
The invention belongs to medical instruments field, relate to the autonomous instrument of a kind of hemiplegic patient based on the body image theory.
Background technology
Apoplexy (apoplexy) is a kind of sudden cerebrovascular circulation disorder.Post-stroke causes the componental movement dysfunction of health usually.The patient of apoplexy is very easy to recurrence once more, finally causes general paralysis, even dead.The paralytic especially occupies the hemiplegic patient of significant proportion, has brought white elephant for family and society, helps hemiplegic patient to recover the basic exercise function, and returning to orthobiosis is to have important economy and social meaning.
Most of hemiplegic patient's functional rehabilitation is difficult to fully., can't come back to orthobiosis before the patient in the environment though but the part patient can the independent ambulation abnormal gait.The hemiplegic patient is compensated two kinds of main neural rehabilitation approaches of assisted movement ability: mechanical skeleton and functional electric stimulation.Machinery skeleton walk-aid equipment cost height and man-machine interaction is poor, maloperation simultaneously causes the damage of muscle easily, is difficult to train according to the own will of patient.(Functional Electrical Stimulation FES) by electricity irritation, promotes muscle to produce and shrinks the regular motor function of recovering limbs functional electric stimulation.
In FES clinical rehabilitation field, all there are problems in correlational study aspect physiology and the engineering both at home and abroad at numerous apoplectic hemiplegia patients.The development of FES mainly contains both direction: implanted and sticking type.Adopt the direct stimulus movement neuron of implanted electrode, thereby reach the motion of the corresponding muscle of accurate control, but owing to there is the big and low problem of patient's degree of admittance of wireless power technical difficulty, practical clinical and popularization have suitable difficulty.Adopt surface electrode percutaneous stimulation motor neuron, easy and patient's degree of the admittance height of clinical manipulation.Existing surperficial FES rehabilitation instrument all adopts the open loop electrical stimulus patterns, does not have feedback or single feedback.Because the steady gait of human body is finished with the synergy movement of complexity by a series of muscle, open cycle system or single feedback signal (as electromyographic signal, EEG signals, plantar pressure signal or three-dimensional position signal) are difficult to recover normal walking walking.Adopt brain electricity feedback control FES to exist signal extraction difficulty, signal quality low, problems such as poor anti jamming capability.
Moreover China hemiplegic patient's quantity is come manyly far beyond paralytic patient at present, and functional electric stimulation focuses mostly in the research of the functional electric stimulation walking device that uses for paralytic patient both at home and abroad, less attention hemiplegic patient's demand.The functional electric stimulation walking aid that paralytic patient and hemiplegic patient use all needs parts such as stimulation, sensation, feedback, control, but how to utilize the hemiplegic patient than the distinctive strong side limbs of paralytic patient, make the collaborative more or less freely of patient left and right sides limb activity, thereby walking research more flexibly is also fewer, more lacks the medical apparatus and instruments of this respect.
Summary of the invention
In view of this, the object of the present invention is to provide the autonomous instrument of a kind of hemiplegic patient based on the body image theory, this instrument is reference with the strong side limbs attitude information of patient, by image copying, the coordination exercise of control patient affected limb reaches the effect that walking of hemiplegic patient's balance and motor function are rebuild.
For achieving the above object, the invention provides following technical scheme:
Based on the autonomous instrument of hemiplegic patient of body image theory, comprise that strong side limbs attitude signal harvester, signal characteristic extract fusing device and electrical stimulation device; Strong side limbs attitude signal harvester is used to gather the attitude information of strong side limbs, and signal characteristic extracts fusing device and is used for generating control command according to the attitude information data, and electrical stimulation device is used to produce electrical stimulation signal to stimulate affected limb; Strong side limbs attitude signal harvester is gathered the attitude information of the strong side limbs of patient, and the signal that collects is sent to signal characteristic extracts fusing device, signal characteristic extracts fusing device and maps out the attitude information of patient's affected limb and produce the corresponding action control command from normal walking step state data base according to the strong side limbs attitude information and the patient's personal information that receive, and control command is sent to electrical stimulation device, electrical stimulation device receives control command and produces electrical stimulation signal according to control command affected limb is produced stimulation, so that affected limb produces corresponding actions.
Further, described strong side limbs attitude signal harvester comprises three-component acceleration transducer, distributed surface myoelectric pick off and polynary plantar pressure sensor; The three-component acceleration transducer is used to gather the movement locus of strong side limbs, and distributed surface myoelectric pick off is used to gather the myoelectricity data of strong side limbs, and polynary plantar pressure sensor is used to gather the plantar pressure of strong side limbs.
Further, described instrument also comprises the affected limb attitude signal harvester that is used to gather patient's affected limb attitude actual information; Affected limb attitude signal harvester is sent to signal characteristic with the patient's affected limb attitude information that collects and extracts fusing device, signal characteristic extracts fusing device and generates control command according to the error between the real affected limb ideal pose of adopting attitude and being mapped out by strong side limbs attitude information of Ipsilateral, and control command is sent to electrical stimulation device.Because the existence of affected limb attitude signal harvester, thereby can be according between the actual attitude of the ill side limbs of patient and the affected limb ideal pose that maps out by strong side limbs attitude information different, just carry out the adjustment of control command according to error amount, thereby make that the stimulus signal of electrical stimulation device is more accurate, improve therapeutic effect.
Further, described affected limb attitude signal harvester comprises three-component acceleration transducer, distributed surface myoelectric pick off and polynary plantar pressure sensor; The three-component acceleration transducer is used to gather the movement locus of affected limb, and distributed surface myoelectric pick off is used to gather the myoelectricity data of affected limb, and polynary plantar pressure sensor is used to gather the plantar pressure of affected limb.
Further, described strong side limbs attitude signal harvester, signal characteristic extract fusing device, electrical stimulation device and affected limb attitude signal harvester and contain bluetooth communication, adopt the wireless blue tooth mode to carry out transfer of data between each device.The mode of employing wireless blue tooth is transmitted data makes that the structure of instrument is simpler, has avoided the drawback of wire transmission mode.
Beneficial effect of the present invention is: instrument of the present invention adopts integrated motor relearning, biofeedback, the neuromuscular electrical stimulation method is the method treatment apoplexy of one, compared with prior art, the present invention has solved hemiplegic patient's walking equilibrium problem effectively, after one period service time, can promote brain plasticity and motor function reorganization restoration methods, overcome the brain signal instability problem of the single and brain-computer interface technology in the feedback signal source of traditional product, and implant electrode in-line power difficulty, the problem that patient's degree of admittance is low with it is difficult that the doctor performs the operation, simultaneously, this instrument also is suitable for cerebral trauma, various sclerosis, cerebral palsy, incomplete spinal cord injury etc. do not cause patient's rehabilitation of paraplegia consequence to use, and have good practical value, social value and economic worth.
Description of drawings
In order to make purpose of the present invention, technical scheme and beneficial effect clearer, the invention provides following accompanying drawing and describe:
Fig. 1 is the structural representation of instrument of the present invention;
Fig. 2 is an instrument signal controlling structure chart;
The workflow diagram of Fig. 3 instrument during for no affected limb attitude signal harvester;
Fig. 4 is the workflow diagram of instrument when having affected limb attitude signal harvester;
The specific embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
The autonomous instrument of the hemiplegic patient that the present invention proposes adopts the body image theory, is reference with the limbs attitude of patient health one side, by image copying, and the ill side limbs coordinate exercise of control patient.Fig. 1 is the structural representation of instrument of the present invention, should comprise that strong side limbs attitude signal harvester (being the strong side limbs attitude signal pickup model among Fig. 1), signal characteristic extracted fusing device (being the signal characteristic value extraction fusion treatment module among Fig. 1) and electrical stimulation device (being the wireless high-resolution functional electric stimulation module among Fig. 1) based on the autonomous instrument of hemiplegic patient of body image theory; Strong side limbs attitude signal harvester is used to gather the attitude information of strong side limbs, and signal characteristic extracts fusing device and is used for generating control command according to the attitude information data, and electrical stimulation device is used to produce electrical stimulation signal to stimulate affected limb; Strong side limbs attitude signal harvester is gathered the attitude information of the strong side limbs of patient, and the signal that collects is sent to signal characteristic extracts fusing device, signal characteristic extracts fusing device and maps out the attitude information of patient's affected limb and produce the corresponding action control command from normal walking step state data base according to the strong side limbs attitude information and the patient's personal information that receive, and control command is sent to electrical stimulation device, electrical stimulation device receives control command and produces electrical stimulation signal according to control command affected limb is produced stimulation, so that affected limb produces corresponding actions.
The limbs attitude information can extract from a lot of aspects, in the present embodiment, gather movement locus, pressure and three kinds of signals of myoelectricity of strong side limbs, strong in the present embodiment side limbs attitude signal harvester comprises three-component acceleration transducer, distributed surface myoelectric pick off and polynary plantar pressure sensor; The three-component acceleration transducer is used to gather the movement locus of strong side limbs, and distributed surface myoelectric pick off is used to gather the myoelectricity data of strong side limbs, and polynary plantar pressure sensor is used to gather the plantar pressure of strong side limbs.The sensor collects behind the corresponding information processing such as information being changed quantification, the data message after handling is sent to signal characteristic extracts fusing device.
Signal characteristic extract fusing device to strong side limbs track, the myoelectricity that receive through digital quantization, the plantar pressure eigenvalue extracts and compress, simultaneously according to essential informations such as patient's height, body weight, from the gait data storehouse of normal walking, map out the attitude information of affected limb, produce corresponding command code.This part work is finished by the dsp processor that signal characteristic extracts in the fusing device, DSP decomposes the three-component acceleration value, surface myoelectric envelope characteristic Information Compression is extracted, and pressure signal threshold decision, generate the gait code then, obtain suffering from the limb ideal pose under this gait by the mapping of gait data storehouse again, at last by producing corresponding control instruction and control instruction being sent to electrical stimulation device.
The control command code that electrical stimulation device receives and analytic signal feature extraction fusing device sends, produce the polymyarian group functional electric stimulation signal of persistent period and intensity, be communicated to the peripolesis nerve of each muscle group by the circular electrode cloth of being close to skin, stimulated muscle is flexible, produces corresponding limb action.
As the improvement of present embodiment, in instrument, also comprise the affected limb attitude signal harvester (being the affected limb attitude signal pickup model of Fig. 1) that is used for gathering patient's affected limb attitude actual information; Affected limb attitude signal harvester is sent to signal characteristic with the patient's affected limb attitude information that collects and extracts fusing device, signal characteristic extracts fusing device and generates control command according to the error between the real affected limb ideal pose of adopting attitude and being mapped out by strong side limbs attitude information of Ipsilateral, and control command is sent to electrical stimulation device.Because the existence of affected limb attitude signal harvester, thereby can be according between the actual attitude of the ill side limbs of patient and the affected limb ideal pose that maps out by strong side limbs attitude information different, just carry out the adjustment of control command according to error amount, thereby make that the stimulus signal of electrical stimulation device is more accurate, improve therapeutic effect.Affected limb attitude signal harvester is the same with strong side limbs attitude signal harvester, comprises three-component acceleration transducer, distributed surface myoelectric pick off and polynary plantar pressure sensor; The three-component acceleration transducer is used to gather the movement locus of affected limb, and distributed surface myoelectric pick off is used to gather the myoelectricity data of affected limb, and polynary plantar pressure sensor is used to gather the plantar pressure of affected limb.
Above-mentioned strong side limbs attitude signal harvester, signal characteristic extract fusing device, electrical stimulation device and affected limb attitude signal harvester and contain bluetooth communication, adopt the wireless blue tooth mode to carry out transfer of data between each device, the mode of employing wireless blue tooth is transmitted data makes that the structure of instrument is simpler and more direct, has avoided the drawback of wire transmission mode.
Below in conjunction with workflow Fig. 3 and Fig. 4 the workflow of this instrument is further specified.
The workflow diagram of Fig. 3 instrument during for no affected limb attitude signal harvester, as shown in the figure, its concrete job step is: step 1: by be close to strong side limb three-dimensional acceleration transducer, angular transducer obtains and is good for side limb motion track; Obtain the surface electromyogram signal of strong side limbs by array wireless surface myoelectric sensor; Obtain the plantar pressure signal by active foil gauge.
Step 2: the three-component acceleration decomposes and the existing physics attitude of strong side limbs is asked in the angle of inclination computing; The utilization surface electromyogram signal by the model mapping operations differentiate place muscle group diastole with and the dynamics analysis.
Step 3: strong side attitude obtains and is good for the due attitude of affected limb of side limbs balance walking by existing normal person of body Mirroring Mapping and the normal walking step state data base of patient.
Step 4: controller is made comparisons according to this attitude and last attitude, judges whether greater than certain threshold value, greater than the controller code that then triggers this state of generation, issues wireless high-resolution functional electric stimulation module by wireless blue tooth.
Step 5: wireless high-resolution functional electric stimulation module receives control routine, resolves and generate the electrical stimulation signal sequence that each muscle group needs, and this sequence is boosted by closed loop and controlled bipolarity constant flow high pressure electricity irritation sequence.
Step 6: the surface electrode cloth of bipolarity constant flow high pressure electricity irritation sequence by being close to each muscle group peripheral nervous, stimulate each muscle group, reach the purpose of patient motion.
Fig. 4 is the workflow diagram of instrument when having affected limb attitude signal harvester, and as shown in the figure, its concrete job step is: step 1: by be close to strong side limb three-dimensional acceleration transducer, angular transducer obtains strong side limb motion track; Obtain the surface electromyogram signal of strong side limbs by array wireless surface myoelectric sensor; Obtain the plantar pressure signal by active foil gauge.
Step 2: the three-component acceleration decomposes and the existing physics attitude of strong side limbs is asked in the angle of inclination computing; The utilization surface electromyogram signal by the model mapping operations differentiate place muscle group diastole with and the dynamics analysis.
Step 3: strong side attitude obtains and is good for the due attitude of affected limb of side limbs balance walking by existing normal person of body Mirroring Mapping and the normal walking step state data base of patient.
Step 4: by be close to the affected limb three dimension acceleration sensor, angular transducer obtains the affected limb movement locus; Obtain the surface electromyogram signal of affected limb by array wireless surface myoelectric sensor; Obtain the plantar pressure signal by active foil gauge.
Step 5: strong side limbs mapping ideal pose of controller basis and Ipsilateral are adopted attitude in fact and are made comparisons, and the error of calculation produces controller code according to error, issues wireless high-resolution functional electric stimulation module by wireless blue tooth.
Step 6: wireless high-resolution functional electric stimulation module receives control routine, resolves and generate the electrical stimulation signal sequence that each muscle group needs, and this sequence is boosted by closed loop and controlled bipolarity constant flow high pressure electricity irritation sequence.
Step 7: the surface electrode cloth of bipolarity constant flow high pressure electricity irritation sequence by being close to each muscle group peripheral nervous, stimulate each muscle group, reach the purpose of patient motion.
Explanation is at last, above preferred embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is described in detail by above preferred embodiment, but those skilled in the art are to be understood that, can make various changes to it in the form and details, and not depart from claims of the present invention institute restricted portion.
Claims (5)
1. the autonomous instrument of the hemiplegic patient based on the body image theory is characterized in that: comprise that strong side limbs attitude signal harvester, signal characteristic extract fusing device and electrical stimulation device;
Strong side limbs attitude signal harvester is used to gather the attitude information of strong side limbs, and signal characteristic extracts fusing device and is used for generating control command according to the attitude information data, and electrical stimulation device is used to produce electrical stimulation signal to stimulate affected limb; Strong side limbs attitude signal harvester is gathered the attitude information of the strong side limbs of patient, and the signal that collects is sent to signal characteristic extracts fusing device, signal characteristic extracts fusing device and maps out the attitude information of patient's affected limb and produce the corresponding action control command from normal walking step state data base according to the strong side limbs attitude information and the patient's personal information that receive, and control command is sent to electrical stimulation device, electrical stimulation device receives control command and produces electrical stimulation signal according to control command affected limb is produced stimulation, so that affected limb produces corresponding actions.
2. the autonomous instrument of the hemiplegic patient based on the body image theory according to claim 1 is characterized in that: described strong side limbs attitude signal harvester comprises three-component acceleration transducer, distributed surface myoelectric pick off and polynary plantar pressure sensor; The three-component acceleration transducer is used to gather the movement locus of strong side limbs, and distributed surface myoelectric pick off is used to gather the myoelectricity data of strong side limbs, and polynary plantar pressure sensor is used to gather the plantar pressure of strong side limbs.
3. the autonomous instrument of the hemiplegic patient based on the body image theory according to claim 1 and 2 is characterized in that: also comprise the affected limb attitude signal harvester that is used to gather patient's affected limb attitude actual information; Affected limb attitude signal harvester is sent to signal characteristic with the patient's affected limb attitude information that collects and extracts fusing device, signal characteristic extracts fusing device and generates control command according to the error between the real affected limb ideal pose of adopting attitude and being mapped out by strong side limbs attitude information of Ipsilateral, and control command is sent to electrical stimulation device.
4. the autonomous instrument of the hemiplegic patient based on the body image theory according to claim 3 is characterized in that: described affected limb attitude signal harvester comprises three-component acceleration transducer, distributed surface myoelectric pick off and polynary plantar pressure sensor; The three-component acceleration transducer is used to gather the movement locus of affected limb, and distributed surface myoelectric pick off is used to gather the myoelectricity data of affected limb, and polynary plantar pressure sensor is used to gather the plantar pressure of affected limb.
5. the autonomous instrument of the hemiplegic patient based on the body image theory according to claim 4, it is characterized in that: described strong side limbs attitude signal harvester, signal characteristic extract fusing device, electrical stimulation device and affected limb attitude signal harvester and contain bluetooth communication, adopt the wireless blue tooth mode to carry out transfer of data between each device.
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