CN105816957A - Dynamic electrostimulation integrated control system and method of muscle groups - Google Patents
Dynamic electrostimulation integrated control system and method of muscle groups Download PDFInfo
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Abstract
The invention relates to a dynamic electrostimulation integrated control system and method of muscle groups. The system comprises a pressure sensor and a dynamic electrostimulation instrument; the dynamic electrostimulation instrument includes multiple stimulation channels, and each stimulation channel includes a pair of stimulation electrodes that can be applied to the surface of skin; the dynamic electrostimulation instrument also includes a stimulation parameter modulation unit, and stimulation parameters include stimulation waveform, stimulation intensity, stimulation frequency, stimulation wave width, waiting time before stimulation and stimulation continuous time. The method comprises that different parts are worn or fixed, the stimulation parameters are set, stimulation is started, and stimulation is completed. According to the invention, coordinated electrostimualtion can be realized for the multiple muscle groups of lower limbs, and patients who have a hemiplegic gait due to partially insufficient muscle force caused by diseases can be helped to make complete walking motions.
Description
Technical field
The present invention relates to a kind of muscle group dynamic electric and stimulate integrated control system and method, be particularly suited for treating patients with cerebral apoplexy and the human body dyskinesia of other brain injury related disorder patients, belong to athletic rehabilitation treatment technology field.
Background technology
As far as the applicant is aware, the human body dysfunction that electricity irritation can be efficiently used for treating the dyskinesia of patients with cerebral apoplexy and numerous disease (predominantly brain injury) causes.Background and the principle of this therapy are as follows: when walking, nervous system adjusts the collaborative contraction of the relevant muscle group of lower limb or diastole to normal person, drives both legs alternately to take a step, and the effect by frictional ground force promotes human body to advance；For hemiplegia and patients with cerebral apoplexy, its cranial nerve is damaged with the connection of part muscle, and bio electricity can not normally conduct and control muscle contraction or loosen, and this has resulted in this type of patient and can not walk with normal gait.
Athletic rehabilitation theory is thought, forces muscle group shrinking or loosening the connection (feeding back theory based on bio electricity) being conducive to re-establishing cranial nerve and muscle by rule by certain environmental stimuli, thus gradually recovers independent motion.
Current athletic rehabilitation is treated still based on human assistance walking, i.e. imitates normal gait, and the traditional means such as massage of arranging in pairs or groups by physical mechanical.But, the rehabilitation course onset of this passive type slowly, the veryest long, patient and rehabilitation teacher thereof are required for paying significant effort could successful rehabilitation.
Muscle electric stimulation is exactly to imitate human-body biological to be electrically excited the process of muscular movement, control the contraction of related muscles with extraneous electric current and loosen, produce muscle strength, normal walking step state can be settled in the short period of time by some patient of these means, compared with the physics compulsory measures of passive type, tool has great advantage.On this basis, then coordinate specific training can play obvious rehabilitation efficacy.
The Patents that applicant applies in the early time is as follows: (1) patent No. 200920231896.9, Authorization Notice No. CN201658754U, the Chinese utility model patent of title " electric stimulating device of tibialis anterior for walking ", this device includes: electric stimulating instrument, and be sequentially connected electrically pressure inductor, signal amplification circuit, analog to digital conversion circuit, stimulus signal processing unit, the stimulus signal output port of stimulus signal processing unit electrically connects with the stimulus signal input port of electric stimulating instrument.During use, pressure inductor being affixed on patient vola, the paster of electric stimulating instrument is affixed on shank tibialis anterior position, hemiplegia side, and pressure inductor with the walking process of hemiplegic patient, controls the execution of electricity irritation, it is achieved that Active treatment as pressure switch；And stimulus signal processing unit can be carried out the setting of stimulus parameter according to the concrete condition of patient, reach optimum therapeuticing effect.
(2) patent No. 200920231897.3, Authorization Notice No. CN201618314U, the Chinese utility model patent of title " Multichannel dynamic electric stimulating device ", this device includes: stimulus signal processing unit and electric stimulating instrument, the stimulus signal output port of stimulus signal processing unit electrically connects with the stimulus signal input port of electric stimulating instrument, and electric stimulating instrument has at least two to stimulating paster above.During use, by several to stimulating paster to be attached to the muscle sites specified respectively, stimulus signal is sent by stimulus signal processing unit, electric stimulating instrument triggers electric stimulation pulse, making different muscle group by electricity irritation, and its stimulus signal processing unit can arrange different to stimulating the discharge order of paster, inter-spike intervals and discharge time in advance, and the muscle group of patient's different parts therefore can be made in order by electricity irritation, assist patient to complete a certain action, improve rehabilitation training quality.
(3), in the Chinese invention patent of the patent No. 201410030454.3, Authorization Notice No. CN103816613B, title " a kind of portable tibialis anterior electrostimulator ", it includes shell, installs Master control chip in the enclosure and battery, the display screen being arranged on shell and button and the multiple interfaces being arranged on shell；Multiple interfaces connect stimulation electrode wires and plantar pressure sensor；Stimulating electrode line connects stimulation electrode slice；Plantar pressure sensor, button are connected with Master control chip input；Master control chip outfan is connected with display screen and stimulating electrode sheet.The output stimulus intensity of this device, output stimulus frequency, output pulse width and these parameters of output pulse width can individually regulate, Parameter adjustable adjusting range big, regulation is fine accurately；And it is easy to carry.
Applicant finds in research further, and above-mentioned technological means also cannot be assisted patient to complete complete walking motion, be needed badly and develop the technological means possessing this function.
Summary of the invention
The technical problem to be solved is: overcome the problem that prior art exists, it is provided that a kind of muscle group dynamic electric stimulates integrated control system and method, works in coordination with electricity irritation by many muscle groups, assists patient to complete complete walking motion.
The technical scheme that the present invention solves aforementioned technical problem is as follows:
A kind of muscle group dynamic electric stimulates integrated control system, and including pressure transducer and dynamic electric stimulation instrument, the signal output part of described pressure transducer is connected with the signal input part of dynamic electric stimulation instrument；It is characterized in that, described dynamic electric stimulation instrument has multiple stimulation channels, and each stimulation channels is respectively provided with the stimulating electrode that can be affixed on skin surface a pair, so can be during human motion, according to the needs of action, dynamically regulate and control the electricity irritation of multiple muscle group, determine each contract muscular group sequential；Described dynamic electric stimulation instrument also has the stimulus parameter modulating unit that control end is connected with each stimulation channels controlled end, described stimulus parameter includes stimulus waveform, stimulus intensity, stimulus frequency, stimulus wave width, stimulates front waiting time and stimulus duration, by the modulation of stimulus parameter, coordinate the contraction of each muscle group and loosen, helping the patient causing part muscular strength deficiency to present hemiplegic gait due to illness to complete walking action.
The technical scheme that this system is the most perfect is as follows:
Preferably, described stimulus parameter modulating unit has some manipulator groups, and the end that controls of each manipulator group connects with the controlled end of corresponding stimulation channels；Described manipulator group is made up of waiting time manipulator and stimulus duration manipulator before stimulus waveform manipulator, stimulus intensity manipulator, stimulus frequency manipulator, stimulus wave width manipulator, stimulation respectively.
Preferably, described stimulus parameter modulating unit also has to adjust input equipment and the display device of each modulator parameter；Described stimulus waveform manipulator also has the stimulus waveform storehouse of selective stimulus waveform；Described stimulus waveform includes: profile of tooth and arc；The quantity of described stimulation channels is at least 8.
Present invention also provide that
A kind of muscle group dynamic electric stimulates integrated control method, it is characterized in that, uses muscle group dynamic electric described previously to stimulate integrated control system；Said method comprising the steps of:
The first step, pressure transducer is placed in the vola of patients target's lower limb, the stimulating electrode of each stimulation channels is attached on the corresponding muscle group of patients target's lower limb respectively；Go to second step；
Second step, the stimulus parameter of each stimulation channels is set by the stimulus parameter modulating unit of dynamic electric stimulation instrument；And under the electricity irritation effect of each stimulation channels, when the contraction sequential of each corresponding muscle group is walked with normal person, the contraction sequential of corresponding muscle group is identical；Go to the 3rd step；
After 3rd step, S1. dynamic electric stimulation instrument receive sign on, continue to monitor the pressure signal from pressure transducer；Go to S2；
S2. when pressure signal reaches predetermined threshold value, dynamic electric stimulation instrument controls each stimulation channels stimulus parameter as set by second step and implements electricity irritation to each corresponding muscle group, make each corresponding muscle group shrink in an orderly manner, thus assist the target lower limb of patient to complete the walking motion of this step current；Go to the 4th step；
4th step, judge whether to stop stimulating, if it is not, then dynamic electric stimulation instrument continues monitoring and from the pressure signal of pressure transducer and goes to the 3rd step S2；The most whole method terminates.
The technical scheme that the method is the most perfect is as follows:
Preferably, described method also includes the preposition step being positioned at before the first step:
The walking cycle of single lower limb is divided into by preposition step, U1. in order: foot is set level phase, this side lower limb stance phase, toeoff phase, swung early stage, the mid-term of swing, swing latter stage, heel contact phase totally seven stages, each stage is respectively provided with beginning and end, the starting point in each stage overlaps with adjacent terminal on last stage, and the terminal in each stage overlaps with the starting point of adjacent next stage；
U2. analyze to know by some normal persons being done walking detection: persistent period in walking cycle each stage and account for the proportion of whole walking cycle duration, walking cycle participates in the concrete muscle groups of lower extremitates shunk in each stage, each concrete muscle groups of lower extremitates shrink before waiting time and account for the proportion of residing phase duration, each concrete muscle groups of lower extremitates duration of contraction and account for the proportion of residing phase duration；And using these information known as reference database；
U3. the walk of the target lower limb of patient is analyzed, determines stage abnormal in this target lower limb walking cycle, and the corresponding data combining in reference database of taking this as a foundation, determine the concrete muscle groups of lower extremitates shunk in each abnormal stage；
U4. the walk of another lower limb of patient is analyzed, determine the walking cycle duration of these another lower limb, and the corresponding data combining in reference database of taking this as a foundation, calculate the persistent period that should have in each abnormal stage in target lower limb walking cycle, so calculate each concrete muscle groups of lower extremitates in each abnormal stage should have contraction before waiting time and should have duration of contraction；
U5. each concrete muscle groups of lower extremitates determined by U3 carries out corresponding with each stimulation channels；The data calculated in conjunction with U4, calculate waiting time and stimulus duration before the stimulation of each stimulation channels further；
Described second step also includes: arrange the stimulus parameter of each stimulation channels according to stimulate front waiting time and the stimulus duration of each stimulation channels of U5 gained.
Preferably, in U2, concrete muscle groups of lower extremitates is selected from: tensor fasciae latae, gluteus maximus, sartorius m., anterior rectus muscle, quadriceps femoris, biceps femoris, semitendinosus m., tibialis anterior, tibialis posterior, extensor digitorum longus, extensor hallucis longus, peroneus longus, peroneus brevis, gastrocnemius, musculus soleus.
Preferably, described preposition step also includes: U6. selects the dyskinetic patient of some muscle groups of lower extremitates, during using the first step, to the 4th step, these patients are implemented muscle group electricity irritation, by regulating stimulus waveform, stimulus intensity, stimulus frequency and stimulus wave width and monitoring effect of stimulation, draw the optimal stimulus waveform of each concrete muscle groups of lower extremitates in walking cycle each stage, optimal stimulus strength range, optimal stimulus frequency range and optimal stimulus ripple width scope；
Described second step also includes: arrange the stimulus parameter of each stimulation channels according to U6 result: stimulus waveform is set to optimal stimulus waveform, stimulus intensity is set to the numerical value in optimal stimulus strength range, stimulus frequency is set to the numerical value in optimal stimulus frequency range, stimulus wave width is set to the numerical value in the range of optimal stimulus ripple width；
Described 4th step also includes: judge whether stop stimulate result be no after and before going to the 3rd step S2, judge the effect of stimulation of each concrete muscle groups of lower extremitates, if effect is for stimulating deficiency, then heighten stimulus intensity, stimulus frequency, stimulus wave alleviating distention in middle-JIAO at least one, if effect is for stimulating appropriateness, then keep stimulus intensity, stimulus frequency, stimulus wave width the most constant, if effect is stimulation oversaturation, then turn down stimulus intensity, stimulus frequency, stimulus wave alleviating distention in middle-JIAO at least one.
Preferably, the detailed process of the stimulus parameter arranging each stimulation channels by dynamic electric stimulation instrument stimulus parameter modulating unit is as follows:
First select stimulation channels, then stimulus parameter is set by the manipulator group being connected with stimulation channels: by the waveform of stimulus waveform modulators modulate boost pulse, stimulus waveform manipulator gained waveform put in the stimulation instructions of manipulator group；By the intensity of stimulus intensity modulators modulate boost pulse, gained intensity put in the stimulation instructions of manipulator group stimulus intensity manipulator；By the frequency of stimulus frequency modulators modulate boost pulse, gained frequency put in the stimulation instructions of manipulator group stimulus frequency manipulator；By the ripple width of stimulus wave width modulators modulate boost pulse, gained ripple width put in the stimulation instructions of manipulator group stimulus wave width manipulator；By the waiting time of waiting time modulators modulate boost pulse before stimulating, before being stimulated by gained by stimulating front waiting time manipulator, the waiting time puts in the stimulation instructions of manipulator group；By the persistent period of stimulus duration modulators modulate boost pulse, the gained persistent period put in the stimulation instructions of manipulator group stimulus duration manipulator；Stimulation instructions generates complete；
Afterwards, stimulation instructions is sent to stimulation channels by manipulator group, and stimulation channels carries out action by this stimulation instructions.
The muscle group dynamic electric using the present invention stimulates integrated control system and method, can form the collaborative electricity irritation of muscle group many to lower limb, patient can be assisted well to complete complete walking motion.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention 1.
Fig. 2 is the main process schematic diagram of the embodiment of the present invention 2.
Detailed description of the invention
It is described in further detail with reference to the accompanying drawings and in conjunction with the embodiments to the present invention.But the invention is not restricted to given example.
Embodiment 1
As it is shown in figure 1, the muscle group dynamic electric of the present embodiment stimulates integrated control system, including pressure transducer and dynamic electric stimulation instrument, the signal output part of pressure transducer is connected with the signal input part of dynamic electric stimulation instrument；Dynamic electric stimulation instrument has multiple stimulation channels, and each stimulation channels is respectively provided with the stimulating electrode that can be affixed on skin surface a pair；Dynamic electric stimulation instrument also has the stimulus parameter modulating unit that control end is connected with each stimulation channels controlled end, and stimulus parameter includes stimulus waveform, stimulus intensity, stimulus frequency, stimulus wave width, stimulates front waiting time and stimulus duration.
Stimulus parameter modulating unit has some manipulator groups, and the end that controls of each manipulator group connects with the controlled end of corresponding stimulation channels；Manipulator group is made up of waiting time manipulator and stimulus duration manipulator before stimulus waveform manipulator, stimulus intensity manipulator, stimulus frequency manipulator, stimulus wave width manipulator, stimulation respectively.
Stimulus parameter modulating unit also has to adjust input equipment and the display device of each modulator parameter；Stimulus waveform manipulator also has the stimulus waveform storehouse of selective stimulus waveform；Stimulus waveform includes: profile of tooth and arc；The quantity of stimulation channels is at least 8.
Embodiment 2
As in figure 2 it is shown, the muscle group dynamic electric of the present embodiment stimulates integrated control method, the muscle group dynamic electric of embodiment 1 is used to stimulate integrated control system；The method includes:
The walking cycle of single lower limb is divided into by preposition step, U1. in order: foot is set level phase, this side lower limb stance phase, toeoff phase, swung early stage, the mid-term of swing, swing latter stage, heel contact phase totally seven stages, each stage is respectively provided with beginning and end, the starting point in each stage overlaps with adjacent terminal on last stage, and the terminal in each stage overlaps with the starting point of adjacent next stage.
U2. analyze to know by some normal persons being done walking detection: persistent period in walking cycle each stage and account for the proportion of whole walking cycle duration, walking cycle participates in the concrete muscle groups of lower extremitates shunk in each stage, each concrete muscle groups of lower extremitates shrink before waiting time and account for the proportion of residing phase duration, each concrete muscle groups of lower extremitates duration of contraction and account for the proportion of residing phase duration；And using these information known as reference database.
Wherein, concrete muscle groups of lower extremitates is selected from: tensor fasciae latae, gluteus maximus, sartorius m., anterior rectus muscle, quadriceps femoris, biceps femoris, semitendinosus m., tibialis anterior, tibialis posterior, extensor digitorum longus, extensor hallucis longus, peroneus longus, peroneus brevis, gastrocnemius, musculus soleus.
U3. the walk of the target lower limb of patient is analyzed, determines stage abnormal in this target lower limb walking cycle, and the corresponding data combining in reference database of taking this as a foundation, determine the concrete muscle groups of lower extremitates shunk in each abnormal stage.
U4. the walk of another lower limb of patient is analyzed, determine the walking cycle duration of these another lower limb, and the corresponding data combining in reference database of taking this as a foundation, calculate the persistent period that should have in each abnormal stage in target lower limb walking cycle, so calculate each concrete muscle groups of lower extremitates in each abnormal stage should have contraction before waiting time and should have duration of contraction.
U5. each concrete muscle groups of lower extremitates determined by U3 carries out corresponding with each stimulation channels；The data calculated in conjunction with U4, calculate waiting time and stimulus duration before the stimulation of each stimulation channels further.
U6. the dyskinetic patient of some muscle groups of lower extremitates is selected, during using the first step, to the 4th step, these patients are implemented muscle group electricity irritation, by regulating stimulus waveform, stimulus intensity, stimulus frequency and stimulus wave width and monitoring effect of stimulation, draw the optimal stimulus waveform of each concrete muscle groups of lower extremitates in walking cycle each stage, optimal stimulus strength range, optimal stimulus frequency range and optimal stimulus ripple width scope.
The first step, pressure transducer is placed in the vola of patients target's lower limb, the stimulating electrode of each stimulation channels is attached on the corresponding muscle group of patients target's lower limb respectively；Go to second step.
Second step, the stimulus parameter of each stimulation channels is set by the stimulus parameter modulating unit of dynamic electric stimulation instrument；And under the electricity irritation effect of each stimulation channels, when the contraction sequential of each corresponding muscle group is walked with normal person, the contraction sequential of corresponding muscle group is identical；Go to the 3rd step.
Wherein, on the one hand, according to stimulate front waiting time and the stimulus duration of U5 gained each stimulation channels, the stimulus parameter of each stimulation channels is set.On the other hand, the stimulus parameter of each stimulation channels is set according to U6 result: stimulus waveform is set to optimal stimulus waveform, stimulus intensity is set to the numerical value in optimal stimulus strength range, stimulus frequency is set to the numerical value in optimal stimulus frequency range, stimulus wave width is set to the numerical value in the range of optimal stimulus ripple width.
After 3rd step, S1. dynamic electric stimulation instrument receive sign on, continue to monitor the pressure signal from pressure transducer；Go to S2；
S2. when pressure signal reaches predetermined threshold value, dynamic electric stimulation instrument controls each stimulation channels stimulus parameter as set by second step and implements electricity irritation to each corresponding muscle group, make each corresponding muscle group shrink in an orderly manner, thus assist the target lower limb of patient to complete the walking motion of this step current；Go to the 4th step.
4th step, judge whether to stop stimulating, if it is not, then dynamic electric stimulation instrument continues monitoring and from the pressure signal of pressure transducer and goes to the 3rd step S2；The most whole method terminates.
In addition, in 4th step, judge whether stop stimulate result be no after and before going to the 3rd step S2, judge the effect of stimulation of each concrete muscle groups of lower extremitates, if effect for stimulate deficiency, then heighten stimulus intensity, stimulus frequency, stimulus wave alleviating distention in middle-JIAO at least one, if effect is for stimulating appropriateness, then keep stimulus intensity, stimulus frequency, stimulus wave width the most constant, if effect is stimulation oversaturation, then turn down stimulus intensity, stimulus frequency, stimulus wave alleviating distention in middle-JIAO at least one.
According to the inventors knowledge, existing similar approach is the most extensive, which kind of dividing mode does not study walking cycle specifically should use be more conducive to realize precisely stimulating, as the present embodiment method, not studying the concrete opportunity of each stage contract muscular group in walking cycle so that realizing precisely stimulating, more not carefully studying muscle groups of lower extremitates and should be sub-divided into what degree and just contribute to realizing precisely stimulating yet.
Inventor thinks after deliberation: dynamic electric stimulation must be set up on the basis of stroking technique is analyzed, have any actual knowledge of the different muscle group the most firmly sequential in course of action, could accurately determine the stimulation programs coordinating the motion of each muscle group, ensure electricity irritation and synchronized movement, thus promote action complete the raising with efficiency of movement.
In the preposition step that the present embodiment method uses, first walking cycle is divided into aforementioned seven stages, again using the concrete situation of shrinking of muscle groups of lower extremitates concrete in each stage as reference frame, in the range of concrete muscle groups of lower extremitates is limited to the muscle group segmented simultaneously, when afterwards patient being implemented electricity irritation, progressively to recover each stage action effect and then to realize assistance and complete whole walking motion as target, it is achieved precisely stimulate rehabilitation, be favorably improved rehabilitation efficiency.
Meanwhile, also with the concrete condition of another lower limb of patient for reference to foundation in this preposition step, it is ensured that target lower limb can recover to the level of movement the most identical with another lower limb, beneficially patient can recover in the future to the most normally walking.
In addition, this preposition step draws, also by the research of some patients, optimal stimulus waveform, optimal stimulus strength range, optimal stimulus frequency range and the optimal stimulus ripple width scope that in the stage each with walking cycle, each concrete muscle groups of lower extremitates matches, as the follow-up foundation arranging stimulus parameter, contributing to being better achieved precisely stimulates rehabilitation.Meanwhile, preposition step uses the necessity of the method to also reside in: inventor it has been investigated that, same muscle groups of lower extremitates has optimal stimulus parameter that is incomplete same or that differ completely in the different phase of walking cycle.
Specifically, the detailed process of the stimulus parameter that the present embodiment method arranges each stimulation channels by dynamic electric stimulation instrument stimulus parameter modulating unit is as follows:
First select stimulation channels, then stimulus parameter is set by the manipulator group being connected with stimulation channels: by the waveform of stimulus waveform modulators modulate boost pulse, stimulus waveform manipulator gained waveform put in the stimulation instructions of manipulator group；By the intensity of stimulus intensity modulators modulate boost pulse, gained intensity put in the stimulation instructions of manipulator group stimulus intensity manipulator；By the frequency of stimulus frequency modulators modulate boost pulse, gained frequency put in the stimulation instructions of manipulator group stimulus frequency manipulator；By the ripple width of stimulus wave width modulators modulate boost pulse, gained ripple width put in the stimulation instructions of manipulator group stimulus wave width manipulator；By the waiting time of waiting time modulators modulate boost pulse before stimulating, before being stimulated by gained by stimulating front waiting time manipulator, the waiting time puts in the stimulation instructions of manipulator group；By the persistent period of stimulus duration modulators modulate boost pulse, the gained persistent period put in the stimulation instructions of manipulator group stimulus duration manipulator；Stimulation instructions generates complete；
Afterwards, stimulation instructions is sent to stimulation channels by manipulator group, and stimulation channels carries out action by this stimulation instructions.
So complicated stimulation instructions can be generated process, multiple manipulators be respectively completed, requirement to hardware complexity is greatly reduced, is not only beneficial to reduce cost, and is easily maintained, be beneficial to ensure the properly functioning of stimulus parameter modulating unit.
In addition to the implementation, the present invention can also have other embodiments.The technical scheme that all employing equivalents or equivalent transformation are formed, all falls within the protection domain of application claims.
Claims (8)
1. muscle group dynamic electric stimulates an integrated control system, and including pressure transducer and dynamic electric stimulation instrument, the signal output part of described pressure transducer is connected with the signal input part of dynamic electric stimulation instrument；It is characterized in that, described dynamic electric stimulation instrument has multiple stimulation channels, and each stimulation channels is respectively provided with the stimulating electrode that can be affixed on skin surface a pair；Described dynamic electric stimulation instrument also has the stimulus parameter modulating unit that control end is connected with each stimulation channels controlled end, and described stimulus parameter includes stimulus waveform, stimulus intensity, stimulus frequency, stimulus wave width, stimulates front waiting time and stimulus duration.
Muscle group dynamic electric the most according to claim 1 stimulates integrated control system, it is characterized in that, described stimulus parameter modulating unit has some manipulator groups, and the end that controls of each manipulator group connects with the controlled end of corresponding stimulation channels；Described manipulator group is made up of waiting time manipulator and stimulus duration manipulator before stimulus waveform manipulator, stimulus intensity manipulator, stimulus frequency manipulator, stimulus wave width manipulator, stimulation respectively.
Muscle group dynamic electric the most according to claim 2 stimulates integrated control system, it is characterized in that, described stimulus parameter modulating unit also has to adjust input equipment and the display device of each modulator parameter；Described stimulus waveform manipulator also has the stimulus waveform storehouse of selective stimulus waveform；Described stimulus waveform includes: profile of tooth and arc；The quantity of described stimulation channels is at least 8.
4. muscle group dynamic electric stimulates an integrated control method, it is characterized in that, uses muscle group dynamic electric described in claim 1 or 2 or 3 to stimulate integrated control system；Said method comprising the steps of:
The first step, pressure transducer is placed in the vola of patients target's lower limb, the stimulating electrode of each stimulation channels is attached on the corresponding muscle group of patients target's lower limb respectively；Go to second step；
Second step, the stimulus parameter of each stimulation channels is set by the stimulus parameter modulating unit of dynamic electric stimulation instrument；And under the electricity irritation effect of each stimulation channels, when the contraction sequential of each corresponding muscle group is walked with normal person, the contraction sequential of corresponding muscle group is identical；Go to the 3rd step；
After 3rd step, S1. dynamic electric stimulation instrument receive sign on, continue to monitor the pressure signal from pressure transducer；Go to S2；
S2. when pressure signal reaches predetermined threshold value, dynamic electric stimulation instrument controls each stimulation channels stimulus parameter as set by second step and implements electricity irritation to each corresponding muscle group, make each corresponding muscle group shrink in an orderly manner, thus assist the target lower limb of patient to complete the walking motion of this step current；Go to the 4th step；
4th step, judge whether to stop stimulating, if it is not, then dynamic electric stimulation instrument continues monitoring and from the pressure signal of pressure transducer and goes to the 3rd step S2；The most whole method terminates.
Muscle group dynamic electric the most according to claim 4 stimulates integrated control method, it is characterized in that, described method also includes the preposition step being positioned at before the first step:
The walking cycle of single lower limb is divided into by preposition step, U1. in order: foot is set level phase, this side lower limb stance phase, toeoff phase, swung early stage, the mid-term of swing, swing latter stage, heel contact phase totally seven stages, each stage is respectively provided with beginning and end, the starting point in each stage overlaps with adjacent terminal on last stage, and the terminal in each stage overlaps with the starting point of adjacent next stage；
U2. analyze to know by some normal persons being done walking detection: persistent period in walking cycle each stage and account for the proportion of whole walking cycle duration, walking cycle participates in the concrete muscle groups of lower extremitates shunk in each stage, each concrete muscle groups of lower extremitates shrink before waiting time and account for the proportion of residing phase duration, each concrete muscle groups of lower extremitates duration of contraction and account for the proportion of residing phase duration；And using these information known as reference database；
U3. the walk of the target lower limb of patient is analyzed, determines stage abnormal in this target lower limb walking cycle, and the corresponding data combining in reference database of taking this as a foundation, determine the concrete muscle groups of lower extremitates shunk in each abnormal stage；
U4. the walk of another lower limb of patient is analyzed, determine the walking cycle duration of these another lower limb, and the corresponding data combining in reference database of taking this as a foundation, calculate the persistent period that should have in each abnormal stage in target lower limb walking cycle, so calculate each concrete muscle groups of lower extremitates in each abnormal stage should have contraction before waiting time and should have duration of contraction；
U5. each concrete muscle groups of lower extremitates determined by U3 carries out corresponding with each stimulation channels；The data calculated in conjunction with U4, calculate waiting time and stimulus duration before the stimulation of each stimulation channels further；
Described second step also includes: arrange the stimulus parameter of each stimulation channels according to stimulate front waiting time and the stimulus duration of each stimulation channels of U5 gained.
Muscle group dynamic electric the most according to claim 5 stimulates integrated control method, it is characterized in that, in U2, concrete muscle groups of lower extremitates is selected from: tensor fasciae latae, gluteus maximus, sartorius m., anterior rectus muscle, quadriceps femoris, biceps femoris, semitendinosus m., tibialis anterior, tibialis posterior, extensor digitorum longus, extensor hallucis longus, peroneus longus, peroneus brevis, gastrocnemius, musculus soleus.
Muscle group dynamic electric the most according to claim 5 stimulates integrated control method, it is characterized in that, described preposition step also includes: U6. selects the dyskinetic patient of some muscle groups of lower extremitates, during using the first step, to the 4th step, these patients are implemented muscle group electricity irritation, by regulating stimulus waveform, stimulus intensity, stimulus frequency and stimulus wave width and monitoring effect of stimulation, draw the optimal stimulus waveform of each concrete muscle groups of lower extremitates in walking cycle each stage, optimal stimulus strength range, optimal stimulus frequency range and optimal stimulus ripple width scope；
Described second step also includes: arrange the stimulus parameter of each stimulation channels according to U6 result: stimulus waveform is set to optimal stimulus waveform, stimulus intensity is set to the numerical value in optimal stimulus strength range, stimulus frequency is set to the numerical value in optimal stimulus frequency range, stimulus wave width is set to the numerical value in the range of optimal stimulus ripple width；
Described 4th step also includes: judge whether stop stimulate result be no after and before going to the 3rd step S2, judge the effect of stimulation of each concrete muscle groups of lower extremitates, if effect is for stimulating deficiency, then heighten stimulus intensity, stimulus frequency, stimulus wave alleviating distention in middle-JIAO at least one, if effect is for stimulating appropriateness, then keep stimulus intensity, stimulus frequency, stimulus wave width the most constant, if effect is stimulation oversaturation, then turn down stimulus intensity, stimulus frequency, stimulus wave alleviating distention in middle-JIAO at least one.
Muscle group dynamic electric the most according to claim 4 stimulates integrated control method, it is characterized in that, the detailed process of the stimulus parameter arranging each stimulation channels by dynamic electric stimulation instrument stimulus parameter modulating unit is as follows:
First select stimulation channels, then stimulus parameter is set by the manipulator group being connected with stimulation channels: by the waveform of stimulus waveform modulators modulate boost pulse, stimulus waveform manipulator gained waveform put in the stimulation instructions of manipulator group；By the intensity of stimulus intensity modulators modulate boost pulse, gained intensity put in the stimulation instructions of manipulator group stimulus intensity manipulator；By the frequency of stimulus frequency modulators modulate boost pulse, gained frequency put in the stimulation instructions of manipulator group stimulus frequency manipulator；By the ripple width of stimulus wave width modulators modulate boost pulse, gained ripple width put in the stimulation instructions of manipulator group stimulus wave width manipulator；By the waiting time of waiting time modulators modulate boost pulse before stimulating, before being stimulated by gained by stimulating front waiting time manipulator, the waiting time puts in the stimulation instructions of manipulator group；By the persistent period of stimulus duration modulators modulate boost pulse, the gained persistent period put in the stimulation instructions of manipulator group stimulus duration manipulator；Stimulation instructions generates complete；
Afterwards, stimulation instructions is sent to stimulation channels by manipulator group, and stimulation channels carries out action by this stimulation instructions.
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| WO2019033577A1 (en) * | 2017-08-18 | 2019-02-21 | 江苏德长医疗科技有限公司 | Functional electrical stimulation output device, and application thereof |
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| CN103619404A (en) * | 2011-05-17 | 2014-03-05 | 诺迪克神经***公司 | Footwear product for functional electrical stimulation |
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| CN103619404A (en) * | 2011-05-17 | 2014-03-05 | 诺迪克神经***公司 | Footwear product for functional electrical stimulation |
| CN104056353A (en) * | 2013-03-21 | 2014-09-24 | 燕铁斌 | Low-frequency functional electrical stimulation synchronous walking aid based on walking modes and control method |
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| WO2019033577A1 (en) * | 2017-08-18 | 2019-02-21 | 江苏德长医疗科技有限公司 | Functional electrical stimulation output device, and application thereof |
| CN107854774A (en) * | 2017-10-25 | 2018-03-30 | 国家康复辅具研究中心 | A kind of wireless electro photoluminescence walk help system of plantar pressure feedback driving |
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