CN1089011C - Functional neuromyo-electric signal identification and stimulation apparatus - Google Patents
Functional neuromyo-electric signal identification and stimulation apparatus Download PDFInfo
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- CN1089011C CN1089011C CN 98125084 CN98125084A CN1089011C CN 1089011 C CN1089011 C CN 1089011C CN 98125084 CN98125084 CN 98125084 CN 98125084 A CN98125084 A CN 98125084A CN 1089011 C CN1089011 C CN 1089011C
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Abstract
The present invention belongs to the technical field of medicine equipment, which comprises an FNS module, an EMG module, a force and angle signal measuring module, a computer analysis controller and a plurality of sets of force and angle signal transducers, wherein the computer analysis controller is composed of a computer and control software; the force and angle signal transducers are connected to a moving auxiliary training apparatus of limbs. The present invention can be widely used in paralytic treatment, function reconstruction, sportsmen's training, myoelectric signal analysis and diagnosis, and relevant instrument control applications. The present invention has the advantages of perfect function, high measuring and controlling precision, easy operation and good therapeutic effect.
Description
Technical field
The invention belongs to technical field of medical instruments, particularly a kind ofly neuromuscular is carried out electricity irritation reach the treatment and the rehabilitation training instrument of functional recovery.
Background technology
In recent years, along with the needs with medical practice of developing rapidly of electronic technology, much more more and more electronic technology is applied to medical domain.In the treatment of functional rehabilitation, electricity irritation has become one of important means.The biological respinse (for example muscle contraction, consciousness recovery etc.) that utilizes the electricity irritation excitement to produce is controlled and alternative biological function, can reach the purpose of treatment and functional recovery.For example lower limb muscles paralysis or hemiplegia person's walk help; The paralysis of respiratory muscle patient uses the electricity irritation phrenic nerves, and the people is for making the diaphram motion, to keep respiratory function; Electricity irritation urethra system's muscle group or its dominating neural are to keep mechanism of micturition etc.But shortcomings such as treatment face is narrow, function singleness that existing electric stimulating instrument ubiquity exists are restricted its application.For example, the SJ-835 type percutaneous stimulation therapeutic apparatus that Electronics Co., Ltd produces newly advances in Korea S, and its operation principle is to rely on the low-frequency current effect, treatment neuralgia, motion function paralysis and peripheral nerve paralysis.From its subject range and work process, this electric stimulating instrument still has the following disadvantages: one, and function singleness can only be eliminated as the muscular irritation training or the pain of individual event during work, can't realize functions such as medical diagnosis on disease and therapeutic evaluation simultaneously; Its two, stimulation mode is simple, quantity of stimulus is adjusted inconvenient; Its three, application surface is narrow, and the course of treatment is longer.
Summary of the invention
The objective of the invention is for overcoming the weak point of prior art, the rehabilitation training instrument that designs a kind of functional neuromuscular signal of telecommunication identification and stimulate, it breaks through the structure of existing stimulating instrument, with the FNS stimulating module, myoelectricity, power and angle signal measurement module, but the upper and lower extremities motion supplemental training apparatus and the computer analysis control assembly of observing and controlling integrate.Improve the signal analysis diagnosis and the automatic control function of stimulating instrument, strengthen the intelligent of system, make it to have multiple function, can be applicable to paralytic's treatment, training athlete, the myoelectricity analyzing and diagnosing, common muscle fatigue recover with relevant medical measurement control field in.
The rehabilitation training instrument that the present invention proposes a kind of functional neuromuscular signal of telecommunication identification and stimulates, it is characterized in that, comprise FNS (functional nerve electric stimulation) module, EMG (electromyographic signal), power and angle signal measurement module, by computer and the computer analysis control assembly formed of control software, and the many groups power and the angle signal pick off that are connected in upper and lower extremities motion supplemental training apparatus; Said FNS module input links to each other with said computer analysis control assembly, its outfan has a plurality of separate electric pulse stimulation passages and the stimulating electrode that is attached thereto, the input of said EMG, power and angle signal measurement module is connected with the electromyographic signal collection electrode identical with said electric pulse stimulation number of active lanes and is connected with the angle signal pick off with said power, and its outfan is connected with said computer analysis control assembly.Said each stimulation channels can independently be accepted by sending stimulus parameter (boost pulse waveform width, amplitude, frequency behind the computer analysis control software decision-making, stimulation time, stimulates number of times etc. at the intermittent time), send into muscle by stimulating electrode, drive the motion of corresponding limbs or organ.
Each passage of said FNS module can and produce the signal generation apparatus of electric impulse signal by the control signal that receives said computer; the power amplifier that this electric impulse signal is amplified is formed the safety guard of the security control of this amplifying signal and the current detection circuit that makes this signal generation apparatus reach constant current or constant voltage output.Computer control signal is sent into signal generation apparatus, signal synthetic apparatus, after power amplification and safety monitoring isolation, forms stimulation pulse signal,
Said EMG, power and angle signal measurement module can comprise the differential mode three-stage amplifier of the balanced, symmetrical that the signal of gathering is amplified, and are connected in the photoelectrical coupler and the A/D converter of the outfan of amplifying circuit.This measurement module has a plurality of passages and links to each other with said electromyographic signal collection electrode, muscular strength signal and angular displacement signal pick off.The human body electromyographic signal is gathered by the myoelectricity utmost point, the differential mode three-stage amplifier by having balanced, symmetrical, after the A/D sampling, send the computer analysis control assembly.The output signal of amplifier then is coupled through photoelectricity and gives Computer Processing again.
Said electrode can comprise surface electrode and implanted electrode.Be used to stimulate the electrode of the same race with measurement different owing to function, structure and material is also slightly different.
But said observing and controlling upper and lower extremities supplemental training apparatus is meant the assistive device that is used for elbow joint and motion of knee joint training, respectively is equipped with the pick off that a cover is measured muscular strength and joint motions angle above, with the moving situation of measurement, control and assessment upper and lower extremities.
High-performance computer is a main body in the said computer analysis control assembly, is furnished with the control software that adopts corresponding control and analysis establishment.Control and analysis is mainly carried out Treatment Analysis to electromyographic signal and power, the angle signal that collects, provide corresponding muscle evaluation index and mode of operation, assessment muscle performance, state are gone forward side by side to take action and are planned, the employing control algolithm is set up the mathematical relationship between quantity of stimulus and the planning action, and then carry out stimulus parameter and plan, give stimulus signal, realize the assay of FNS closed loop control and muscular states.
This instrument under computer control, produces amplitude, frequency and pulsewidth adjustable stimulating pulsatile series by signal generator according to the functional neuromuscular stimulation principle, acts on human body behind power amplification and stimulator.It controls the muscle skeleton motion by the method for artificial excitor nerve muscle, makes the human body restore funcitons of paralysis.The acute effect of its generation is in the nervimuscular while of stimulus movement, and also nervus centripetalis arrives high-level center through spinal reflex.Impose multiple motor pattern information, be convenient to the foundation of cortex engram, thereby the improvement of human body is played permanent effects, reach the purpose of rehabilitation training.
The limb motion signal obtains by power and angular transducer in the motion assistive device, and the musculation signal can obtain by acquisition electrode simultaneously.These signals are sent into computer analysis identification after treatment, realize the closed loop control of motion.
This instrument can be widely used in paralytic treatment and reconstruction, and training athlete during electromyographic signal analyzing and diagnosing and relevant measurement control are used, has perfect in shape and function, observing and controlling precision height, easy and simple to handle, advantage that therapeutic effect is good.
Description of drawings
Fig. 1 is a population structure composition frame chart of the present invention.
Fig. 2 is a signal generator composition frame chart of the present invention.
Fig. 3 is power amplifier circuit figure of the present invention.
Fig. 4 is current detection circuit figure of the present invention.
Fig. 5 is a safety guard block diagram of the present invention.
Fig. 6 is an electromyographic signal amplifier circuit schematic diagram of the present invention.
Fig. 7 is optical coupling isolation circuit figure of the present invention.
But Fig. 8 is the upper extremity exercise supplemental training apparatus sketch map of the accessory observing and controlling of the present invention.
But Fig. 9 is the lower extremity movement supplemental training apparatus sketch map of the accessory observing and controlling of the present invention.
Figure 10 is the realization flow figure of signal analysis of the present invention and control.
The specific embodiment
Below in conjunction with accompanying drawing, introduce the structure and the operation principle of the embodiment of the invention in detail.
The present embodiment population structure is formed as shown in Figure 1, and instrument is by FNS module 1, EMG, power and angle signal measurement module 2, but the upper and lower extremities motion supplemental training apparatus 3 of observing and controlling and computer analysis control assembly 4 are formed.
The FNS module has 8 passages stimulates output, each passage can independently be accepted by sending stimulus parameter (boost pulse waveform width, amplitude, frequency after the decision-making of computer analysis control assembly, stimulation time, intermittent time, stimulate number of times etc.), it is sent into signal generator, after power amplification and safety monitoring isolation, form stimulation pulse signal, send into muscle, drive the motion of corresponding limbs or organ by stimulating electrode;
EMG, power and angle signal measurement module have the muscular strength signal of 8 passage electromyographic signal collections, 2 passages and the function that 2 channel angle displacement signals are gathered.Wherein electromyographic signal is obtained by acquisition electrode, and three grades of amplifications of the differential mode amplifying circuit by having balanced, symmetrical are sent the computer analysis control assembly after the A/D sampling.
But observing and controlling upper and lower extremities supplemental training apparatus is meant the assistive device that is used for elbow joint and motion of knee joint training, respectively is equipped with the pick off that a cover is measured muscular strength and joint motions angle above, with the moving situation of measurement, control and assessment upper and lower extremities.
Computer is a main body in the computer analysis control assembly, is furnished with corresponding control and analysis.Control and analysis is mainly carried out Treatment Analysis to electromyographic signal and power, the angle signal that collects, provide corresponding muscle evaluation index and mode of operation, assessment muscle performance, state are gone forward side by side to take action and are planned, the employing control algolithm is set up the mathematical relationship between quantity of stimulus and the planning action, and then carry out stimulus parameter and plan, give stimulus signal, realize the assay of FNS closed loop control and muscular states.
Performances such as the monitoring certainly that this instrument self had, overload protection, electrical isolation have guaranteed the safety of user.The software and hardware architecture structure that it is open can expand instrumental function easily.
Below in conjunction with accompanying drawing each ingredient of present embodiment is described in further detail.
One, stimulating module is made up of 8 passages, and each passage is energy independent regulation stimulation amplitude all, pulsewidth and arteries and veins frequency, and the block chart of a passage of stimulating module is as shown in fig. 1.It mainly is made up of four parts: signal generator; Power amplifier; Current detection circuit; Safety guard.Carry out division with regard to each several part below.
(1) signal generator
Accurate signal is to realize the key of FNS technology.This part is mainly synthetic by crystal oscillator, intervalometer, waveform, electric current amplifies and electronic loop such as voltage amplification is formed, as shown in Figure 2.
Signal parameter (boost pulse frequency, width and amplitude) is provided by computer, programmable timer produces accurate forward and negative-going pulse under crystal oscillator control, signal forms the simulation small-signal after the amplitude parameter amplitude modulation of synthesizer, again through electric current and voltage amplification, formation precision height, the boost pulse of good stability.Its each parameter is accurately controlled by computer fully.
(2) power amplifier:
The boost pulse amplitude of output is about ± 150V, and the simulation small-signal send transformator to carry out voltage amplification through current amplification circuit, and transformator has played man-machine isolated effect simultaneously.Adopt 2 * 10W power amplifier, the circuit theory diagrams of this part are seen accompanying drawing 3.Be characterized in that output is big, gain is set by internal circuit.Have overtemperature protection and overload protecting circuit, in establish the input noise elimination and suppress circuit etc.Transformator is a pulse transformer, adopts the soft magnetic ferrite iron core.Electrochemical capacitor C is in order to prevent the self-oscillation of transformator, and can eliminate DC bias.Transformator secondary Z
LBe and human body skin between contact impedance, i.e. load.R5 detects resistance for feedback, and feedback voltage is VD.
(3) current detection circuit:
Constant current or constant voltage that current detection circuit can remain in the magnetic pole process stimulate, and better security reliability is arranged and stimulate repeatability.This partial circuit figure as shown in Figure 4.
2AP1 is a diode among the figure, and forward voltage drop is about 0.1V, guarantees that small-signal is undistorted.Because load is floating ground, feedback signal must be through optocoupler 4N28.CD4051 is single 8 tunnels analogy switches.Control end is A, B, and the C end is by the common port COM of the corresponding signal of software gating to CD4051.Operational amplifier LM1458, diode 2CP2,2CP3, capacitor C P, digital line D03 constitutes sampling hold circuit.When D03 was " 0 ", the LM1458 outfan was a high level, began to sample, and the voltage on it is the peak value of CD4051 common port voltage.Voltage after the sampling is delivered to computer after the A/D conversion, by computer control D/A output amplitude, to reach the purpose of constant current or constant voltage output.
(4) safety guard
Because boost pulse directly acts on human body and voltage is higher, realizes the safeguard protection of instrument in the native system automatically with hardware, farthest protects user security.Shown in Figure 5 is the safety guard of system, and its boost pulse voltage after to power amplification is monitored.In case voltage exceeds, promptly produce inhibit signal, make stimulus signal stop to take place, thereby play the safeguard protection effect.
Two, EMG, power and angle signal measurement module are made up of 8 passage myoelectricities, 2 passage power, 2 channel angle measurements, collection and amplification by signal, machine analysis and processing as calculated, it both can carry out myoelectricity and motion analysis separately, multiple functions such as the collection of realization signal, reproduction, processing, printing as a result, again can be with analysis result as feedback information, thus realize the closed loop control of instrument.System block diagrams as shown in fig. 1.It is characterized by:
(1) has the input of 8 passage electromyographic signals, can finish collection, record and the processing of electromyographic signal in real time, both can do the FNS closed loop control, can be separately again that muscle performance and state are assessed, set up mathematical relationship between muscle electric stimulation amount and the muscle skeleton motion by step, slope and other test signal set.
(2) external interference is very large to the interference of EMG signal, and characteristics and corresponding amplifying return circuit requirement according to surface myoelectric are designed to electromyographic signal amplifying circuit as shown in Figure 6.It is by three grades of amplifications, and the photoelectricity coupling is isolated, common mode bootstrapping and secondary voltage stabilizing, and loops such as isolated from power conversion are formed, and have following characteristics:
1, adopts two groups of balanced, symmetrical amplifiers, be beneficial to the raising common mode rejection ratio;
2, input adopts field effect transistor, and is connected into the in-phase end input, and input impedance is very high;
3, electric capacity is parallel to the feedback resistance two ends, the DC component negative feedback strengthens, and gain approaches 1, prevents because DC component causes that greater than AC compounent circuit is saturated, guarantees that circuit working is normal;
4, adopt the common mode bootstrap technique, eliminated the influence of cable issue capacity unmbalance, reached the effect of the influence that suppresses common-mode signal simultaneously;
5, this circuit has adopted the secondary voltage stabilizing, guarantees the balanced, symmetrical of circuit;
6, the overall gain of this circuit can reach 100dB, and differential-mode input impedance is greater than 500M Ω, and frequency response is 10Hz～5kHz.
The treatment circuit that also comprises force signal and angle signal in the EMG module.
(3) for guaranteeing the safety of the person and equipment, native system has adopted floating ground technology, and with the lead that patient contacts directly, preamplifier and power supply, instrument and computer all have good isolation, and coupling capacitance is less than 100pf, and insulation resistance is greater than 1000M Ω.All conversion obtains through DC/DC for the power supply of myoelectricity amplifier section and ground, and the output signal of amplifier then is coupled through photoelectricity and gives Computer Processing again, and the part that whole processing and amplifying part contacts with human body is isolated fully with the computer analysis control section.This partial circuit figure as shown in Figure 7.In order to prevent losing of negative signal, before the photoelectricity coupling,, add forward bias by RW1, guarantee that all signals all can pass through optocoupler.Optocoupler 4N28 output be the forward small-signal, so first through capacitor C every directly, be amplified to required amplitude through operational amplifier LM444 again.
But the upper and lower extremities motion supplemental training apparatus of three observing and controlling
As Fig. 8 and motion supplemental training apparatus shown in Figure 9, be respectively applied for the training of upper limb and lower limb, can be used as the usefulness of measurement, training, rehabilitation evaluation and control.Have a plurality of force transducers 21 and angular transducer 22 in the auxiliary device, be used for the measurement of movable information and the feedback control of movement locus.
Four, the planning of computer realization signal analysis and control command generates
This part operation principle is seen Figure 10.At first various signals (electromyographic signal, force signal and angle signal) obtain from experimenter or patient, send into analysis and processing unit, its in real time or the processed offline result report that can perform an analysis on the one hand provide, send into control unit on the other hand.Then with the expection action planning through the control method analysis, cook up stimulus parameter.Send the experimenter with stimulus parameter through stimulating generation unit at last.Wherein relate to signal processing and control method two big key issues.
1, signal processing mainly is meant the electromyographic signal processing.The purpose that electromyographic signal is handled is broadly divided into two classes: the evaluation of muscular states and the pattern recognition of limb action.
Muscular states identification aspect, system has provided six characteristic parameters: average frequency, median frequency, zero passage number of times, average amplitude, root-mean-square amplitude and standard amplitude.Wherein average frequency, median frequency and zero passage number of times are the frequecy characteristics of signal, have reflected the conduction velocity of muscle, with muscle fatigue substantial connection are arranged; Average amplitude, root-mean-square amplitude and standard amplitude are the energy features of signal, can reflect the dynamics of muscle contraction.Their computational methods are as follows: average frequency ω:
Wherein P (w) is the power spectral density function median frequency w of signal
m:
Zero passage number of times m: establishing the electromyographic signal sequence is x, then judge adjacent 2 whether the condition of zero passage be:
Xj＞0 and x
J+1＜0 or x
j＜0 and x
J+1＞0, and | x
j-x
J+1| 〉=noise threshold average amplitude x:
Wherein x (t) is electromyographic signal root-mean-square amplitude x
Rms:
Standard amplitude x
Std:
Limb action pattern recognition aspect adopts the AR modeling method, carries out action pattern identification by model coefficient, and its coefficient can be used for the rated output spectral density function simultaneously, thereby calculates more corresponding frequency domain character parameters.For surface electromyogram signal, its AR model can be expressed as,
Wherein p is a model order, generally gets 4～5 rank, and x (n) is a signal, and u (n) is the white noise excitation.
Model Calculation adopts high accuracy Levinson-Durbin algorithm.This method adopts and makes model order by 1 recursive algorithm that increases progressively one by one, and its advantage decapacitation reduces outside the amount of calculation, also is convenient to find optimum order p.
2, one of purpose of instrument is the closed loop control to the paralyzed limbs motion.System adopts very new iterative learning control method, has realized the accurate closed loop control of upper limb elbow joint motion.
Study iteration control device is the D type iterative learning controller at linear time varying system, and form is:
u
i+1(t)＝u
i(t)+L(y&
d(t)-y&
i(t))
u
I+1(t) be the output of the i+1 time controller, L is the study factor, y
d(t), y
i(t) be the desired output and the i time output of system respectively.ILC has been used for robot repetitive operation control, as sprays paint, grasps; The control of Electric Machine Control and hard disk, disk driving system has particularly obtained obvious control effect aspect the repeating motion Trajectory Tracking Control having.But this instrument is used it for human limb's motor control and is still belonged to the first time.
The algorithm of the PD+ILC that adopts is as follows:
Z
(i+1)(t)=Z
(i)(t)+k
pe
(i)(t)+k
d﹠amp;
(i)(t)+k
pe
(i)(t) wherein Z (t) is controller output, and i is an iterations, k
pBe learning gain, k
p, k
dBe the coefficient of PD controller, e (t)=θ
d(t)-and θ (t), θ (t) is the actual measurement angle, θ (t) is an expected angle.Work as k
pBe 0, following formula promptly deteriorates to PD control.The result shows: adopt iterative learning control, algorithm is simple, and parameter is easily adjusted, and controlled quentity controlled variable changes mild, and subject perception is comfortable during stimulation, and track following precision height, than PD controller better control effect is arranged.
Claims (3)
1, the rehabilitation training instrument of a kind of functional neuromuscular signal of telecommunication identification and stimulation, it is characterized in that, comprise the FNS module, EMG, power and angle signal measurement module, by computer and the computer analysis control assembly formed of control software, and the many groups power and the angle signal pick off that are connected in upper and lower extremities motion supplemental training apparatus; Said FNS module input links to each other with said computer analysis control assembly, its outfan has a plurality of separate electric pulse stimulation passages and the stimulating electrode that is attached thereto, the input of said EMG, power and angle signal measurement module is connected with the electromyographic signal collection electrode identical with said electric pulse stimulation number of active lanes and is connected with the angle signal pick off with said power, and its outfan is connected with said computer analysis control assembly.
2, rehabilitation training instrument as claimed in claim 1; it is characterized in that; each passage of said FNS module is by the control signal that receives said computer and produce the signal generation apparatus of electric impulse signal; the power amplifier that this electric impulse signal is amplified is formed the safety guard of the security control of this amplifying signal and the current detection circuit that makes this signal generation apparatus reach constant current or constant voltage output.
3, rehabilitation training instrument as claimed in claim 1, it is characterized in that, said EMG, power and angle signal measurement module comprise the differential mode three-stage amplifier of the balanced, symmetrical that the signal of gathering is amplified, and are connected in the photoelectrical coupler and the A/D converter of the outfan of amplifying circuit.This measurement module has a plurality of passages and links to each other with said electromyographic signal collection electrode, muscular strength signal and angular displacement signal pick off.
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| CN 98125084 CN1089011C (en) | 1998-12-04 | 1998-12-04 | Functional neuromyo-electric signal identification and stimulation apparatus |
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|---|---|---|---|
| CN 98125084 CN1089011C (en) | 1998-12-04 | 1998-12-04 | Functional neuromyo-electric signal identification and stimulation apparatus |
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| CN1089011C true CN1089011C (en) | 2002-08-14 |
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- 1998-12-04 CN CN 98125084 patent/CN1089011C/en not_active Expired - Fee Related
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