CN-120789483-B - Integrated spinal cord electrical stimulation system, spinal cord electrical stimulation method, medium and product

CN120789483BCN 120789483 BCN120789483 BCN 120789483BCN-120789483-B

Abstract

Embodiments of the present disclosure disclose integrated spinal cord electrical stimulation systems, spinal cord electrical stimulation methods, media, and products. The system comprises a brain-computer device, a spinal cord stimulation device, an exoskeleton device and a main control unit, wherein the brain-computer device is configured to acquire brain electrical signals, the spinal cord stimulation device is configured to generate electrical pulses and transmit the electrical pulses to a target spinal cord segment through spinal cord stimulation electrodes, the exoskeleton device is configured to start a motor of a corresponding joint to execute preset actions, the main control unit is configured to acquire the brain electrical signals, generate movement intention information, generate control parameter information, control the spinal cord stimulation device to execute spinal cord electrical stimulation operation according to the spinal cord electrical stimulation parameter information, and control the exoskeleton device to execute exoskeleton driving operation according to the exoskeleton action parameter information. According to the embodiment, the movement intention of the user can be utilized for parameter adjustment, so that the mechanical assistance of the exoskeleton is better cooperated, the applicability and experience of the user are improved, and the operation of the user is simplified.

Inventors

Duan Wanru
SHAN YONGZHI
WANG YIHE
XU ZHUOFAN
Cheng Yuanchen
WANG YIQING
Shao Xuanbo
GUAN ZHIYUAN
LI WEI
ZHAO GUOGUANG
Liu Pihao
Zhu Shaxi
HE YANA
DING CHENYUAN
ZHU LIN
LIU LIN
CHEN ZAN

Assignees

首都医科大学宣武医院

Dates

Publication Date: 20260505
Application Date: 20250723

Claims (6)

1. An integrated spinal cord electric stimulation system is characterized by comprising a brain-computer device, a spinal cord stimulation device, an exoskeleton device and a main control unit; the brain-computer device includes an electroencephalogram electrode, the brain-computer device configured to acquire an electroencephalogram signal; The spinal cord stimulation device includes a spinal cord stimulation electrode and a pulse generator, the spinal cord stimulation device configured to generate electrical pulses by the pulse generator and deliver to a targeted spinal segment by the spinal cord stimulation electrode based on spinal cord electrical stimulation parameter information; the exoskeleton device is configured to start a motor of a corresponding joint to execute a preset action based on the action parameter information; the brain-computer device, the spinal cord stimulation device, and the exoskeleton device are communicatively connected with a master control unit configured to perform the steps of: Acquiring brain-computer signals from the brain-computer device; Generating movement intention information according to the electroencephalogram signals; generating control parameter information according to the exercise intention information, wherein the control parameter information comprises spinal cord electrical stimulation parameter information and exoskeleton action parameter information, and the control parameter information comprises: Determining a corresponding motion state of the exoskeleton device; According to the movement type and the movement state included in the movement intention information, matching each control parameter corresponding to the movement type and the movement state from a control parameter library, wherein the control parameter library is a database storing preset control parameters for different movement types and movement states, and each control parameter comprises a target spinal segment, a stimulation start advance, an action start delay, stimulation parameter information and action parameter information; generating a stimulus starting time according to the current time, the stimulus starting advance and the exercise intensity included in the exercise intention information; generating an action start time according to the stimulus start time and the action start delay amount; determining the targeted spinal segment, the stimulation parameter information, and the stimulation initiation time as spinal cord electrical stimulation parameter information; determining the action parameter information and the action starting time as exoskeleton action parameter information; determining the spinal cord electrical stimulation parameter information and the exoskeleton action parameter information as control parameter information; Controlling the spinal cord stimulation device to execute spinal cord electrical stimulation operation according to the spinal cord electrical stimulation parameter information included in the control parameter information; And controlling the exoskeleton device to execute exoskeleton driving operation according to the exoskeleton action parameter information included in the control parameter information.
2. The integrated spinal cord electrical stimulation system of claim 1, further comprising an electromyographic signal acquisition device configured to acquire an electromyographic signal.
3. The integrated spinal cord electrical stimulation system of claim 2, wherein the exoskeleton device comprises at least one of a joint force sensor, a joint angle sensor, a joint angular velocity sensor, a plantar pressure sensor, a torso pose sensor.
4. The integrated spinal cord electrical stimulation system of claim 1, further comprising a wireless power supply unit configured to power the brain-computer device, the spinal cord stimulation device, and the master control unit.
5. The integrated spinal cord electrical stimulation system of claim 1, wherein the master control unit is further configured to generate movement intent information from the brain electrical signals by: performing first filtering processing on the electroencephalogram signals to obtain first electroencephalogram signals; performing second filtering processing on the first electroencephalogram signals to obtain second electroencephalogram signals; performing artifact removal processing on the second electroencephalogram signal to obtain a third electroencephalogram signal; Performing motion intention characteristic extraction processing on the third electroencephalogram signal to obtain motion intention characteristic information; and generating movement intention information based on the movement intention characteristic information, wherein the movement intention information comprises movement type and movement intensity.
6. The integrated spinal cord electrical stimulation system of claim 1, wherein the master control unit is further configured to generate a stimulation activation time from a current time, the stimulation activation advance, and a motor strength included in the motor intent information by: Generating a time compensation amount according to a pre-constructed time compensation function and the motion intensity; determining the difference between the stimulus onset advance and the time offset as an adjusted stimulus onset advance; And determining the sum of the current time and the adjusted stimulation start advance as stimulation start time.

Description

Integrated spinal cord electrical stimulation system, spinal cord electrical stimulation method, medium and product Technical Field Embodiments of the present disclosure relate to the field of computer technology, and in particular, to an integrated spinal cord electrical stimulation system, spinal cord electrical stimulation method, medium, and product. Background By applying specific patterns of electrical impulses to specific segments of the spinal cord epidural space, it has been demonstrated that it is effective to activate spinal neural networks, promote motor neuron excitability, induce or enhance contraction of target muscles, and even to some extent "wake up" potential motor functions below the plane of spinal cord injury, providing the potential for motor reconstruction. Currently, in the spinal cord electrical stimulation, the electrical stimulation is generally performed on the target spinal cord segment directly according to the electrical stimulation parameters, and a professional is required to perform complicated parameter setting and mode switching. However, when the mode is adopted, the technical problems often exist that the real-time and personalized parameter adjustment cannot be carried out by utilizing the movement intention of the user, and the mechanical assistance of the exoskeleton cannot be well cooperated, so that the applicability and the user experience are poor, the learning cost of the user is high, the operation is inconvenient when the parameter setting and the mode switching are carried out, and the popularization in a home or community rehabilitation environment is difficult. The above information disclosed in this background section is only for enhancement of understanding of the background of the inventive concept and, therefore, may contain information that does not form the prior art that is already known to those of ordinary skill in the art in this country. Disclosure of Invention The disclosure is in part intended to introduce concepts in a simplified form that are further described below in the detailed description. The disclosure is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. Some embodiments of the present disclosure propose an integrated spinal cord electrical stimulation system, spinal cord electrical stimulation method, computer readable medium and computer program product to solve one or more of the technical problems mentioned in the background section above. In a first aspect, some embodiments of the present disclosure provide an integrated spinal cord electrical stimulation system comprising a brain-computer device including an electroencephalogram electrode, a spinal cord stimulation device including a spinal cord stimulation electrode and a pulse generator, an exoskeleton device configured to generate an electrical pulse based on spinal cord electrical stimulation parameter information and to transfer the electrical pulse to a targeted spinal cord segment via the pulse generator, and a master control unit communicatively coupled to the brain-computer device, the spinal cord stimulation device, and the exoskeleton device, the master control unit configured to acquire the electroencephalogram signal from the brain-computer device, generate movement intention information based on the electroencephalogram signal, generate control parameter information based on the movement intention information, wherein the control parameter information includes spinal cord electrical stimulation parameter information and exoskeleton motion parameter information, initiate a motor of a corresponding joint to perform a preset action based on the motion parameter information, and perform an exoskeleton device including control parameter information, and perform an exoskeleton device to perform an operation according to the control parameter information. Optionally, the integrated spinal cord electrical stimulation system further comprises an electromyographic signal acquisition device configured to acquire an electromyographic signal. Optionally, the exoskeleton device comprises at least one sensor selected from the group consisting of a joint force sensor, a joint angle sensor, a joint angular velocity sensor, a plantar pressure sensor, and a torso posture sensor. Optionally, the integrated spinal cord electrical stimulation system further comprises a wireless power supply unit configured to supply power to the brain-computer device, the spinal cord stimulation device, and the master control unit. Optionally, the main control unit is further configured to generate movement intention information according to the electroencephalogram signals through the steps of performing first filtering processing on the electroencephalogram signals to obtain first electroencephalogram signals, performing second filtering processing on the first electroencephalogram