CN113995957A - Closed-loop percutaneous electrical stimulation device based on electroencephalogram feedback - Google Patents
Closed-loop percutaneous electrical stimulation device based on electroencephalogram feedback Download PDFInfo
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- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36014—External stimulators, e.g. with patch electrodes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
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- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
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- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
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- A61H2230/00—Measuring physical parameters of the user
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- A61H2230/505—Temperature used as a control parameter for the apparatus
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Abstract
The invention relates to a device and a method for controlling percutaneous electrical stimulation based on electroencephalogram; the device comprises a percutaneous electrical stimulation module 1, a moxibustion control module 2, an electroencephalogram measurement module 3, an infrared imaging camera 4, a servo feedback control computer 5, a camera support 6 and a moxibustion clamping manipulator 7; the combination of the percutaneous electrical stimulation and the moxibustion of specific acupuncture points can better stimulate the rehabilitation system of a treated person; the infrared temperature measurement camera is adopted to shoot the temperature characteristic change of the facial channels and collaterals of the stimulated person, meanwhile, the electroencephalogram characteristic change of the stimulated person is collected in real time, the electrical stimulation parameters and the moxibustion intensity and the moxibustion route are adjusted in a closed loop in real time, and the treatment period of a patient can be greatly shortened; real-time electroencephalogram and facial infrared image characteristics and current stimulation parameters are sent into a deep neural network to train an organism reaction mathematical model of the stimulated person, and then the stimulation parameters are accurately adjusted according to the mathematical model, so that the rehabilitation process of a patient is accelerated, a better treatment effect is achieved, and the treatment time is shortened.
Description
The technical field is as follows:
the invention relates to the technical field of conservative treatment medicine, in particular to a device and a method for controlling percutaneous electrical stimulation based on electroencephalogram.
Background art:
transdermal electrical stimulation is a common treatment means for the purpose of analgesia or stimulation of body repair function, rehabilitation and the like. There are two main types of current transcutaneous electrical stimulation, open loop electrical stimulation. The method mainly comprises the steps of adopting a current waveform generator, controlling electrical parameters such as stimulation current, waveform, frequency and the like sent by an electrical stimulator through a program, and electrically stimulating a target area of an organism. The other method is closed-loop electrical stimulation, and the common method is to collect brain electrode waveforms and control the stimulation current parameters sent by an electrical stimulator by using the characteristics of the brain electrode waveforms as control quantities. Open-loop stimulation methods do not take into account the body's response to electrical stimulation and rely only on the experience of the needle applicator to adjust the stimulation current parameters. The closed-loop electrical stimulation method is less in application and is mostly used for animal experiments. The method controls the stimulation electrical parameters in real time according to the characteristics of the electroencephalogram signals of the organism, and has better personalized treatment characteristics. However, the tolerance degree of the body is greatly different by only electrically stimulating, for example, when the body is relaxed by only using an electric stimulator to stimulate specific muscles, although the contraction response of the muscles can also be stimulated, after the body is used, many patients are fatigued after the body is used. The massage effect is far less than that of the manual massage. Moxibustion is one of the main treatment means of traditional Chinese medicine, and has definite curative effect and little discomfort in the treatment process. However, the current moxibustion is mainly carried out by manual operation or wearing a moxibustion box, and no reaction link of the body to the moxibustion is involved. A large number of clinical applications show that the moxibustion is applied to the percutaneous electrostimulation part at the same time of electrostimulation, the stimulation to the immune response of the organism is more effective, and simultaneously the moxibustion is mild in feeling and high in acceptance. When acupuncture and moxibustion are carried out on specific parts, a body can generate specific temperature-changing reactions, and the reactions are added into a stimulation control link, so that the individuation of a treatment scheme can be greatly increased, the treatment time of a patient is saved, and the treatment comfort level is increased.
The invention content is as follows:
aiming at the defects in the prior art, the invention provides a novel moxibustion method which integrates electroencephalogram and infrared temperature measurement system signals as feedback quantity, controls the waveform and intensity of stimulation current, and controls moxibustion to complete depth and route control.
The technical scheme of the invention is as follows: the utility model provides a closed loop percutaneous electrical stimulation device based on brain electricity feedback, its characterized in that the device includes percutaneous electrical stimulation module 1, moxa-moxibustion control module 2, brain electricity measurement module 3, infrared imaging camera 4, servo feedback control computer 5, camera support 6 and moxa-moxibustion centre gripping manipulator 7.
The transcutaneous electrical stimulation module 1 comprises a waveform generator 8 and an electrode plate 9, and is mainly used for generating stimulation current waveforms required by electrical stimulation.
Wherein the moxibustion control module 2 includes a driving motor 10, a moxibustion holder 11, a moxa column 12, and a moxibustion igniter 15. This moxa-moxibustion control module 2 mainly used carries out the specific part moxa-moxibustion with the electro photoluminescence cooperation, carries out the moxa-moxibustion in the electro photoluminescence, can effectively strengthen the amazing reaction of organism, with higher speed the rehabilitation process.
The electroencephalogram measurement module 3 comprises an electroencephalogram electrode 13 and an electroencephalogram signal acquisition/amplification/identification module 14, and the electroencephalogram measurement module 3 mainly completes acquisition, processing and identification of electroencephalogram signals.
The infrared imaging camera 4 is mainly used for collecting the infrared heat image of the face 16 of the stimulated person and accurately identifying the change of the facial temperature distribution before and after the electric stimulation and moxibustion are simultaneously carried out on treatment.
The servo feedback control computer 5 runs acquisition and analysis software and is used for acquiring sensor data and calculating next step electrical stimulation control parameters in real time according to the electroencephalogram signal identification result, the infrared image identification result, the current moxibustion skin temperature and the current electrical stimulation parameters.
Wherein, the connection relation among each part is: the stimulated person 16 wears the electroencephalogram measurement module 3 on the head, and the electroencephalogram measurement module 3 is connected to the servo feedback control computer 5 through an electroencephalogram data line 17; the infrared imaging camera 4 is arranged on the camera bracket and is connected to the servo feedback control computer 5 through a camera data line 18, and the lens of the camera is aligned to the face of the stimulated person 16; the transcutaneous electrical stimulation module 1 is attached to the stimulated part of a stimulated person 16 and is connected to the servo feedback control computer 5 through an electrical stimulation data line 19; the moxibustion control module 2 is arranged at the tail end of the moxibustion clamping manipulator 7 and is connected to the servo feedback control computer 5 through a moxibustion control line 20, so that the accessibility of any working space position is realized; the moxibustion gripping manipulator 7 is connected to the servo feedback control computer 5 through a manipulator control line 21.
The closed-loop transcutaneous electrical stimulation device based on the electroencephalogram feedback comprises the following use steps:
[1] the stimulated person 16 wears the electroencephalogram measurement module 3 on the head, the electroencephalogram measurement module 3 is connected to the servo feedback control computer 5 through an electroencephalogram data line 17, and the current electroencephalogram signal is transmitted to the servo feedback control computer 5 in real time.
[2] The transcutaneous electrical stimulation module 1 is attached to the stimulated part of a stimulated person 16 and is connected to the servo feedback control computer 5 through an electrical stimulation data line 19;
[3] the infrared imaging camera 4 is arranged on the camera bracket and is connected to the servo feedback control computer 5 through a camera data line 18, and the lens of the camera is aligned to the face of the stimulated person 16;
[4] the moxibustion control module 2 is arranged at the tail end of the moxibustion clamping manipulator 7, and the moxibustion clamping manipulator 7 is connected with the servo feedback control computer 5 through a manipulator control line 21; selecting a target acupuncture point, selecting a moxibustion roasting path and time, igniting the moxa column 12 by the moxibustion igniter 15, controlling the moxibustion clamping manipulator 7 to move to a target position by the servo feedback control computer 5 through the data line 21, and carrying out moxibustion stimulation on the stimulated person 16;
[5] starting the percutaneous electrical stimulation module 1;
[6] starting the infrared imaging camera 4 to shoot a facial infrared radiation characteristic image of the stimulated person 16;
[7] the servo feedback control computer 5 calculates the electroencephalogram characteristics and the infrared radiation characteristic vectors T of the stimulated person 16 in real time, particularly the temperature change condition near the facial midline, compares the temperature change condition with a set threshold Th, and adjusts the electrical stimulation parameters in real time according to the prescription rule of a doctor if the temperature change condition exceeds the threshold Th.
In the closed-loop transcutaneous electrical stimulation device based on electroencephalogram feedback, the servo feedback control computer 5 collects and calculates electroencephalogram characteristics and facial infrared temperature characteristics of the stimulated person 16 in real time to serve as a characteristic vector C, current electrical stimulation parameters, current skin temperature caused by moxibustion and a moxibustion baking path to serve as a controlled quantity D, the C and the D at the same time serve as a group of samples, at least 1000 groups of samples are obtained, the samples are sent to a deep neural network for regression analysis, and an individualized closed-loop stimulation scheme of the stimulated person 16 is obtained.
Description of the drawings:
FIG. 1 is a view showing the overall system structure
In fig. 1:
1 is a percutaneous electrical stimulation module
2 is a moxibustion control module
3 is an electroencephalogram measuring module
4 is infrared imaging camera
5 is a servo feedback control computer
6 is a camera support
7 is a moxibustion clamping manipulator
16 is stimulated
17 is an electroencephalogram data line
18 is a camera data line
19 is an electrical stimulation data line
20 is a moxibustion control line
21 is a manipulator control line
FIG. 2 is a schematic diagram of an electroencephalogram acquisition module
In the figure:
waveform generator with 8
9 is an electrode slice
FIG. 3 shows a moxibustion control module
In the figure:
10 is a driving motor
11 is a moxibustion holder
12 is a moxa cone
15 is a moxibustion igniter
FIG. 4 shows an electroencephalogram measurement module
In the drawings
13 is the brain electrode
14 is an electroencephalogram signal acquisition/amplification/identification module
16 is stimulated
17 is an electroencephalogram data line
The invention has the beneficial effects that: the experiments of the subject group show that the moxibustion combining the percutaneous electric stimulation and the specific acupuncture points can better stimulate the rehabilitation system of a treated person. Moxibustion on specific acupuncture points can cause rapid change of temperature of a meridian patrol route, and brain wave characteristics can also be changed by combining the excitation effect of electrical stimulation on an organism. Therefore, the infrared temperature measuring camera is adopted to shoot the temperature characteristic change of the facial channels and collaterals of the stimulated person, the electroencephalogram characteristic change of the stimulated person is collected in real time, the two characteristic changes are combined with the guidance of clinical experience of a doctor, the electrostimulation parameters and the moxibustion intensity and the moxibustion route are adjusted in a closed loop in real time, and the treatment period of a patient can be greatly shortened. Meanwhile, real-time electroencephalogram and facial infrared image characteristics and current stimulation parameters are sent into a deep neural network to train out an organism reaction mathematical model of the stimulated person, and then the stimulation parameters are accurately adjusted according to the mathematical model, so that the rehabilitation process of a patient is accelerated, the treatment cost is reduced, a treatment scheme is personalized, a better treatment effect is achieved, and the treatment time is shortened.
The specific implementation mode is as follows:
referring to fig. 1-4, a specific embodiment of the present invention is as follows.
The technical scheme of the invention is as follows: the utility model provides a closed loop percutaneous electrical stimulation device based on brain electricity feedback, its characterized in that the device includes percutaneous electrical stimulation module 1, moxa-moxibustion control module 2, brain electricity measurement module 3, infrared imaging camera 4, servo feedback control computer 5, camera support 6 and moxa-moxibustion centre gripping manipulator 7.
The transcutaneous electrical stimulation module 1 comprises a waveform generator 8 and an electrode plate 9, and is mainly used for generating stimulation current waveforms required by electrical stimulation.
Wherein the moxibustion control module 2 includes a driving motor 10, a moxibustion holder 11, a moxa column 12, and a moxibustion igniter 15. This moxa-moxibustion control module 2 mainly used carries out the specific part moxa-moxibustion with the electro photoluminescence cooperation, carries out the moxa-moxibustion in the electro photoluminescence, can effectively strengthen the amazing reaction of organism, with higher speed the rehabilitation process.
The electroencephalogram measurement module 3 comprises an electroencephalogram electrode 13 and an electroencephalogram signal acquisition/amplification/identification module 14, and the electroencephalogram measurement module 3 mainly completes acquisition, processing and identification of electroencephalogram signals.
The infrared imaging camera 4 is mainly used for collecting the infrared heat image of the face 16 of the stimulated person and accurately identifying the change of the facial temperature distribution before and after the electric stimulation and moxibustion are simultaneously carried out on treatment.
The servo feedback control computer 5 runs acquisition and analysis software and is used for acquiring sensor data and calculating next step electrical stimulation control parameters in real time according to the electroencephalogram signal identification result, the infrared image identification result, the current moxibustion skin temperature and the current electrical stimulation parameters.
Wherein, the connection relation among each part is: the stimulated person 16 wears the electroencephalogram measurement module 3 on the head, and the electroencephalogram measurement module 3 is connected to the servo feedback control computer 5 through an electroencephalogram data line 17; the infrared imaging camera 4 is arranged on the camera bracket and is connected to the servo feedback control computer 5 through a camera data line 18, and the lens of the camera is aligned to the face of the stimulated person 16; the transcutaneous electrical stimulation module 1 is attached to the stimulated part of a stimulated person 16 and is connected to the servo feedback control computer 5 through an electrical stimulation data line 19; the moxibustion control module 2 is arranged at the tail end of the moxibustion clamping manipulator 7 and is connected to the servo feedback control computer 5 through a moxibustion control line 20, so that the accessibility of any working space position is realized; the moxibustion gripping manipulator 7 is connected to the servo feedback control computer 5 through a manipulator control line 21.
The closed-loop transcutaneous electrical stimulation device based on the electroencephalogram feedback comprises the following use steps:
[1] the stimulated person 16 wears the electroencephalogram measurement module 3 on the head, the electroencephalogram measurement module 3 is connected to the servo feedback control computer 5 through an electroencephalogram data line 17, and the current electroencephalogram signal is transmitted to the servo feedback control computer 5 in real time.
[2] The transcutaneous electrical stimulation module 1 is attached to the stimulated part of a stimulated person 16 and is connected to the servo feedback control computer 5 through an electrical stimulation data line 19;
[3] the infrared imaging camera 4 is arranged on the camera bracket and is connected to the servo feedback control computer 5 through a camera data line 18, and the lens of the camera is aligned to the face of the stimulated person 16;
[4] the moxibustion control module 2 is arranged at the tail end of the moxibustion clamping manipulator 7, and the moxibustion clamping manipulator 7 is connected with the servo feedback control computer 5 through a manipulator control line 21; selecting a target acupuncture point, selecting a moxibustion roasting path and time, igniting the moxa column 12 by the moxibustion igniter 15, controlling the moxibustion clamping manipulator 7 to move to a target position by the servo feedback control computer 5 through the data line 21, and carrying out moxibustion stimulation on the stimulated person 16;
[5] starting the percutaneous electrical stimulation module 1;
[6] starting the infrared imaging camera 4 to shoot a facial infrared radiation characteristic image of the stimulated person 16;
[7] the servo feedback control computer 5 calculates the electroencephalogram characteristics and the infrared radiation characteristic vectors T of the stimulated person 16 in real time, particularly the temperature change condition near the facial midline, compares the temperature change condition with a set threshold Th, and adjusts the electrical stimulation parameters in real time according to the prescription rule of a doctor if the temperature change condition exceeds the threshold Th.
In the closed-loop transcutaneous electrical stimulation device based on electroencephalogram feedback, the servo feedback control computer 5 collects and calculates electroencephalogram characteristics and facial infrared temperature characteristics of the stimulated person 16 in real time to serve as a characteristic vector C, current electrical stimulation parameters, current skin temperature caused by moxibustion and a moxibustion baking path to serve as a controlled quantity D, the C and the D at the same time serve as a group of samples, at least 1000 groups of samples are obtained, the samples are sent to a deep neural network for regression analysis, and an individualized closed-loop stimulation scheme of the stimulated person 16 is obtained.
Claims (8)
1. A closed-loop percutaneous electrical stimulation device based on electroencephalogram feedback is characterized in that: the device comprises a percutaneous electrical stimulation module 1, a moxibustion control module 2, an electroencephalogram measurement module 3, an infrared imaging camera 4, a servo feedback control computer 5, a camera support 6 and a moxibustion clamping manipulator 7.
2. The apparatus of claim 1, wherein: the transcutaneous electrical stimulation module 1 comprises a waveform generator 8 and an electrode plate 9, and is mainly used for generating stimulation current waveforms required by electrical stimulation.
3. The apparatus of claim 2, wherein: the moxibustion control module 2 includes a driving motor 10, a moxibustion holder 11, a moxa column 12, and a moxibustion igniter 15; moxa-moxibustion control module 2 mainly used carries out the specific part moxa-moxibustion with the electro photoluminescence cooperation, carries out the moxa-moxibustion when the electro photoluminescence, can effectively strengthen the amazing reaction of organism, with higher speed the rehabilitation process.
4. The apparatus of claim 1, 2 or 3, wherein: the electroencephalogram measurement module 3 comprises an electroencephalogram electrode 13 and an electroencephalogram signal acquisition/amplification/identification module 14, and the electroencephalogram measurement module 3 mainly completes acquisition, processing and identification of electroencephalogram signals.
5. The apparatus of claim 4, wherein: the infrared imaging camera 4 mainly functions to collect the infrared thermal image of the face of the person 16 to be stimulated, and accurately recognize the change of the facial temperature distribution before and after the electric stimulation and moxibustion are simultaneously performed.
6. The apparatus of claim 5, wherein: the servo feedback control computer 5 runs acquisition and analysis software and is used for acquiring sensor data and calculating next step electrical stimulation control parameters in real time according to the electroencephalogram signal identification result, the infrared image identification result, the current moxibustion skin temperature and the current electrical stimulation parameters.
7. The apparatus of claim 6, wherein: the connection relationship among each part is as follows: the stimulated person 16 wears the electroencephalogram measurement module 3 on the head, and the electroencephalogram measurement module 3 is connected to the servo feedback control computer 5 through an electroencephalogram data line 17; the infrared imaging camera 4 is arranged on the camera bracket and is connected to the servo feedback control computer 5 through a camera data line 18, and the lens of the camera is aligned to the face of the stimulated person 16; the transcutaneous electrical stimulation module 1 is attached to the stimulated part of a stimulated person 16 and is connected to the servo feedback control computer 5 through an electrical stimulation data line 19; the moxibustion control module 2 is arranged at the tail end of the moxibustion clamping manipulator 7 and is connected to the servo feedback control computer 5 through a moxibustion control line 20, so that the accessibility of any working space position is realized; the moxibustion gripping manipulator 7 is connected to the servo feedback control computer 5 through a manipulator control line 21.
8. The apparatus of claim 7, comprising the steps of:
[1] the stimulated person 16 wears the electroencephalogram measurement module 3 on the head, the electroencephalogram measurement module 3 is connected to the servo feedback control computer 5 through an electroencephalogram data line 17, and the current electroencephalogram signal is transmitted to the servo feedback control computer 5 in real time;
[2] the transcutaneous electrical stimulation module 1 is attached to the stimulated part of a stimulated person 16 and is connected to the servo feedback control computer 5 through an electrical stimulation data line 19;
[3] the infrared imaging camera 4 is arranged on the camera bracket and is connected to the servo feedback control computer 5 through a camera data line 18, and the lens of the camera is aligned to the face of the stimulated person 16;
[4] the moxibustion control module 2 is arranged at the tail end of the moxibustion clamping manipulator 7, and the moxibustion clamping manipulator 7 is connected with the servo feedback control computer 5 through a manipulator control line 21; selecting a target acupuncture point, selecting a moxibustion roasting path and time, igniting the moxa column 12 by the moxibustion igniter 15, controlling the moxibustion clamping manipulator 7 to move to a target position by the servo feedback control computer 5 through the data line 21, and carrying out moxibustion stimulation on the stimulated person 16;
[5] starting the percutaneous electrical stimulation module 1;
[6] starting the infrared imaging camera 4 to shoot a facial infrared radiation characteristic image of the stimulated person 16;
[7] the servo feedback control computer 5 calculates the electroencephalogram characteristics and infrared radiation characteristic vectors T of the stimulated person 16 in real time, particularly the temperature change condition near the central line of the face, compares the temperature change condition with a set threshold Th, and adjusts the electrical stimulation parameters in real time according to the prescription rule of a doctor if the temperature change condition exceeds the threshold Th;
the servo feedback control computer 5 collects and calculates the electroencephalogram characteristic and the facial infrared temperature characteristic of the stimulated person 16 in real time to serve as a characteristic vector C, the current electrical stimulation parameter, the current skin temperature caused by moxibustion and the moxibustion baking path serve as controlled quantities D, the C and the D at the same moment serve as a group of samples, at least 1000 groups of the samples are obtained, the samples are sent to a deep neural network for regression analysis, and the personalized closed-loop stimulation scheme of the stimulated person 16 is obtained.
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| CN117797406A (en) * | 2024-02-22 | 2024-04-02 | 中国人民解放军空军军医大学 | Closed loop percutaneous acupoint electro-stimulation sedation method and system |
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| CN205548981U (en) * | 2016-01-26 | 2016-09-07 | 程大鹏 | Brain electricity feedback footherapy appearance |
| CN105920735A (en) * | 2016-06-15 | 2016-09-07 | 贾东明 | Physical and psychological recovery feedback training device |
| CN106859954A (en) * | 2017-02-14 | 2017-06-20 | 包磊 | The output intent and device of acupuncture analog signal |
| CN107802485A (en) * | 2017-11-27 | 2018-03-16 | 西安航空学院 | A kind of point massage system and massage method based on data analysis |
| KR20190110715A (en) * | 2018-03-21 | 2019-10-01 | 경희대학교 산학협력단 | Electronic warming acupuncture and electronic warming acupuncture device having the same |
| CN108852823A (en) * | 2018-07-29 | 2018-11-23 | 上海中医药大学 | Sixdegree-of-freedom simulation Intelligent moxibustion device |
| CN113101518A (en) * | 2020-01-13 | 2021-07-13 | 博睿优株式会社 | Acupoint stimulation device and acupoint stimulation method using same |
| KR20210091030A (en) * | 2020-01-13 | 2021-07-21 | 주식회사 브레인유 | Device of stimulating acupoint and method of stimulating acupoint using it |
| KR20210090910A (en) * | 2020-01-13 | 2021-07-21 | 주식회사 브레인유 | Apparatus for controlling blood pressure using device of stimulating acupoint and method for controlling blood pressure using it |
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| CN117797406A (en) * | 2024-02-22 | 2024-04-02 | 中国人民解放军空军军医大学 | Closed loop percutaneous acupoint electro-stimulation sedation method and system |
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