Portable wearable waste amyotrophy treatment system based on surface myoelectricity feedback technology

Abstract

The invention discloses a portable wearable waste amyotrophy treatment system based on a surface myoelectricity feedback technology. The portable wearable waste amyotrophy treatment system comprises a pair of devices, a button type hydrogel electrode plate and an upper computer. The pair of devices are worn on symmetrical muscles on the left side and the right side of a patient through button type hydrogel electrode plates respectively and used for collecting electromyographic signals of the two muscles and conducting electric stimulation on the two muscles. A hardware circuit in the device communicates with an upper computer, receives a control instruction and sends collected electromyographic signals to the upper computer; electrical stimulation amplitude, frequency and pulse width parameters are controlled to output electrical stimulation waveforms; the upper computer is used for setting electrical stimulation parameters, receiving and processing electromyographic signal data and determining whether to trigger electrical stimulation or not according to an electromyographic value of a patient, and comprises an electromyographic feedback training mode and a rehabilitation treatment effect evaluation module, calculates RMS, MVC and MPF parameters of left and right muscles of the patient in the treatment process and measures limb circumferences of the left and right muscles. And the treatment effect is evaluated.

Description

Technical Field

[0001] The present invention relates to the field of intelligent rehabilitation equipment, and in particular to a portable wearable disuse muscular atrophy treatment system based on surface electromyography feedback technology. Background Art

[0002] In the early stages of bone and joint injuries, patients often need to use clamps, braces and other instruments to fix the injured area for a period of time. More serious patients may even need to stay in bed for a long time. Due to long-term immobilization of the limbs and lack of muscle movement, venous and lymphatic congestion, slow circulation, tissue edema, and exuded serous fibrin adhesions between joints and muscles. This leads to changes in the physiological structure and function of skeletal muscle fibers, including a reduction in the area of ​​the cerebral cortical mapping area and a decrease in the excitability of related neuronal units. During the early treatment of bone and joint injuries, the patient's muscles gradually atrophy, which is called disuse muscle atrophy. If the patient cannot obtain timely and effective functional rehabilitation, this damage caused by limited muscle movement will be irreversible. If effective rehabilitation methods are implemented as soon as possible, it can effectively improve the process of pathological changes, promote venous lymphatic circulation, prevent joint adhesions, promote fracture healing, and promote the rehabilitation of disuse muscle atrophy.

[0003] At present, exercise therapy (such as resistance training, endurance training, etc.) and electrical stimulation therapy are mainly used in clinical practice to prevent and treat disuse muscle atrophy. Exercise therapy has always been an important method for clinical prevention and treatment of muscle atrophy. Many clinical and basic experiments have proved that exercise can effectively prevent muscle atrophy and promote the recovery of atrophic muscles after disuse. However, traditional exercise therapy adopts a "step-by-step" discrete rehabilitation training model. This training method has the disadvantages of lack of system integrity, insufficient personalization, step-by-step, insufficient central association, etc., and it is slow to take effect and difficult to last. Studies have shown that electrical stimulation therapy has multiple functions for atrophic muscles. Low-frequency electrical stimulation can not only inhibit the reduction of muscle fiber cross-sectional area and the loss of muscle mass, but also prevent the loss of muscle function and maintain its normal muscle tension. Traditional electrical stimulation therapy is mostly passive treatment, that is, the stimulation parameters are manually set in advance to stimulate the atrophic part of the patient, which is suitable for patients without muscle strength. However, it is passive and blind. In most cases, the patient's active participation is small. The stimulator passively stimulates the muscle in an open loop, which is very likely to cause antagonistic muscle spasm when causing muscle contraction. Due to the fixed stimulation parameters, short-term stimulation is effective, but the effect becomes worse after long-term stimulation. It lacks adaptive adjustment ability and is easy to cause excessive stimulation, leading to muscle fatigue and even injury.

[0004] As people's pursuit of quality of life improves, traditional rehabilitation therapies can hardly meet people's expectations for effectively improving their health. How to shorten the treatment cycle and improve the level of functional recovery has become an urgent need of the people. Current research shows that biofeedback therapy can fully mobilize the subjective initiative of patients and increase the fun of rehabilitation training. Surface electromyography, as a non-invasive muscle assessment tool, has been widely used in the field of biofeedback in recent years. The introduction of electromyography feedback technology can enable patients to understand the state of muscle contraction, gradually train and adjust, improve patients' active control ability, and promote muscle rehabilitation.

[0005] Electromyographic feedback therapy technology is mainly divided into electromyographic feedback rehabilitation training technology and electromyographic feedback electrical stimulation therapy technology. The prior art discloses many products, patents and documents.

[0006] MyoMove-EOW electromyography instrument produced by Shanghai Nuocheng Electric is representative in the industry. Its electromyography instrument system integrates electromyography feedback training modes such as relaxation training, strengthening training, coordination training, accuracy training and anti-fatigue training. The main principle is to give different feedback information through the relationship between the set threshold and the actual electromyography amplitude of the patient. Relaxation training and strengthening training allow patients to adjust the activity level of muscles according to the feedback of image signals, so as to achieve the purpose of training. Coordination training, accuracy training and anti-fatigue training allow patients to consciously control muscle contraction through comprehensive game settings. The scoring mechanism set in the game enhances the enthusiasm of patients for rehabilitation training. The main defect of this system is that it does not have good portability and wearability due to the constraints of the lead wire and the volume of the device. At the same time, electromyography feedback training only involves the control of the feedback object by unilateral muscles, without taking into account the differences between the muscles on both sides, and no coordination training of the muscles on both sides is performed.

[0007] A Chinese patent document with publication number CN115969316A discloses a training and evaluation system based on a digital knee brace. The system takes into account the myoelectric difference between the healthy and affected side muscles, and uses the healthy side as a mirror reference for the affected side, which is beneficial to the functional remodeling of the affected side. The system receives the myoelectric signals of the affected and healthy side muscles in real time, and dynamically adjusts the intensity of the electrical stimulation according to the difference in the myoelectric RMS (Root Mean Square) of the healthy and affected side muscles, thereby reducing the muscle fatigue caused by the electrical stimulation to a certain extent. The device relates to a knee brace, which is mainly suitable for the brace fixation stage in the early stage of fracture. In the later stage of rehabilitation, since the patient does not need to continue wearing the brace, it exceeds the scope of application of the device. And because the device adopts a method of adjusting the amplitude of the electrical stimulation in real time according to the difference in the myoelectricity of the healthy and affected sides, the affected side needs to collect the myoelectricity while outputting the electrical stimulation, which is difficult to implement.

[0008] Compex8.0 is an intelligent muscle electrical stimulator from DJO, an American company. The electrical stimulator has excellent portability and wearability. A pair of compact devices are connected by snap electrodes and electrode sheets. Patients wearing a pair of devices can easily train and perform electrical stimulation treatment at the same time. The electrical stimulator has muscle intelligence technology that can adapt to each muscle and provide the most effective muscle stimulation. Different stimulation programs are built in, including conditioning, pain management, recovery / massage, fitness, rehabilitation programs, etc. However, the electrical stimulator does not have the function of electromyographic acquisition and electromyographic feedback, and cannot provide targeted rehabilitation treatment based on the differences between the healthy and affected sides, nor does it have the function of evaluating the treatment effect.

[0009] The existing rehabilitation treatment systems based on surface electromyography and electrical stimulation technology have the following main problems: (1) The wearability and portability of the system are poor. When patients use the system for treatment, they often find it inconvenient to use due to factors such as the size, weight and lead wire constraints of the system, which hinders the patient's treatment. (2) The system is based on traditional exercise therapy or open-loop electrical stimulation, so patients are not very enthusiastic about participating and the treatment effect is poor. Most systems only include one of the electromyography feedback electrical stimulation technology and the electromyography feedback rehabilitation training technology, without integrating the two technologies, and the treatment effect of the system is limited. At the same time, most systems do not take into account the differences in the muscles on the healthy and affected sides of the patient, do not take into account the coordination and cooperation between the healthy and affected sides, and do not provide targeted and personalized rehabilitation treatment. (3) The system lacks an objective treatment effect evaluation module. When patients use the system for treatment, they can only evaluate the treatment effect through subjective feelings, and lack or do not integrate objective data during the treatment process to evaluate the treatment effect. Summary of the invention

[0010] The purpose of the present invention is to address the deficiencies of the prior art and to propose a portable, wearable disuse muscular atrophy treatment system based on surface electromyography feedback technology.

[0011] The object of the present invention is achieved through the following technical solutions: a portable wearable disuse muscular atrophy treatment system based on surface electromyography feedback technology, the system comprising a pair of devices, a button-type hydrogel electrode sheet and a host computer;

[0012] The pair of devices are respectively worn on the symmetrical muscles on the left and right sides of the patient through button-type hydrogel electrodes, and are used to collect electromyographic signals of the two muscles and electrically stimulate the two muscles; each device has a hardware circuit, and the two hardware circuits are connected by a flexible lead wire;

[0013] The hardware circuit includes an electromyographic acquisition module and an electrical stimulation output module; the electromyographic acquisition module communicates with the host computer, receives control instructions, configures the working mode and sampling rate; and sends the collected electromyographic signals to the host computer; the electrical stimulation output module communicates with the host computer, receives instructions to control the electrical stimulation amplitude, frequency, and pulse width parameters to output the electrical stimulation waveform;

[0014] The host computer is used to set electrical stimulation parameters, receive and process electromyographic signal data, and decide whether to trigger electrical stimulation according to the patient's electromyographic value, including an electromyographic feedback training mode and a rehabilitation treatment effect evaluation module;

[0015] The electromyographic feedback training mode is implemented in the form of game feedback: the patient controls the electromyographic signal data obtained by controlling the muscle force to compare with the set threshold value to control the target to avoid obstacles; and the electromyographic signal data obtained by controlling the force of the left and right muscles to compare the target position relationship corresponding to the muscles on both sides;

[0016] The rehabilitation treatment effect evaluation module is used to calculate the patient's left and right muscle RMS, MVC (Maximum Voluntary Contraction) and MPF (Mean Power Frequency) parameters during the treatment and measure the limb circumference of the left and right muscles to evaluate the treatment effect.

[0017] Furthermore, each device also includes a housing, button-type positive and negative electrode female buckles embedded in the housing, and a button-type reference electrode female buckle connected by an electrode wire;

[0018] The shell of each device is used to enclose the hardware circuit;

[0019] The button-type positive and negative electrode female buckles embedded in the shell of each device are connected to the button-type hydrogel electrode sheets attached to the positive and negative electrodes on the upper and lower sides of the muscle belly, which not only collect electromyographic signals and conduct electrical stimulation, but also fix each device to the patient's muscles;

[0020] The button-type reference electrode female buckle connected by the electrode wire of each device is connected to the button-type hydrogel electrode sheet attached to the bony position, which serves as the reference electrode for myoelectric acquisition.

[0021] Furthermore, the hardware circuit also includes a low-power Bluetooth microprocessor module and a Bluetooth-serial port conversion module; the electromyography acquisition module and the electric stimulation output module communicate with the serial port and the low-power Bluetooth microprocessor module based on the SPI interface respectively; the low-power Bluetooth microprocessor module communicates with the host computer via the Bluetooth-serial port conversion module in BLE mode.

[0022] Furthermore, the electromyography acquisition module includes an electromyography acquisition chip with a data rate of 250SPS to 16kSPS, a common mode rejection ratio of up to 110dB, and a low-noise 24-bit analog-to-digital converter.

[0023] Furthermore, the electrical stimulation waveform of the electrical stimulation output module adopts a symmetrical balanced biphasic rectangular wave to reduce the skin burning sensation caused by electrical stimulation; the electrical stimulation intensity range is 0-40mA, and the step of the electrical stimulation intensity is 0.1mA; the frequency range is 1-120Hz, and the frequency step is 1Hz; the pulse width is 45-400μs, and the pulse width step is 1μs.

[0024] Furthermore, the hardware circuit also includes an ESD-front-end processing circuit, a data selection module, a reference electrode and a positive-negative electrode;

[0025] The ESD-front-end processing circuit described above, the ESD part is used to protect the electromyography acquisition module to prevent static electricity from damaging the electromyography acquisition module; the front-end processing circuit is used to pre-process the electromyography analog signal, including signal amplification and low-pass filtering;

[0026] The data selection module is used to implement data selection and control the positive and negative electrodes for electromyographic signal acquisition or electrical stimulation waveform output;

[0027] The reference electrode is used as a reference electrode for collecting electromyographic signals, and is used to eliminate the influence of the electric potential of the skin itself and reduce the common mode noise in the collected electromyographic signals.

[0028] Furthermore, the game feedback training mode for controlling the target specifically includes:

[0029] The electromyographic signal obtained by controlling the strength of the muscles on one side is compared with the set threshold to control a target to avoid obstacles;

[0030] The electromyographic signal data obtained by controlling the strength of the left and right muscles is used to compare the target position relationship of the muscles on both sides;

[0031] At the same time, the electromyographic signals obtained by controlling the strength of the muscles on both sides are compared with the corresponding different thresholds to control the same target to avoid obstacles.

[0032] Furthermore, based on the fixed stimulation threshold, whether to trigger electrical stimulation is determined according to the patient's electromyographic value. The specific steps are as follows:

[0033] (1) Set the electrical stimulation parameters, set the stimulation threshold, and proceed to step (2);

[0034] (2) The window size is 100ms;

[0035] The envelope of the window is calculated as follows:

[0036] (i) Calculate the average value mean of the window, subtract mean from all values ​​in the window, and get window1;

[0037] (ii) Perform Hilbert transform on window1 to obtain window2;

[0038] (iii) Take the absolute values ​​of all values ​​in window2 to get window3;

[0039] (iv) Add mean to all values ​​in window3 to obtain the envelope window window_envelope.

[0040] Calculate the RMS value window_rms of window_envelope. If window_rms is less than threshold, the window overlap is 0 and step (2) is repeated; if window_rms is greater than or equal to threshold, proceed to step (3);

[0041] (3) The host computer issues a control command: suspend electromyography acquisition, and send out an electrical stimulation waveform according to the set electrical stimulation parameters, with a duration of 3-5 seconds; after the electrical stimulation ends, resume electromyography acquisition and return to step (2).

[0042] Furthermore, based on the variable stimulation threshold, whether to trigger electrical stimulation is determined according to the patient's electromyographic value. The specific steps are as follows:

[0043] (1) Setting electrical stimulation parameters, initializing stimulation threshold, and proceeding to step (2);

[0044] (2) The window size is 3000ms;

[0045] The envelope of the window is calculated as follows:

[0046] (i) Calculate the average value mean of the window, subtract mean from all values ​​in the window, and get window1;

[0047] (ii) Perform Hilbert transform on window1 to obtain window2;

[0048] (iii) Take the absolute values ​​of all values ​​in window2 to get window3;

[0049] (iv) Add mean to all values ​​in window3 to obtain the envelope window window_envelope;

[0050] Calculate the RMS value window_rms of window_envelope; if window_rms is less than threshold, recalculate the stimulus threshold using the following formula:

[0051] threshold=threshold-(threshold-window_rms) / 2

[0052] The window overlap is 0, and step (2) is repeated; if window_rms is greater than or equal to threshold, go to step (3);

[0053] (3) The host computer issues a control command: suspend electromyographic acquisition, issue an electrical stimulation waveform according to the electrical stimulation parameters set by the patient, and the duration is 3-5 seconds; recalculate the stimulation threshold using the following formula:

[0054] threshold=threshold+(window_rms-threshold)*2

[0055] After the electrical stimulation ends, resume electromyographic acquisition and return to step (2).

[0056] Furthermore, the RMS, MVC and MPF parameters of the left and right muscles of the patient during the treatment are calculated as follows: the patient performs isometric contractions of the left and right sides at the same time with the maximum intensity, repeating the action multiple times, each time lasting 3-5 seconds. The starting point and end point of the electromyography of each action are selected through the parameter calculation module;

[0057] For RMS and MVC parameters, extract the envelope of the electromyography of each action, and calculate the average value of the maximum value of the envelope of multiple repeated actions and the average value of the RMS of the envelope of multiple repeated actions as the MVC parameter and RMS parameter;

[0058] For the MPF parameter, the frequency domain MPF ​​of the electromyography between the starting point and the end point is calculated, and the average value of the MPF of multiple repeated actions is calculated as the MPF parameter.

[0059] Compared with the prior art, the present invention has the following beneficial effects:

[0060] 1. This system has good portability and wearability. A pair of devices in the system are fixed by button electrodes and hydrogel electrodes attached to the patient's muscles. The data between the device and the host computer is transmitted through low-power Bluetooth, avoiding interference from factors such as lead wire constraints and inconvenient wearing. Wearing the device does not affect the patient's free movement.

[0061] 2. The system has the functions of both EMG acquisition and electrical stimulation, integrating EMG feedback rehabilitation training and EMG feedback electrical stimulation, which enhances the therapeutic effect of the system. EMG feedback rehabilitation training is fed back to patients in the form of images and games. EMG feedback electrical stimulation adjusts electrical stimulation according to the EMG value. EMG feedback not only enhances the patient's ability to control muscles, but also enhances the patient's enthusiasm for rehabilitation treatment and the fun of the rehabilitation process. EMG feedback-based electrical stimulation reduces muscle fatigue caused by electrical stimulation, and the threshold-variable electrical stimulation mode encourages patients to actively exert force. At the same time, the training mode based on EMG feedback in the system takes into account the differences between the healthy and affected side muscles of patients, and controls the feedback game objects through the different strength levels of the healthy and affected side muscles, exercises the coordination of the healthy and affected sides, and conducts targeted and personalized rehabilitation training.

[0062] 3. The system integrates a rehabilitation effect evaluation module supported by objective data. During the rehabilitation treatment, the patient records the muscle electromyography MVC, RMS, circumference, and MPF parameters, which can objectively and intuitively reflect the patient's rehabilitation treatment effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0064] Figure 1 A schematic diagram of a pair of devices of the present invention and their effects on the human body.

[0065] Figure 2 It is a system block diagram of the hardware circuit of a single device of the present invention.

[0066] Figure 3 It is a visualization interface for dual-channel electromyographic data of the host computer of the present invention.

[0067] Figure 4 It is an interface for the host computer of the present invention to set the electrical stimulation parameters.

[0068] Figure 5 It is a training mode-interface of the electromyographic feedback in the host computer of the present invention.

[0069] Figure 6 This is the second interface of the training mode of the electromyographic feedback in the host computer of the present invention.

[0070] Figure 7 It is the third interface of the training mode of electromyographic feedback in the host computer of the present invention.

[0071] Figure 8 This is the interface for adding and recording the circumference in the host computer of the present invention.

[0072] Fig. 9 This is an interface for selecting a waveform starting point in the host computer of the present invention.

[0073] Fig.10 This is a waveform endpoint interface selected in the host computer of the present invention.

[0074] Fig.11 It is the RMS recording interface in the host computer of the present invention.

[0075] Fig.12 It is the MVC recording interface in the host computer of the present invention.

[0076] Fig.13 It is the MPF recording interface in the host computer of the present invention. DETAILED DESCRIPTION

[0077] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be pointed out that the embodiments described below are intended to facilitate the understanding of the present invention and do not have any limiting effect on the present invention.

[0078] like Figure 1As shown, the present invention provides a portable wearable disuse muscular atrophy treatment system based on surface electromyography feedback technology, and the system includes a pair of devices, each of which includes a shell 6, a flexible lead wire 8 between two parts of the shell, a button-type positive and negative electrode female buckle 9 embedded in the shell, a button-type reference electrode female buckle 5 connected by an electrode wire, and a hardware circuit wrapped in the shell. A pair of devices and a button-type hydrogel electrode sheet 1 attached to a bony position as an electromyography acquisition reference electrode are connected by a button-type reference electrode female buckle 5 connected by an electrode wire, and a pair of devices are fixed to the patient's left and right symmetrical muscles through the button-type hydrogel electrode sheet. The button-type reference electrode female buckle 5 serves as a reference electrode for electromyography acquisition. The distance between the positive and negative button-type hydrogel electrode sheets and the muscle belly position 2 is 2 cm respectively. The positive and negative hydrogel electrode sheets include a first channel 3 and a second channel 4, which have both electromyography acquisition and electrical stimulation output functions. The system can collect electromyography signals of two muscles and can also electrically stimulate two muscles. Each device has the function of collecting surface electromyography and outputting electrical stimulation. The flexible lead wire 8 is used to connect the two parts of the shell, and is also the connecting wire between the hardware circuits. It is made of flexible material and can be straightened and bent. The button-type positive and negative electrode female buckle 9 embedded in the shell is connected to the hardware circuit inside the shell as positive and negative electrodes. At the same time, the hydrogel electrode sheet 3 (or the hydrogel electrode sheet 4 for the positive and negative electrodes) connected to the upper and lower positive and negative electrodes of the muscle belly is used for electromyographic acquisition and electrical stimulation output, and also plays a role in fixing the device to the muscle. The device also has a Type C charging port 7, which is connected to a Type C charging cable to charge the rechargeable lithium battery that powers the hardware circuit.

[0079] like Figure 2 As shown, the hardware circuit of each device includes a low-power Bluetooth microprocessor module, a Bluetooth-serial port conversion module, an electromyography acquisition module, an electrical stimulation output module, an ESD-front-end processing circuit, a data selection module, a reference electrode, a positive-negative electrode, a power management module, a rechargeable battery, a charging module, and a Type C charging port.

[0080] The low-power Bluetooth microprocessor module can be used as an ordinary single-chip microcomputer to realize the control of the entire hardware circuit. It also includes ble (Bluetooth Low Energy, low-power Bluetooth), which can be used to transmit data. The functions of the low-power Bluetooth microprocessor module mainly include: sending control instructions to the electromyography acquisition module through the SPI interface, and configuring the working mode and sampling rate of the electromyography acquisition module. At the same time, the electromyography data collected by the electromyography acquisition module is received through the SPI interface; instructions are sent to the electrical stimulation output module through the serial port to control the electrical stimulation amplitude, frequency, pulse width and other parameters of the electrical stimulation output module; the communication with the host computer is via the Bluetooth-serial port conversion module, and the control instructions from the host computer are received through ble and the electromyography data collected by the electromyography acquisition module is sent to the host computer.

[0081] The Bluetooth-serial port conversion module is connected to the USB port of the computer as the communication medium between the low-power Bluetooth microprocessor module and the host computer. The control instructions sent by the host computer through the serial port will first pass through the Bluetooth-serial port conversion module, and then be sent to the low-power Bluetooth microprocessor module through BLE. The electromyographic data sent by the low-power Bluetooth microprocessor module will first pass through the Bluetooth-serial port conversion module in BLE mode, and then be sent to the host computer through the serial port.

[0082] The EMG acquisition module includes an EMG acquisition chip with a data rate of 250SPS to 16kSPS, a common mode rejection ratio of up to 110dB, and a low-noise 24-bit analog-to-digital converter.

[0083] The electrical stimulation output module receives the control instructions sent by the low-power Bluetooth microprocessor module through the serial port, and outputs the electrical stimulation waveform according to the electrical stimulation amplitude, pulse width, and frequency parameters in the control instructions. The electrical stimulation waveform adopts a symmetrical and balanced biphasic rectangular wave to reduce the skin burning sensation caused by electrical stimulation. The electrical stimulation intensity range is 0-40mA, and the step of the electrical stimulation intensity is 0.1mA; the frequency range is 1-120Hz, and the frequency step is 1Hz; the pulse width is 45-400μs, and the pulse width step is 1μs.

[0084] ESD-front-end processing circuit, the ESD part is used to protect the electromyography acquisition module to prevent static electricity from damaging the electromyography acquisition module. The front-end processing circuit is used to pre-process the electromyography analog signal, including signal amplification and low-pass filtering.

[0085] The data selection module performs a data selection function, controlling whether the positive and negative electrodes are used for myoelectric signal acquisition or electrical stimulation waveform output.

[0086] The reference electrode is the reference electrode for EMG signal collection, which is used to eliminate the influence of the electric potential of the skin itself and reduce the common mode noise in the collected EMG signal.

[0087] The positive and negative electrodes are used to collect electromyographic signals or output electrical stimulation waveforms, which are controlled by the data selection module.

[0088] The power management module is used to process the 4.2V voltage input from the rechargeable battery and supply it to various modules in the circuit.

[0089] The rechargeable battery is a rechargeable lithium battery with a supply voltage of 4.2 V. The charging module and the Type C charging port are used to charge the rechargeable battery through the Type C interface.

[0090] The present invention provides a portable wearable disuse muscular atrophy treatment system based on surface electromyography feedback technology, wherein the system comprises a host computer, and the host computer comprises an electromyography processing module, an electromyography visualization module, an electric stimulation parameter setting module, electromyography feedback training mode 1, electromyography feedback training mode 2, electromyography feedback training mode 3, electromyography feedback electric stimulation module 1, electromyography feedback electric stimulation module 2, and a rehabilitation treatment effect evaluation module.

[0091] The EMG processing module parses the received EMG data according to a fixed data packet format, and then processes the EMG data, including 20-500Hz bandpass filtering and 50Hz power frequency interference removal.

[0092] like Figure 3 As shown in the figure, the EMG visualization module visualizes the EMG data of the two channels of the left and right muscles, and displays the maximum and minimum values ​​of the EMG waveforms in the current display range of the two channels. The scanning speed can be adjusted to adjust the current display range, and the adjustment range is 0.1s / div-1.0s / div, and the display range is 10 divs.

[0093] Place Figure 4 As shown in the figure, the electrical stimulation parameter setting module can adjust the amplitude, frequency, and pulse width parameters of electrical stimulation. After setting the parameters, click Confirm, and the host computer will send the electrical stimulation parameters to a pair of devices to complete the setting of the electrical stimulation waveform output by a pair of devices. The electrical stimulation intensity range is 0-40mA, and the step of the electrical stimulation intensity is 0.1mA; the frequency range is 1-120Hz, and the frequency step is 1Hz; the pulse width is 45-400μs, and the pulse width step is 1μs.

[0094] like Figure 5 As shown in the figure, EMG feedback training mode 1 uses game feedback to conduct EMG feedback training. The patient controls the "bird" in the game to avoid obstacles by controlling the strength of the muscles. A scoring mechanism is set up in the game to motivate patients to train. Each time a group of obstacles "water pipes" is passed, the score increases by one point. The game ends when the obstacle "water pipe" is hit. Follow the method described in the following steps to conduct feedback training:

[0095] (1) Set the training threshold threshold and proceed to step (2);

[0096] (2) The window size is 100ms. Calculate the maximum absolute value of the EMG of the left muscle in the window, max_left, and the maximum absolute value of the EMG of the right muscle in the window, max_right. Calculate max_value as the maximum value of max_left and max_right. When max_value is greater than or equal to threshold, the "bird" rises a certain distance; when max_value is less than threshold, the "bird" falls a certain distance. The window overlap is 0, and repeat step (2).

[0097] like Figure 6 As shown, the second EMG feedback training mode uses game feedback to conduct EMG feedback training. The patient controls the strength of the left and right muscles to control the two "cars" to move forward and backward on the two "lanes" respectively. The position of each "car" on the "lane" can show the strength of the corresponding muscle, and the relative position of the two "cars" in the two "lanes" can show the difference in strength of the left and right muscles. Follow the method described in the following steps to conduct feedback training:

[0098] (1) The patient uses the electromyography visualization module to test the maximum absolute value of the electromyography of the left and right muscles (the maximum absolute value of the electromyography waveform of the two channels), recorded as max_value. Go to step (2).

[0099] (2) Set the maximum training value to max_value. Go to step (3).

[0100] (3) The window size is 300ms. Calculate the maximum value of the absolute value of the EMG of the left muscle in the window, max_left, and calculate the maximum value of the absolute value of the EMG of the right muscle in the window, max_right. Assume that the length of the "lane" is L, the position of "Car 1" in the "lane" is: x1 = L*max_left / max_value, and the position of "Car 2" in the "lane" is: x2 = L*max_right / max_value. The window overlap is 0, and repeat step (3).

[0101] like Figure 7 As shown, the EMG feedback training mode 3 uses the feedback form of the game to conduct EMG feedback training. The patient controls the strength of the left and right muscles to control the "car" to avoid the obstacle "car" coming from the opposite direction. A scoring mechanism is set up in the game to motivate patients to train. Each time an obstacle "car" is avoided, the score increases by one point. The game ends when the obstacle "car" collides with it. Follow the method described in the following steps to conduct feedback training:

[0102] (1) Before starting training, the patient sets the difference threshold differ_threshold and the value threshold value_threshold. Go to step (2).

[0103] (2) The window size is 400ms. Calculate the maximum value of the absolute value of the electromyography of the left muscle in the window, max_left, and calculate the maximum value of the absolute value of the electromyography of the right muscle in the window, max_right. Calculate the position of the car according to the following formula:

[0104]

[0105] In the formula, left means that the "car" is in the "left lane", corresponding to Figure 7 (a) in the figure; right means that the car is in the right lane, corresponding to Figure 7 (b) in the figure; mid means that the “car” is in the “middle lane”, corresponding to Figure 7 (c) in mid and trans means that the "car" is in the "middle lane" and transforms into an "aircraft", which can cross the obstacle "car" coming from the opposite direction without colliding, corresponding to Figure 7 (d) in the figure. The window overlap is 0 and step (2) is repeated.

[0106] The electromyographic feedback electrical stimulation module decides whether to trigger electrical stimulation based on the patient's electromyographic value. In this mode, the left and right sides are controlled separately. For example, when electrical stimulation is triggered on the left side, the host computer sends a control instruction to the left device to suspend electromyographic acquisition and control the output of the electrical stimulation waveform for 3-5 seconds. After the electrical stimulation is completed, the electromyographic acquisition is resumed. If the electrical stimulation is not triggered on the right side during this process, the electromyographic acquisition is performed normally on the right side. The electrical stimulation triggers on both sides are controlled separately, and the two sides do not affect each other. Follow the method described in the following steps to control the triggering of electrical stimulation:

[0107] (1) Before starting use, the patient sets appropriate electrical stimulation parameters through the electrical stimulation parameter setting module, and the patient sets the stimulation threshold threshold. Go to step (2).

[0108] (2) The window size is 100ms.

[0109] The envelope of the window is calculated as follows:

[0110] (i) Calculate the average value mean of the window, subtract mean from all values ​​in the window, and get window1;

[0111] (ii) Perform Hilbert transform on window1 to obtain window2;

[0112] (iii) Take the absolute values ​​of all values ​​in window2 to get window3;

[0113] (iv) Add mean to all values ​​in window3 to obtain the envelope window window_envelope.

[0114] Calculate the RMS value window_rms of window_envelope. If window_rms is less than threshold, the window overlap is 0 and step (2) is repeated; if window_rms is greater than or equal to threshold, proceed to step (3).

[0115] (3) The host computer issues a control command: suspend electromyographic acquisition and issue an electrical stimulation waveform according to the electrical stimulation parameters set by the patient, with a duration of 3-5 seconds. After the electrical stimulation is completed, resume electromyographic acquisition and enter step (2).

[0116] The electromyographic feedback electrical stimulation module 2 decides whether to trigger electrical stimulation based on the patient's electromyographic value, and uses a variable stimulation threshold. In this mode, the left and right sides are controlled separately. For example, when electrical stimulation is triggered on the left side, the host computer sends a control instruction to the left device to suspend electromyographic acquisition and control the output of the electrical stimulation waveform for 3-5 seconds. After the electrical stimulation is completed, the electromyographic acquisition is resumed. If the electrical stimulation is not triggered on the right side during this process, the electromyographic acquisition is performed normally on the right side, and the electrical stimulation triggers on both sides are controlled separately, and the two sides do not affect each other. Follow the method described in the following steps to control the triggering of electrical stimulation:

[0117] (1) Before starting use, the patient sets appropriate electrical stimulation parameters through the electrical stimulation parameter setting module, and the system initializes the stimulation threshold threshold. Go to step (2).

[0118] (2) The window size is 3000ms.

[0119] The envelope of the window is calculated as follows:

[0120] (i) Calculate the average value mean of the window, subtract mean from all values ​​in the window, and get window1;

[0121] (ii) Perform Hilbert transform on window1 to obtain window2;

[0122] (iii) Take the absolute values ​​of all values ​​in window2 to get window3;

[0123] (iv) Add mean to all values ​​in window3 to obtain the envelope window window_envelope.

[0124] Calculate the RMS value window_rms of window_envelope. If window_rms is less than threshold, recalculate the stimulus threshold using the following formula:

[0125] threshold=threshold-(threshold-window_rms) / 2

[0126] If the window overlap is 0, repeat step (2); if window_rms is greater than or equal to threshold, go to step (3).

[0127] (3) The host computer issues a control command: suspend electromyographic acquisition and issue an electrical stimulation waveform according to the electrical stimulation parameters set by the patient, with a duration of 3-5 seconds. The stimulation threshold is recalculated using the following formula:

[0128] threshold=threshold+(window_rms-threshold)*2

[0129] After the electrical stimulation ends, resume electromyographic acquisition and proceed to step (2).

[0130] The rehabilitation treatment effect evaluation module records the objective data of the patient during the rehabilitation treatment process. Through the intuitive display of objective data, it can reflect the patient's rehabilitation treatment effect. It includes the circumference recording module, parameter calculation module, RMS recording module, MVC recording module and MPF recording module.

[0131] like Figure 8 As shown, the circumference recording module supports patients to measure the limb circumference of the left and right muscles and enter the data into the module. The module establishes a database to store the entered data. The module displays the entered data in the form of a bar graph according to the entry time and the comparison between the left and right sides. Patients can intuitively see the changes in the limb circumference of the left and right muscles over time during the rehabilitation treatment process.

[0132] like Fig. 9 and Fig.10 As shown, the parameter calculation module supports the patient to select a starting point and an end point. The module can calculate the RMS, MVC and MPF parameters of the electromyographic waveforms of the two channels between the starting point and the end point for use by the RMS recording module, the MVC recording module and the MPF recording module.

[0133] like Fig.11 , Fig.12 and Fig.13As shown, the three recording modules respectively record the RMS, MVC and MPF parameters of the left and right muscles during the patient's rehabilitation treatment. All three recording modules have established databases to store the entered data. The recording module displays the entered data in the form of a bar graph according to the entry time and the comparison between the left and right sides. The patient can intuitively see the changes in the RMS, MVC and MPF of the left and right muscles over time during the rehabilitation treatment. Calculate the data of the RMS recording module, MVC recording module and MPF recording module according to the following steps:

[0134] The patient performs isometric contraction of maximum intensity on both sides at the same time, repeating the action multiple times, each time for 3-5 seconds. The starting point and end point of the electromyography of each action are selected through the parameter calculation module. The system automatically extracts the envelope, further extracts the maximum value of the envelope, and calculates the average value of the maximum value of the envelope of multiple repeated actions and the average value of the RMS of the envelope of multiple repeated actions, and automatically enters them into the MVC recording module and RMS recording module as MVC parameters and RMS parameters.

[0135] Furthermore, the system will automatically calculate the frequency domain MPF ​​of the electromyography between the starting point and the end point, and calculate the average value of the MPF of multiple repeated actions, and automatically enter it into the MPF recording module as the MPF parameter.

[0136] The embodiments described above provide a detailed description of the technical solutions and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, supplements and equivalent substitutions made within the scope of the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A portable and wearable disuse muscular atrophy treatment system based on surface electromyography feedback technology, characterized in that: The system includes a pair of devices, button-type hydrogel electrode sheets, and a host computer; The pair of devices are respectively worn on the symmetrical muscles on the left and right sides of the patient through button-type hydrogel electrodes, and are used to collect electromyographic signals of the two muscles and electrically stimulate the two muscles; each device has a hardware circuit, and the two hardware circuits are connected by a flexible lead wire; The hardware circuit includes an electromyographic acquisition module and an electrical stimulation output module; the electromyographic acquisition module communicates with the host computer, receives control instructions, configures the working mode and sampling rate; and sends the collected electromyographic signals to the host computer; the electrical stimulation output module communicates with the host computer, receives instructions to control the electrical stimulation amplitude, frequency, and pulse width parameters to output the electrical stimulation waveform; The host computer is used to set electrical stimulation parameters, receive and process electromyographic signal data, and decide whether to trigger electrical stimulation according to the patient's electromyographic value, including an electromyographic feedback training mode and a rehabilitation treatment effect evaluation module; The electromyographic feedback training mode is implemented in the form of game feedback: the patient controls the electromyographic signal data obtained by controlling the muscle force and compares it with the set threshold to control the target to avoid obstacles; And by controlling the strength of the left and right muscles, the electromyographic signal data is obtained to compare the target position relationship of the muscles on both sides; The rehabilitation treatment effect evaluation module is used to calculate the patient's left and right muscle RMS, MVC and MPF parameters during the treatment and measure the limb circumference of the left and right muscles to evaluate the treatment effect.

2. The portable wearable disuse muscular atrophy treatment system based on surface electromyography feedback technology according to claim 1 is characterized in that: Each device also includes a housing, button-type positive and negative electrode female buckles embedded in the housing, and a button-type reference electrode female buckle connected by an electrode wire; The shell of each device is used to enclose the hardware circuit; The button-type positive and negative electrode female buckles embedded in the shell of each device are connected to the button-type hydrogel electrode sheets attached to the positive and negative electrodes on the upper and lower sides of the muscle belly, which not only collect electromyographic signals and conduct electrical stimulation, but also fix each device to the patient's muscles; The button-type reference electrode female buckle connected by the electrode wire of each device is connected to the button-type hydrogel electrode sheet attached to the bony position, which serves as the reference electrode for myoelectric acquisition.

3. The portable wearable disuse muscular atrophy treatment system based on surface electromyography feedback technology according to claim 1 is characterized in that: The hardware circuit also includes a low-power Bluetooth microprocessor module and a Bluetooth-serial port conversion module; the electromyography acquisition module and the electric stimulation output module communicate with the serial port and the low-power Bluetooth microprocessor module based on the SPI interface respectively; the low-power Bluetooth microprocessor module communicates with the host computer via the Bluetooth-serial port conversion module in BLE mode.

4. The portable wearable disuse muscular atrophy treatment system based on surface electromyography feedback technology according to claim 1 is characterized in that: The electromyography acquisition module includes an electromyography acquisition chip, with a data rate of 250SPS to 16kSPS, a common mode rejection ratio of up to 110dB, and a low-noise 24-bit analog-to-digital converter.

5. The portable wearable disuse muscular atrophy treatment system based on surface electromyography feedback technology according to claim 1 is characterized in that: The electrical stimulation waveform of the electrical stimulation output module adopts a symmetrical balanced biphasic rectangular wave to reduce the skin burning sensation caused by electrical stimulation; the electrical stimulation intensity range is 0-40mA, and the step of electrical stimulation intensity is 0.1mA; the frequency range is 1-120Hz, and the frequency step is 1Hz; the pulse width is 45-400μs, and the pulse width step is 1μs.

6. The portable wearable disuse muscular atrophy treatment system based on surface electromyography feedback technology according to claim 1 is characterized in that: The hardware circuit also includes an ESD-front-end processing circuit, a data selection module, a reference electrode, and positive-negative electrodes; The ESD-front-end processing circuit described above, the ESD part is used to protect the electromyography acquisition module to prevent static electricity from damaging the electromyography acquisition module; the front-end processing circuit is used to pre-process the electromyography analog signal, including signal amplification and low-pass filtering; The data selection module is used to implement data selection and control the positive and negative electrodes for electromyographic signal acquisition or electrical stimulation waveform output; The reference electrode is used as a reference electrode for collecting electromyographic signals, and is used to eliminate the influence of the electric potential of the skin itself and reduce the common mode noise in the collected electromyographic signals.

7. The portable wearable disuse muscular atrophy treatment system based on surface electromyography feedback technology according to claim 1 is characterized in that: The game feedback training mode of controlling the target specifically includes: The electromyographic signal obtained by controlling the strength of the muscles on one side is compared with the set threshold to control a target to avoid obstacles; The electromyographic signal data obtained by controlling the strength of the left and right muscles is used to compare the target position relationship of the muscles on both sides; At the same time, the electromyographic signals obtained by controlling the strength of the muscles on both sides are compared with the corresponding different thresholds to control the same target to avoid obstacles.

8. The portable wearable disuse muscular atrophy treatment system based on surface electromyography feedback technology according to claim 1 is characterized in that: Based on the fixed stimulation threshold, the patient's electromyographic value is used to determine whether to trigger electrical stimulation. The specific steps are as follows: (1) Set the electrical stimulation parameters, set the stimulation threshold, and proceed to step (2); (2) The window size is 100ms; The envelope of the window is calculated as follows: (i) Calculate the average value mean of the window, subtract mean from all values ​​in the window, and get window1; (ii) Perform Hilbert transform on window1 to obtain window2; (iii) Take the absolute values ​​of all values ​​in window2 to get window3; (iv) Add mean to all values ​​in window3 to obtain the envelope window window_envelope. Calculate the RMS value window_rms of window_envelope. If window_rms is less than threshold, the window overlap is 0 and step (2) is repeated; if window_rms is greater than or equal to threshold, proceed to step (3); (3) The host computer issues a control command: suspend electromyography acquisition, and send out an electrical stimulation waveform according to the set electrical stimulation parameters, with a duration of 3-5 seconds; after the electrical stimulation ends, resume electromyography acquisition and return to step (2).

9. The portable wearable disuse muscular atrophy treatment system based on surface electromyography feedback technology according to claim 1 is characterized in that: Based on the variable stimulation threshold, the patient's electromyographic value is used to determine whether to trigger electrical stimulation. The specific steps are as follows: (1) Setting electrical stimulation parameters, initializing stimulation threshold, and proceeding to step (2); (2) The window size is 3000ms; The envelope of the window is calculated as follows: (i) Calculate the average value mean of the window, subtract mean from all values ​​in the window, and get window1; (ii) Perform Hilbert transform on window1 to obtain window2; (iii) Take the absolute values ​​of all values ​​in window2 to get window3; (iv) Add mean to all values ​​in window3 to obtain the envelope window window_envelope; Calculate the RMS value window_rms of window_envelope; if window_rms is less than threshold, recalculate the stimulus threshold using the following formula: threshold=threshold-(threshold-window_rms) / 2 The window overlap is 0, and step (2) is repeated; if window_rms is greater than or equal to threshold, go to step (3); (3) The host computer issues a control command: suspend electromyographic acquisition, issue an electrical stimulation waveform according to the electrical stimulation parameters set by the patient, and the duration is 3-5 seconds; recalculate the stimulation threshold using the following formula: threshold=threshold+(windw_rms-threshold)*2 After the electrical stimulation ends, resume electromyographic acquisition and return to step (2).

10. The portable wearable disuse muscular atrophy treatment system based on surface electromyography feedback technology according to claim 1 is characterized in that: The specific process of calculating the patient's left and right muscle RMS, MVC and MPF parameters during the treatment is as follows: the patient performs isometric contractions of the left and right sides at the same time with the maximum intensity, repeating the action multiple times, each time lasting 3-5 seconds. The starting point and end point of the electromyography of each action are selected through the parameter calculation module; For RMS and MVC parameters, extract the envelope of the electromyography of each action, and calculate the average value of the maximum value of the envelope of multiple repeated actions and the average value of the RMS of the envelope of multiple repeated actions as the MVC parameter and RMS parameter; For the MPF parameter, the frequency domain MPF ​​of the electromyography between the starting point and the end point is calculated, and the average value of the MPF of multiple repeated actions is calculated as the MPF parameter.

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