Multi-channel neuromuscular electrical stimulation device and control method thereof

Abstract

The invention relates to a multichannel neuromuscular electrical stimulation device and a control method thereof. The device comprises a multi-stage power supply generator which is provided with a booster circuit for generating N-stage voltage; a plurality of electrical stimulation channels; the digital control circuit comprises a controller and a plurality of channel control registers respectively corresponding to the plurality of electrical stimulation channels; the skin impedance detection circuit is configured to detect the skin impedance value of the stimulation part corresponding to the output electrode of each electrical stimulation channel; the multi-stage power generator further comprises a voltage selection unit for switchably connecting each electrical stimulation channel to the N voltage outputs, and the voltage selection unit is configured to select and / or switch a supply voltage for each electrical stimulation channel from the N voltage outputs according to a skin impedance value detected by the skin impedance detection circuit. According to the multi-channel neuromuscular electrical stimulation device and the control method thereof, flexible cooperative control among multiple channels and self-adaptive adjustment based on impedance are realized, and the system energy efficiency and the treatment accuracy are improved.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a multi-channel neuromuscular electrical stimulation device and a control method thereof. Background Art

[0002] Neuromuscular electrical stimulation technology is an important medical means to regulate nerve and muscle function through electrical stimulation. It is widely used in stroke rehabilitation, spinal cord injury treatment, pain management and other fields.

[0003] Traditional single-channel stimulation devices can only target a single nerve or muscle area, failing to meet the needs of coordinated multi-site treatment. For example, the abnormal movement patterns of the flexor and extensor muscles in a stroke patient's upper limbs require synchronous regulation, but single-channel stimulation makes it difficult to achieve coordinated activation of multiple muscle groups.

[0004] Furthermore, existing devices lack flexibility in adjusting stimulation parameters. Most devices have fixed current, frequency, pulse width, and other parameters or require manual adjustment of each channel. When using multiple stimulation channels, operators must adjust each parameter individually, a cumbersome process that makes it difficult to ensure the coordination and synchronization of parameters across channels, impacting treatment effectiveness.

[0005] Existing technologies also generally lack the ability to adapt to individual patient differences. Most devices rely on preset standard parameters and are unable to dynamically adjust to the patient's real-time physiological state, resulting in significant individual differences in efficacy.

[0006] In summary, existing neuromuscular electrical stimulation technology has many limitations in meeting complex clinical needs.

[0007] The content of this background technology description is only for facilitating understanding of the relevant technology in this field and is not regarded as an admission of the prior art. Summary of the Invention

[0008] The embodiments of the present invention aim to provide a multi-channel neuromuscular electrical stimulation device and a control method thereof, which realizes coordinated intervention of different muscle groups through a multi-channel independently programmable electrical stimulation architecture.

[0009] In a first aspect, an embodiment of the present invention provides a multi-channel neuromuscular electrical stimulation device, which may include:

[0010] A multi-level power generator including a boost circuit for generating N voltage outputs corresponding to N levels of voltage;

[0011] Multiple electrical stimulation channels, each of which includes an independent voltage-controlled current source and output electrode, and outputs a sequence of electrical pulses;

[0012] a digital control circuit comprising a controller and a plurality of channel control registers corresponding to the plurality of electrical stimulation channels, each control register storing an electrical pulse parameter corresponding to the electrical stimulation channel, the controller being configured to control the electrical stimulation channel to output the electrical pulse sequence according to the electrical pulse parameter corresponding to each electrical stimulation channel;

[0013] A skin impedance detection circuit configured to detect the skin impedance value of the stimulation site corresponding to the output electrode of each electrical stimulation channel;

[0014] In which, the multi-stage power generator also includes a voltage selection unit for switchably connecting each electrical stimulation channel to the N voltage outputs, and the voltage selection unit is configured to select and / or switch the power supply voltage for each electrical stimulation channel from the N voltage outputs according to the skin impedance value detected by the skin impedance detection circuit, wherein N≥2.

[0015] In some embodiments, the multi-channel neuromuscular electrical stimulation device also includes a pulse generating circuit; the pulse generating circuit includes a timing controller, which generates corresponding pulse control signals based on the electrical pulse parameters stored in each control register, so that the controller is configured to control the voltage-controlled current source of the corresponding electrical stimulation channel to output the electrical pulse sequence according to the corresponding pulse control signal.

[0016] In some embodiments, the controller is configured to control each electrical stimulation channel to execute one or more of the following output modes: a separate output mode, a synchronous output mode, an alternating output mode, a delayed output mode, and a different waveform combined output mode.

[0017] In some embodiments, the delayed output mode includes an antagonist muscle delayed activation mode, wherein the controller is configured to, in the antagonist muscle delayed activation mode, determine at least one of the multiple electrical stimulation channels as a synergistic muscle channel, and determine at least another one of the multiple electrical stimulation channels as an antagonist muscle channel, control the synergistic muscle channel to first output a first electrical pulse sequence for causing muscle contraction, and after a preset delay time, control the antagonist muscle channel to output a second electrical pulse sequence.

[0018] In some embodiments, the boost circuit is a cascade boost circuit, comprising a plurality of boost units connected in series, wherein the output of each boost unit serves as the input of the next stage and provides a voltage output terminal, thereby forming the N voltage levels that increase step by step.

[0019] In some embodiments, the voltage selection unit includes a low-voltage transistor switch group, and the voltage borne by each transistor switch in the low-voltage transistor switch group does not exceed the difference between two adjacent voltage levels in the cascade boost circuit.

[0020] In some embodiments, the multi-channel neuromuscular electrical stimulation device further comprises a physiological feedback circuit, wherein the physiological feedback circuit is configured to detect a physiological feedback signal related to electrical stimulation, wherein the digital control circuit is configured to update the electrical pulse parameters in the corresponding control register according to the detected physiological feedback signal.

[0021] In some embodiments, the physiological feedback circuit includes a tremor recognition circuit, wherein the tremor recognition circuit is configured to detect tremor characteristics of the neuromuscular system, wherein the digital control circuit is configured to determine a tremor suppression mode based on the tremor characteristics of the neuromuscular system, and update the electrical pulse parameters in the corresponding control register based on the determined tremor suppression mode.

[0022] In some embodiments, the physiological feedback circuit includes a muscle state detection circuit, wherein the muscle state detection circuit is configured to detect a muscle contraction response caused by electrical stimulation, wherein the digital control circuit is configured to identify a muscle fatigue level based on a changing trend of the contraction response, adjust the stimulation intensity and / or stimulation mode based on the identified fatigue level, and update the electrical pulse parameters in the corresponding control register based on the adjusted stimulation intensity and / or stimulation mode.

[0023] In some embodiments, the multi-channel neuromuscular electrical stimulation device also includes an electrode detachment detection circuit, which includes a voltage monitoring module and comparison logic, wherein the voltage monitoring module is configured to monitor the real-time output voltage of each electrical stimulation channel, wherein the comparison logic is configured to judge the electrode state based on the ratio of the real-time output voltage detected by the voltage monitoring module to the current set current of the corresponding electrical stimulation channel, and when the ratio exceeds a first preset threshold value, it is determined that the electrode of the corresponding electrical stimulation channel is detached and a detachment signal is generated.

[0024] In some embodiments, the multi-channel neuromuscular electrical stimulation device also includes an electrode detachment detection circuit, which includes a voltage monitoring module, a differential circuit and a comparison logic, wherein the voltage monitoring module is configured to monitor the real-time output voltage of each electrical stimulation channel, wherein the differential circuit is configured to determine the voltage change rate of the real-time output voltage, and wherein the comparison logic is configured to determine that the electrode of the corresponding electrical stimulation channel is detached and generate a detachment signal when the ratio of the real-time output voltage to the current set current of the corresponding electrical stimulation channel exceeds a second preset threshold and the voltage change rate exceeds a third preset threshold.

[0025] In a second aspect, an embodiment of the present invention provides a multi-channel neuromuscular electrical stimulation control method, which may include:

[0026] Generate N-level voltage output, where N ≥ 2;

[0027] storing independent electrical pulse parameters for multiple electrical stimulation channels;

[0028] Detect the skin impedance value of the stimulation site corresponding to each electrical stimulation channel;

[0029] selecting a supply voltage for each electrical stimulation channel from the N levels of voltage output according to the detected skin impedance value;

[0030] According to the stored electric pulse parameters, each electric stimulation channel is controlled to output an electric pulse sequence independently or jointly.

[0031] In some embodiments, the multi-channel neuromuscular electrical stimulation control method can be performed using the multi-channel neuromuscular electrical stimulation device described in the first aspect.

[0032] In some embodiments, controlling each electrical stimulation channel to independently or jointly output an electrical pulse sequence according to stored electrical pulse parameters includes:

[0033] Each electrical stimulation channel is controlled to execute one or more of the following output modes: a separate output mode, a synchronous output mode, an alternating output mode, a delayed output mode, and a different waveform combined output mode.

[0034] In some embodiments, controlling each electrical stimulation channel to independently or jointly output an electrical pulse sequence according to the stored electrical pulse parameters includes: controlling each electrical stimulation channel to execute an antagonist muscle delayed activation mode, specifically including:

[0035] determining that at least one electrical stimulation channel is a synergistic muscle channel;

[0036] determining that at least one other electrically stimulated channel is an antagonist muscle channel;

[0037] Controlling the synergistic muscle channel to first output a first electric pulse sequence;

[0038] After a preset delay time, the antagonistic muscle channel is controlled to output a second electric pulse sequence.

[0039] In a third aspect, an embodiment of the present invention provides an electronic device, comprising: a processor and a memory storing a computer program, wherein the processor is configured to implement the method described in the second aspect when executing the computer program.

[0040] In a fourth aspect, an embodiment of the present invention provides a program product, comprising a computer program, wherein when the computer program is executed by a processor, the method as described in the second aspect is implemented.

[0041] In a fifth aspect, an embodiment of the present invention provides a storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the method described in the second aspect.

[0042] Existing neuromuscular electrical stimulation devices are unable to achieve flexible coordinated control between multiple channels and lack the ability to perform adaptive parameter adjustment based on real-time physiological feedback, resulting in limited effectiveness in the treatment of complex diseases. To solve the above technical problems, the multi-channel neuromuscular electrical stimulation device provided in an embodiment of the present invention includes: a multi-stage power generator, including a boost circuit for generating N levels of voltage; multiple electrical stimulation channels, each channel including an independent voltage-controlled current source; a digital control circuit, including a controller and control registers corresponding to each channel and a skin impedance detection circuit; the multi-stage power generator also includes a voltage selection unit, whereby the digital control circuit stores the electrical pulse parameters of each channel through an independent control register to achieve independent or joint output control of the multiple channels, and the skin impedance detection circuit detects the impedance value of each stimulation site in real time, and the voltage selection unit selects the optimal supply voltage for each channel from the multi-stage voltage according to the detection result. In an embodiment of the present invention, an independent control register is configured for each channel through the digital control circuit to store its own electrical pulse parameters, thereby achieving independent or joint output control of the multiple channels. This multi-channel joint output architecture, with each channel controlled by an independent voltage-controlled current source and control register, enables multiple output modes, such as individual, synchronous, alternating, and delayed, to meet the coordinated intervention needs of different muscle groups. Furthermore, in an embodiment of the present invention, an adaptive voltage selection mechanism based on skin impedance dynamically selects the optimal supply voltage from multiple power sources based on real-time impedance measurements, improving system energy efficiency and reducing inefficient power consumption.

[0043] In a further optional embodiment, through the integrated physiological feedback regulation function, including the tremor recognition circuit and the muscle fatigue detection circuit, the real-time optimization adjustment of the treatment parameters is achieved to improve the pertinence and effectiveness of the treatment.

[0044] In a further optional embodiment, an electrode detachment detection circuit monitors the real-time output voltage of each channel and determines the electrode status based on the ratio of voltage to a set current, thereby determining electrode detachment (complete detachment) and safely monitoring the treatment process. In yet another optional embodiment, the electrode detachment detection circuit may also include a differential circuit to simultaneously detect the voltage change rate. When the ratio exceeds a corresponding threshold and the voltage change rate exceeds a set threshold, the electrode is partially detached. Compared to methods that rely solely on voltage ratio judgment, this method can accurately capture partial detachment anomalies such as poor electrode contact and looseness.

[0045] In a further optional embodiment, a digital control architecture that supports multi-channel independent programming output is used to achieve highly customizable millisecond-level timing precision control to meet the clinical needs of fine motor rehabilitation.

[0046] The system design of the embodiment of the present invention enables flexible configuration of the number of channels and is suitable for various clinical application scenarios such as spasticity relief and stroke rehabilitation training.

[0047] Other optional features and technical effects of the embodiments of the present invention are partially described below, and partially can be understood by reading this document. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The elements shown are not limited to the scale shown in the drawings. The same or similar reference numerals in the drawings represent the same or similar elements, wherein:

[0049] Figure 1 shows an exemplary structural diagram of a multi-channel neuromuscular electrical stimulation device according to some embodiments of the present invention;

[0050] Figure 2 A circuit diagram showing a boost circuit of a multi-stage power generator according to some embodiments of the present invention;

[0051] Figure 3A A schematic diagram illustrating an electrical pulse sequence output by an electrical stimulation channel according to some embodiments of the present invention is shown;

[0052] Figure 3B Schematic diagrams showing the electrical pulse sequences output by the electrical stimulation channels according to other embodiments of the present invention;

[0053] Figure 3C Schematic diagrams showing the electrical pulse sequences output by the electrical stimulation channels according to other embodiments of the present invention;

[0054] Figure 3D Schematic diagrams showing the electrical pulse sequences output by the electrical stimulation channels according to other embodiments of the present invention;

[0055] Figure 4 An exemplary flow chart showing a multi-channel neuromuscular electrical stimulation control method according to an embodiment of the present invention; and

[0056] Figure 5 An exemplary structural diagram of an electronic device capable of implementing the method according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with specific embodiments and accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0058] The technical solutions and implementations of the embodiments of the present invention will be described in detail below through specific examples. It should be noted that the embodiments of the present invention and the features within the embodiments may be combined with each other unless they conflict. Furthermore, in the description of the present invention, the terms "first," "second," etc. are used solely for purposes of distinction and are not to be construed as indicating or implying relative importance.

[0059] In clinical rehabilitation practice, complex neuromuscular dysfunction often involves coordination imbalances among multiple muscle groups. For example, stroke patients often exhibit abnormal coupling patterns between flexors and extensors, and stimulating only one muscle group may exacerbate this imbalance.

[0060] Furthermore, the study found that skin impedance and muscle response characteristics can vary significantly between patients, and even within the same patient at different stages of treatment. Traditional fixed-parameter stimulation methods struggle to adapt to these dynamic changes.

[0061] On the other hand, it has been noted that there is room for improvement in the energy efficiency of existing multi-channel devices. Due to the impedance differences at different stimulation sites, using a unified supply voltage may result in excessive power consumption in some channels.

[0062] Based on the above considerations, an embodiment of the present invention provides a multi-channel neuromuscular electrical stimulation device and a control method thereof.

[0063] See also Figure 1 , Figure 1 1 shows an exemplary structural diagram of a multi-channel neuromuscular electrical stimulation device according to some embodiments of the present invention. Figure 1 In the illustrated embodiment, the multi-channel neuromuscular electrical stimulation device 100 includes a multi-stage power generator, a plurality of electrical stimulation channels 141 - 144 (eg, electrical stimulation channels 1 - 4 ), a digital control circuit 150 , and a skin impedance detection circuit 160 .

[0064] In some embodiments, the multi-channel neuromuscular electrical stimulation device 100 may further include a physiological feedback circuit, which may be used to detect physiological feedback signals associated with electrical stimulation. Figure 1 In the illustrated embodiment, the physiological feedback circuit may include a tremor identification circuit 161 and / or a muscle state detection circuit 162 for detecting neuromuscular tremor characteristics and muscle contraction responses, respectively, as described below.

[0065] In some optional embodiments, such as Figure 1 As shown, the multi-channel neuromuscular electrical stimulation device 100 may further include an electrode detachment detection circuit 180 for monitoring electrode status and providing safety protection, as described below.

[0066] In an embodiment of the present invention, the multi-channel neuromuscular electrical stimulation device 100 may further include a power conversion circuit 190. The power conversion circuit 190 is arranged in parallel with the boost circuit 130 to form a dual-power supply architecture: the power conversion circuit 190 provides a stable low-voltage operating power supply (e.g., 3.3V or 5V) for the digital control circuit 150, the skin impedance detection circuit 160, and other low-voltage control circuits; the boost circuit 130 provides an adjustable boosted operating power supply (e.g., 12V, 24V, 36V, 48V, etc.) for the electrical stimulation channels 141-144, as further described below.

[0067] In some embodiments, as Figure 1 As shown, the multi-channel neuromuscular electrical stimulation device 100 may further include a charging interface 110 and a battery 120. Optionally, the charging interface 110 may adopt a standard USB-C interface, a Micro-USB interface or other suitable charging interface forms. Optionally, the battery 120 may adopt a lithium-ion battery, a lithium polymer battery or other rechargeable battery, and the capacity may be selected according to the power consumption requirements of the device. It should be noted that the power supply method of the device is not limited to rechargeable batteries. In other embodiments, the device may also be directly powered by an external power adapter, use non-rechargeable disposable batteries, or be powered through a standard power interface of a medical device.

[0068] Continue to refer Figure 2 , Figure 2 A circuit diagram of a multi-stage power generator according to some embodiments of the present invention is shown.

[0069] Combined with reference Figure 1 and Figure 2 ,The multi-level power generator is used to generate output of multiple voltage levels and ,provide selectable power supply voltage for each electrical stimulation channel.

[0070] In an embodiment of the present invention, the multi-stage power generator includes a boost circuit 130 and a voltage selection unit (not shown), wherein the boost circuit 130 generates N levels of voltage output (N≥2), and the voltage selection unit can select a suitable power supply voltage for each electrical stimulation channel from these N levels of voltage according to the detection results of the skin impedance detection circuit 160, thereby realizing adaptive matching of power management and load characteristics.

[0071] Specific reference Figure 2 , the boost circuit 130 can adopt a cascade boost circuit structure to generate N voltage levels of output, where N ≥ 2. Figure 2 As shown, the boost circuit 130 may include a plurality of boost units connected in series.

[0072] In some embodiments, the boost circuit 130 can be implemented using a charge pump topology, using the principle of switched capacitors to boost voltage. In other embodiments, a boost converter topology can also be used to achieve voltage boost through inductive energy storage and release. The switch tube in each boost unit can be a MOSFET or other suitable power switching device, and efficient voltage conversion can be achieved by precisely controlling the switching timing. Figure 2 As shown in FIG, each boost unit may include a capacitor, a diode and a switch tube. Figure 2 In the embodiment, a 4-level (N=4) voltage output is shown. Specifically, the boost circuit 130 starts from the input voltage VDD and generates four voltage level outputs: the first-level output directly outputs VDD (such as 12V); the first-level boost unit boosts VDD to 2VDD (such as 24V) and provides a second-level output; the second-level boost unit continues to boost to 3VDD (such as 36V) based on the first level and provides a third-level output; the third-level boost unit generates a maximum voltage of 4VDD (such as 48V) and provides a fourth-level output. Each output terminal can be connected to a power switch. In some embodiments, these power switches are used to control the output of each voltage. By controlling the conduction or shutdown of the power switch, each voltage output can be independently turned on or off. In a specific embodiment, the power switch can be implemented using a semiconductor switching device such as MOSFET. The voltage selection unit includes these power switching devices. In these embodiments, the voltage selection unit may include a low-voltage transistor switch group, and the voltage borne by each transistor switch does not exceed the difference between two adjacent voltage levels (i.e., VDD).

[0073] The advantage of this cascaded structure is that each boost unit only needs to withstand the difference between adjacent voltage levels (i.e., VDD). Therefore, relatively low-voltage switching components (e.g., below 30V) can be used to achieve high-voltage output, reducing component costs and improving reliability. Furthermore, the independently configured output terminals of the embodiments of the present invention can provide different levels of supply voltage for each electrical stimulation channel, providing a basis for energy efficiency optimization, as shown below.

[0074] Although only four levels (N=4) of voltage output are shown in the figure, it can be imagined that the modular design allows the device to be expanded to more voltage levels as needed.

[0075] Continue to refer Figure 1 The electrical stimulation channels according to an embodiment of the present invention will be described below. Each electrical stimulation channel 141-144 may include an independent voltage-controlled current source (not shown) and output electrodes 145-148, and may output an electrical pulse sequence according to a control signal from a digital control circuit 150.

[0076] exist Figure 1In the illustrated embodiment, the multi-channel neuromuscular electrical stimulation device 100 includes four independent electrical stimulation channels 141-144, namely, electrical stimulation channel 1, electrical stimulation channel 2, electrical stimulation channel 3, and electrical stimulation channel 4. Each electrical stimulation channel is connected to a corresponding electrode pad 145, 146, 147, and 148. The electrode pads of the multiple electrical stimulation channels can independently or collaboratively stimulate multiple muscle groups or nerve sites.

[0077] In an embodiment of the present invention, the voltage-controlled current source of each electrical stimulation channel 141-144 is configured to generate a constant output current in response to a control signal. The design of the voltage-controlled current source ensures that the output current remains stable even when the load impedance (e.g., skin impedance) changes. The voltage-controlled current sources of each channel are independent of each other, allowing each channel to output a sequence of electrical pulses with different parameters.

[0078] In some embodiments, the electrode sheet can be in the form of a conductive hydrogel electrode, a carbon gel electrode, or other suitable surface electrode. The size and shape of the electrode sheet can be designed differently according to different treatment sites.

[0079] Continue to refer Figure 1 , the multi-channel neuromuscular electrical stimulation device 100 may also include a pulse generating circuit 170. The digital control circuit 150 can work in conjunction with the pulse generating circuit 170 to achieve multi-channel collaborative control. The digital control circuit 150 may include a controller and control registers corresponding to each electrical stimulation channel. Each control register independently stores the electrical pulse parameters of the corresponding channel. The controller is configured to control the electrical stimulation channel to output the electrical pulse sequence according to the electrical pulse parameters corresponding to each electrical stimulation channel. The electrical pulse parameters may include amplitude, frequency, pulse width and optional delay parameters. Since the parameters of each channel are stored independently by different registers, the parameter values ​​between channels do not affect each other during configuration. In a specific example, the adjustable range of the electrical pulse parameters may include: current intensity 0-100mA, frequency 1-250Hz, pulse width 10-1000μs.

[0080] In some embodiments, the pulse generation circuit 170 includes a timing controller in the form of a digital logic circuit. In some embodiments, the timing controller of the pulse generation circuit 170 can be used to generate corresponding pulse control signals based on the electrical pulse parameters stored in each control register to control each electrical stimulation channel 141-144 to output a corresponding electrical pulse sequence.

[0081] In an embodiment of the present invention, the digital control circuit 150 can control each electrical stimulation channel to execute multiple output modes, such as one or more of the following output modes: single output mode, synchronous output mode, alternating output mode, delayed output mode and different waveform combined output mode.

[0082] See also Figures 3A-3D , showing a schematic diagram of an electrical pulse sequence output by an electrical stimulation channel according to some embodiments of the present invention.

[0083] Figure 3A The alternating output mode is schematically shown, where the upper waveform is a waveform of the electrical pulse sequence output by one channel (e.g., electrical stimulation channel 1), and the lower waveform is a waveform of the electrical pulse sequence output by another channel (e.g., electrical stimulation channel 2). In this mode, multiple (e.g., two) channels alternately output pulse sequences. When one part (e.g., one) channel outputs a pulse, the other part (e.g., another) channel remains silent. The dotted line schematically represents a stimulation cycle. In some embodiments, this alternating output mode can be used, for example, in treatment scenarios where alternating activation of antagonistic muscle groups is required.

[0084] Figure 3B The synchronous output mode is schematically shown, where the upper waveform is the waveform of the electrical pulse sequence output by one channel (e.g., electrical stimulation channel 1), and the lower waveform is the waveform of the electrical pulse sequence output by another channel (e.g., electrical stimulation channel 2). In this mode, multiple (e.g., two) channels synchronously output pulse sequences, and the start and end times of the pulses remain synchronized. In some embodiments, this synchronous output mode can be used, for example, in scenarios where multiple synergistic muscle groups need to be activated synchronously.

[0085] Figure 3C The delayed output mode is schematically illustrated, with the upper waveform showing the electrical pulse sequence output by one channel (e.g., electrical stimulation channel 1) and the lower waveform showing the electrical pulse sequence output by another channel (e.g., electrical stimulation channel 2). In this mode, the output of one channel (e.g., the second channel) is delayed by a preset time relative to the output of another channel (e.g., the first channel). For example, channel 1 begins outputting a pulse sequence first, and after a preset delay (e.g., 50-200ms), channel 2 begins outputting the corresponding pulse sequence.

[0086] In some embodiments, the delayed output mode includes an antagonist muscle delayed activation mode, and the controller is configured to, in the antagonist muscle delayed activation mode, determine at least one of the multiple electrical stimulation channels as a synergist muscle channel, and determine at least another one of the multiple electrical stimulation channels as an antagonist muscle channel, control the synergist muscle channel to first output a first electrical pulse sequence for causing muscle contraction, and after a preset delay time, control the antagonist muscle channel to output a second electrical pulse sequence.

[0087] Figure 3DThe diagram schematically shows an electric pulse sequence with different waveforms (such as the pulse width of the waveform), wherein the upper waveform is a waveform of an electric pulse sequence output by one channel (such as electrical stimulation channel 1), and the lower waveform is a waveform of an electric pulse sequence output by another channel (such as electrical stimulation channel 2). In this mode, multiple (such as two) channels output pulse sequences with different pulse width parameters, for example, a portion (such as the upper portion) of the channel outputs a narrower pulse width, and another portion (such as the lower portion) of the channel outputs a wider pulse width. In some embodiments, this mode can be used, for example, in scenarios where differentiated stimulation is required based on different muscle characteristics. In some embodiments, in the different waveform combined output mode, each channel can output a different type of waveform. In some embodiments, a portion of the channels (such as channel 1) can output a biphasic square wave for conventional muscle stimulation, another portion of the channels (such as channel 2) can output a sine wave for more comfortable sensory stimulation, and another channel (such as channel 3) can output a triangle wave or other waveform for specific therapeutic purposes.

[0088] In addition to the illustrated modes, the digital control circuit 150 can also control each electrical stimulation channel to execute other output modes. In some embodiments, the digital control circuit 150 can also control each electrical stimulation channel to execute a combination of the various modes described above. For example, the aforementioned combination of synchronous output and delayed output can be used, alternating output can be combined with delayed output, or synchronous output can be combined with different waveform parameters. By flexibly combining these output modes, the multi-channel neuromuscular electrical stimulation device 100 can adapt to different clinical treatment needs.

[0089] In an embodiment of the present invention, skin impedance detection circuit 160 is used to detect the skin impedance value of the stimulation site corresponding to each electrical stimulation channel 141-144. Skin impedance detection circuit 160 can detect skin impedance in real time or periodically at small time intervals. In one specific embodiment, an initial impedance detection can be performed before treatment begins to obtain a baseline impedance value for each channel. During treatment, dynamic detection can be performed periodically (e.g., every 10 seconds) or continuously to track impedance trends.

[0090] In some embodiments, the skin impedance detection circuit 160 includes a contact portion that directly contacts the skin, such as a detection electrode. In some embodiments, the contact portion can be integrated into the electrode sheets 145-148. In some embodiments, the contact portion can be arranged around the electrode sheets 145-148.

[0091] In one embodiment, the skin impedance detection circuit 160 can perform impedance detection using a constant current test method. During detection, a known, low-amplitude test current is applied to the skin through the detection electrodes, and the resulting voltage response is measured. By calculating the ratio of voltage to current, a real-time skin impedance value can be obtained.

[0092] In some embodiments, based on the detected skin impedance value, the voltage selection unit can select a supply voltage for each electrical stimulation channel. In some embodiments, the voltage selection unit may include an impedance grading module and a voltage mapping lookup table. Specifically, the impedance value can be graded, for example, the impedance value can be divided into low impedance, medium impedance, high impedance, and ultra-high impedance levels. The voltage mapping lookup table stores a mapping relationship between each impedance level and the corresponding optimal voltage output. The impedance grading module can determine the impedance level to which the detected skin impedance value belongs, and the voltage selection unit can read the corresponding voltage selection from the lookup table according to the impedance level and control the corresponding transistor switch to be turned on.

[0093] This impedance-based adaptive voltage selection mechanism can select the supply voltage according to actual needs, avoid power waste caused by excessively high voltage, and reduce system heat.

[0094] In an embodiment of the present invention, the multi-channel neuromuscular electrical stimulation device 100 may include a physiological feedback circuit. Figure 1 As shown, the physiological feedback circuit may include a tremor recognition circuit 161 and / or a muscle state detection circuit 162 .

[0095] In embodiments of the present invention, tremor identification circuit 161 is configured to detect neuromuscular tremor characteristics. In some embodiments, tremor identification circuit 161 may include an electromyographic (EMG) detection module that identifies tremor characteristics by analyzing muscle electrical activity patterns. In these embodiments, tremor characteristics may manifest as periodic EMG signals within a specific frequency range, which can be identified through spectral analysis.

[0096] In an embodiment of the present invention, when tremor recognition circuit 161 detects tremor, digital control circuit 150 may determine a tremor suppression mode based on the tremor characteristics and update electrical pulse parameters in corresponding control registers based on the determined suppression mode.

[0097] In some embodiments, the tremor suppression mode may include a high-frequency blocking mode. In these embodiments, in the high-frequency blocking mode, tremor suppression can be achieved by increasing the stimulation frequency. For example, when tremor is detected, the stimulation frequency of the relevant channel can be increased to a high-frequency range (e.g., 130-180 Hz or higher), thereby reducing or suppressing the tremor through the changes in muscle state caused by high-frequency stimulation.

[0098] In some embodiments, the tremor suppression mode may include an antagonistic mode. In these embodiments, tremor control can be achieved by coordinating the outputs of multiple channels. In this mode, the interaction between antagonistic muscle groups can be exploited, and by precisely controlling the output timing and parameters of different channels, the antagonistic muscles can produce a force opposing the tremor. For example, when a flexor muscle experiences a tremor, the extensor muscle can be stimulated to produce a corresponding antagonistic effect.

[0099] In a preferred embodiment, tremor suppression can also employ an adaptive control strategy. Digital control circuit 150 can analyze tremor changes in real time and dynamically adjust stimulation parameters. For example, stimulation intensity can be adjusted based on changes in tremor intensity, or stimulation frequency can be adjusted based on changes in tremor frequency.

[0100] In an embodiment of the present invention, muscle state detection circuit 162 is configured to detect muscle contraction responses induced by electrical stimulation. By analyzing the changing trends of the contraction responses, digital control circuit 150 can identify muscle fatigue levels and adjust stimulation intensity and / or stimulation mode based on the identified fatigue levels.

[0101] In some embodiments, the detection of muscle contraction response can be achieved in a variety of ways. For example, the muscle state can be assessed by monitoring the changes in electrical parameters during the electrical stimulation process, or the contraction state can be determined by detecting the mechanical response of the muscle or changes in bioelectric signals. In a specific embodiment, when the electrical parameter monitoring method is adopted, the muscle state detection circuit 162 can analyze the changes in the relationship between the stimulation current and the muscle response. When the muscle response generated by the same stimulation parameters weakens, it may indicate the occurrence of muscle fatigue. The weakening of the response can be manifested as a change in impedance, a change in the current-voltage relationship, or a change in other electrical characteristics.

[0102] In some embodiments, muscle fatigue can be categorized into multiple levels. In more specific embodiments, levels such as mild fatigue, moderate fatigue, and severe fatigue can be set based on the degree of decrease in contraction response. Each level can correspond to a different range of decrease in response or a threshold for change in other physiological indicators.

[0103] In some embodiments, based on the identified fatigue level, different stimulation intensities can be used according to different fatigue levels. In a specific implementation, a relatively low stimulation intensity (such as low current and / or narrow pulse width) can be used for mild fatigue, a relatively medium stimulation intensity (such as medium current and / or medium pulse width) can be used for moderate fatigue, and a relatively high stimulation intensity (such as high current and / or wide pulse width) can be used for severe fatigue.

[0104] In some embodiments, adjusting the stimulation mode may include switching from a continuous stimulation mode to an intermittent stimulation mode or vice versa, wherein the intermittent stimulation mode includes alternating duty cycles and rest cycles. In some embodiments, the ratio of duty cycles to rest cycles can be dynamically adjusted based on fatigue level.

[0105] In an embodiment of the present invention, the multi-channel neuromuscular electrical stimulation device 100 may include an electrode detachment detection circuit 180. In an embodiment of the present invention, detachment is interpreted broadly, including both complete detachment (falling off) and partial detachment.

[0106] In some embodiments, the electrode detachment detection circuit 180 may include a voltage monitoring module and comparison logic, wherein the voltage monitoring module is configured to monitor the real-time output voltage of each electrical stimulation channel, and the comparison logic is configured to judge the electrode state based on the ratio of the real-time output voltage to the current set current of the corresponding electrical stimulation channel. When the ratio exceeds a first preset threshold value, the electrode of the corresponding electrical stimulation channel is determined to be detached and a detachment signal is generated.

[0107] In these embodiments, the ratio-based detection method can effectively identify when an electrode is completely detached (falling off). By way of explanation and not limitation, when an electrode is completely detached from the skin, the load impedance increases dramatically, causing the ratio of the output voltage to the set current to significantly increase. By setting an appropriate first preset threshold, the complete detachment state of the electrode can be accurately determined based on the detachment (falling off) signal.

[0108] In other embodiments of the present invention, the electrode detachment detection circuit 180 may include a voltage monitoring module, a differential circuit, and a comparison logic. The voltage monitoring module is configured to monitor the real-time output voltage of each electrical stimulation channel, the differential circuit is configured to determine the voltage change rate of the real-time output voltage, and the comparison logic is configured to determine that the electrode of the corresponding electrical stimulation channel is detached and generate a detachment signal when the ratio of the real-time output voltage to the current set current of the corresponding electrical stimulation channel exceeds a second preset threshold and the voltage change rate exceeds a third preset threshold.

[0109] In these embodiments, a detection method combining ratio and rate of change can identify partial electrode detachment. By way of explanation and not limitation, when an electrode is partially detached, in addition to an increase in impedance, unstable contact can produce rapid impedance fluctuations, manifesting as rapid voltage changes. By simultaneously monitoring both the ratio and rate of change, this partial detachment condition can be more accurately identified.

[0110] In some embodiments, the above two solutions can be combined to achieve comprehensive identification of different electrode detachment states. For example, based on the combination of the first, second, and third thresholds, two states of complete detachment and partial detachment can be identified.

[0111] In some embodiments, when an electrode is detected to be detached, corresponding protective measures can be taken according to the detachment type. In some embodiments, the output of the corresponding channel can be stopped immediately when detachment is detected.

[0112] In a preferred embodiment, the multi-channel neuromuscular electrical stimulation device 100 may also include a screen display circuit 163 to provide the user with an intuitive operating interface and information feedback. In some embodiments, the screen display may include: the operating status and parameter settings of each channel, real-time skin impedance values, treatment progress and remaining time, battery power, system status, and alarm information.

[0113] In an embodiment of the present invention, the various components of the multi-channel neuromuscular electrical stimulation device 100 work together through a carefully designed system architecture. In one embodiment, the workflow of the multi-channel neuromuscular electrical stimulation device 100 can be as follows: first, the user sets basic treatment parameters through the operation interface; then, the skin impedance detection circuit 160 detects the initial impedance value of each channel, and the voltage selection unit selects the appropriate power supply voltage for each channel based on the initial impedance value; then, according to the set output mode (such as Figures 3A-3D As shown in the figure, each electrical stimulation channel starts to output the corresponding pulse sequence; during the treatment process, the tremor recognition circuit 161 and the muscle state detection circuit 162 continuously monitor the physiological feedback signal and adjust the stimulation parameters when necessary; at the same time, the electrode detachment detection circuit 180 monitors the electrode status in real time to ensure the safety of treatment; the relevant information is presented to the user through the screen.

[0114] In a specific example, the multi-channel neuromuscular electrical stimulation device 100 can be applied to the coordinated training of upper limb flexion and extension. In this example, the electrode sheet 145 is attached to the biceps brachii (flexor) as the output of the electrical stimulation channel 1 (141); the electrode sheet 146 is attached to the triceps brachii (extensor) as the output of the electrical stimulation channel 2 (142). The alternating output mode is selected for joint stimulation. The alternating stimulation sequence is set: the electrical stimulation channel 1 is first energized for 10 seconds to stimulate the biceps brachii to contract and achieve elbow flexion; then the electrical stimulation channel 1 is stopped and the electrical stimulation channel 2 is energized for 10 seconds to stimulate the triceps brachii to contract and achieve elbow extension. This alternating stimulation can be continuously cycled to simulate the normal flexion and extension movement pattern. In terms of parameter setting, both channels are set to: frequency 30Hz, pulse width 0.3ms, current intensity 15mA. These parameters have been clinically verified and can effectively induce muscle contraction while avoiding excessive fatigue. During treatment, the skin impedance detection circuit 160 continuously monitors the impedance values ​​of the two sites, and the voltage selection unit 112 selects the appropriate supply voltage for each channel accordingly. If muscle fatigue is detected, the muscle state detection circuit 162 triggers parameter adjustments, appropriately reducing the stimulation intensity or increasing the rest period. This coordinated upper limb flexion and extension training model is suitable for motor function rehabilitation in stroke patients. Through regular flexion and extension stimulation, it can help patients reestablish normal movement patterns and improve muscle coordination.

[0115] The multi-channel neuromuscular electrical stimulation device 100 of the present invention is adaptable to a variety of complex clinical application scenarios. Whether used for motor rehabilitation after stroke, tremor control in Parkinson's disease, pain management, or muscle strengthening training, the device can provide precise, safe, and effective electrical stimulation therapy. Through continuous parameter optimization and real-time feedback adjustment, the device can provide personalized treatment plans for each patient, significantly improving treatment effectiveness and user experience.

[0116] Continue to refer Figure 4 , Figure 4 A flowchart of a multi-channel neuromuscular electrical stimulation control method according to some embodiments of the present invention is shown. The multi-channel neuromuscular electrical stimulation control method can be executed by the aforementioned multi-channel neuromuscular electrical stimulation device 100.

[0117] exist Figure 4 In the illustrated embodiment, the multi-channel neuromuscular electrical stimulation control method may include:

[0118] S410: Generate N-level voltage output.

[0119] In step S410, N levels of voltage output are generated, where N ≥ 2. This step can be implemented by the boost circuit 130 in the multi-stage power generator 110. The boost circuit 130 adopts a cascade structure, and the output of each boost unit serves as the input of the next stage. Detailed description is omitted here.

[0120] S420: Storing independent electrical pulse parameters for the multiple electrical stimulation channels respectively.

[0121] In step S420, independent electrical pulse parameters are stored for each of the multiple electrical stimulation channels. This step is implemented using the multiple channel control registers 132 in the digital control circuit 150. As previously described, each electrical stimulation channel has a corresponding control register for storing channel-specific parameter settings. The electrical pulse parameters include amplitude, frequency, pulse width, and optional delay.

[0122] S430: Detect the skin impedance value of the stimulation site corresponding to each electrical stimulation channel

[0123] In step S430, the skin impedance value of the stimulation site corresponding to each electrical stimulation channel is detected. This step is performed by the skin impedance detection circuit 160 and provides a basis for subsequent adaptive voltage selection.

[0124] In some embodiments, skin impedance detection uses a constant current test method, as described above.

[0125] In some embodiments, the detected impedance values ​​are graded to classify the impedance values ​​into low impedance, medium impedance, high impedance, and ultra-high impedance levels, as described above.

[0126] In some embodiments, the method further includes monitoring the real-time output voltage of each electrical stimulation channel and calculating the ratio of the real-time output voltage to the set current. When the ratio exceeds a preset (first) threshold, the electrode is determined to be detached (e.g., fallen off). In other embodiments, the method further includes determining the voltage change rate of the real-time output voltage; when the ratio exceeds a preset second threshold and the voltage change rate exceeds a preset third threshold, the electrode is determined to be detached (e.g., partially detached).

[0127] S440: Selecting a power supply voltage for each electrical stimulation channel from N levels of voltage output according to the detected skin impedance value.

[0128] In step S440 , based on the skin impedance value detected in step S430 , an optimal supply voltage is selected for each electrical stimulation channel from the N levels of voltage output. In some embodiments, this step is performed by the voltage selection unit 112 .

[0129] Voltage selection is based on the desired stimulation current and the detected skin impedance. The minimum required drive voltage is calculated and then a voltage level slightly above this minimum is selected from the available N voltage levels.

[0130] Voltage selection is achieved through a lookup table, which pre-establishes a mapping relationship between impedance levels and optimal voltage levels. For example, low impedance selects VDD, medium-low impedance selects 2VDD, medium-high impedance selects 3VDD, and high impedance selects 4VDD.

[0131] In this embodiment, the realization of the optimal power supply voltage can be referred to above and will not be described in detail here.

[0132] S450: Controlling each electrical stimulation channel to independently or jointly output an electrical pulse sequence according to the stored electrical pulse parameters.

[0133] In step S450, each electrical stimulation channel is controlled to output a corresponding electrical pulse sequence according to the electrical pulse parameters stored in step S420.

[0134] The relevant embodiments of this step can be referred to above and will not be described here in detail.

[0135] In some embodiments, the multi-channel neuromuscular electrical stimulation control method further includes detecting physiological feedback signals related to electrical stimulation, and updating corresponding electrical pulse parameters according to the detected physiological feedback signals. The physiological feedback signals may include tremor characteristics and muscle contraction responses.

[0136] In some embodiments, when the physiological feedback signal includes a tremor characteristic, the multi-channel neuromuscular electrical stimulation control method includes: detecting the tremor characteristic of the neuromuscular system, determining a tremor suppression mode according to the tremor characteristic, and updating corresponding electrical pulse parameters according to the determined tremor suppression mode.

[0137] In some embodiments, when the physiological feedback signal includes a muscle contraction response, the multi-channel neuromuscular electrical stimulation control method includes: detecting the muscle contraction response caused by electrical stimulation, identifying the muscle fatigue level based on the changing trend of the contraction response, adjusting the stimulation intensity and / or stimulation mode based on the identified fatigue level, and updating the corresponding electrical pulse parameters according to the adjustment results.

[0138] Herein, features of apparatus embodiments may be incorporated into method embodiments, and vice versa.

[0139] In some embodiments of the present invention, an electronic device is provided, comprising a processor and a memory storing a computer program, wherein the processor is configured to implement a method according to any one of the embodiments of the present invention when running the computer program.

[0140] Figure 5A schematic diagram of an electronic device 500 that can be used to implement the method or realize the embodiments of the present invention is shown. In some embodiments, the number of electronic devices may be more or less than the number shown. In some embodiments, a single or multiple electronic devices may be used for implementation. In some embodiments, cloud-based or distributed electronic devices may also be used for implementation.

[0141] like Figure 5 As shown, the electronic device 500 includes a processor 501 and a memory 502. The processor is used to execute programs stored in the memory, which can implement the methods, steps or functions described in the above embodiments when executed by a computer. The processor 501 may include various types of processors, such as a central processing unit (CPU), a graphics processing unit (GPU), a neural network processor (NPU), a digital signal processor (DSP), etc. The processor 501 and the memory 502 are interconnected via a bus 503. An input / output (I / O) interface, etc. can also be connected to the bus 503. The systems, devices, modules or units described in the above embodiments can be implemented by an electronic device (such as a computer) having a processor or its associated components.

[0142] Although not shown, in an embodiment of the present invention, a program product is provided, including a computer program, which implements any method of the embodiments of the present invention when executed by a processor.

[0143] Although not shown, in an embodiment of the present invention, a storage medium is provided, wherein the storage medium stores a computer program, and the computer program is configured to implement any method of the embodiment of the present invention when executed.

[0144] Storage media in embodiments of the present invention include permanent and non-permanent, removable and non-removable items that can be used to store information using any method or technology. Examples of storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0145] The methods, programs, systems, and apparatuses of the embodiments of the present invention may be executed or implemented in a single or multiple networked computers, or may be practiced in a distributed computing environment. In the embodiments of this specification, in these distributed computing environments, tasks may be performed by remote processing devices connected via a communication network.

[0146] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Therefore, those skilled in the art will appreciate that the functional modules / units or controllers and related method steps described in the above embodiments may be implemented using software, hardware, or a combination of software / hardware.

[0147] Unless explicitly stated, the actions or steps of the methods, procedures, and methods described in accordance with the embodiments of the present invention do not have to be performed in a specific order and can still achieve the desired results. In some implementations, multitasking and parallel processing are also possible or may be advantageous.

[0148] In this document, multiple embodiments of the present invention are described, but for the sake of brevity, the description of each embodiment is not exhaustive, and the same or similar features or parts between the embodiments may be omitted. In this document, "one embodiment", "some embodiments", "example", "specific example", or "some examples" are intended to apply to at least one embodiment or example according to the present invention, but not all embodiments. The above terms do not necessarily mean to refer to the same embodiment or example. Those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are mutually contradictory.

[0149] While the exemplary systems and methods of the present invention have been specifically shown and described with reference to the foregoing embodiments, these are merely examples of the best modes for implementing the present systems and methods. Those skilled in the art will appreciate that various changes may be made to the embodiments of the systems and methods described herein when implementing the present systems and / or methods without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A multi-channel neuromuscular electrical stimulation device, characterized in that: include: A multi-level power generator including a boost circuit for generating N voltage outputs corresponding to N levels of voltage, wherein N ≥ 2; Multiple electrical stimulation channels, each of which includes an independent voltage-controlled current source and output electrode, and outputs a sequence of electrical pulses; a digital control circuit comprising a controller and a plurality of channel control registers corresponding to the plurality of electrical stimulation channels, each control register storing an electrical pulse parameter corresponding to the electrical stimulation channel, the controller being configured to control the electrical stimulation channel to output the electrical pulse sequence according to the electrical pulse parameter corresponding to each electrical stimulation channel; A skin impedance detection circuit configured to detect the skin impedance value of the stimulation site corresponding to the output electrode of each electrical stimulation channel; In which, the multi-stage power generator also includes a voltage selection unit for switchably connecting each electrical stimulation channel to the N voltage outputs, and the voltage selection unit is configured to select and / or switch the power supply voltage for each electrical stimulation channel from the N voltage outputs based on the skin impedance value detected by the skin impedance detection circuit.

2. The multi-channel neuromuscular electrical stimulation device according to claim 1, characterized in that: The multi-channel neuromuscular electrical stimulation device also includes a pulse generating circuit; the pulse generating circuit includes a timing controller, which generates corresponding pulse control signals based on the electrical pulse parameters stored in each control register, so that the controller is configured to control the voltage-controlled current source of the corresponding electrical stimulation channel to output the electrical pulse sequence according to the corresponding pulse control signal.

3. The multi-channel neuromuscular electrical stimulation device according to claim 1 or 2, characterized in that: The controller is configured to control each electrical stimulation channel to execute one or more of the following output modes: a separate output mode, a synchronous output mode, an alternating output mode, a delayed output mode, and a different waveform combined output mode.

4. The device according to claim 3, characterized in that The delayed output mode includes an antagonist muscle delayed activation mode, In which, the controller is configured to, in the antagonist muscle delayed activation mode, determine at least one of the multiple electrical stimulation channels as a synergistic muscle channel, and determine at least another one of the multiple electrical stimulation channels as an antagonist muscle channel, control the synergistic muscle channel to first output a first electrical pulse sequence for causing muscle contraction, and after a preset delay time, control the antagonist muscle channel to output a second electrical pulse sequence.

5. The multi-channel neuromuscular electrical stimulation device according to claim 1, characterized in that: The boost circuit is a cascade boost circuit, comprising a plurality of boost units connected in series, wherein the output of each boost unit serves as the input of the next stage and provides a voltage output terminal, thereby forming the N voltage levels that increase step by step.

6. The multi-channel neuromuscular electrical stimulation device according to claim 5, characterized in that: The voltage selection unit includes a low-voltage transistor switch group, and the voltage borne by each transistor switch in the low-voltage transistor switch group does not exceed the difference between two adjacent voltage levels in the cascade boost circuit.

7. The multi-channel neuromuscular electrical stimulation device according to claim 1, characterized in that: The multi-channel neuromuscular electrical stimulation device further includes a physiological feedback circuit, wherein the physiological feedback circuit is configured to detect a physiological feedback signal associated with electrical stimulation, Wherein, the digital control circuit is configured to update the electrical pulse parameters in the corresponding control register according to the detected physiological feedback signal.

8. The multi-channel neuromuscular electrical stimulation device according to claim 7, characterized in that: The physiological feedback circuit includes a tremor recognition circuit, wherein the tremor identification circuit is configured to detect neuromuscular tremor characteristics, The digital control circuit is configured to determine a tremor suppression mode according to neuromuscular tremor characteristics, and update electrical pulse parameters in corresponding control registers according to the determined tremor suppression mode.

9. The multi-channel neuromuscular electrical stimulation device according to claim 7, characterized in that: The physiological feedback circuit includes a muscle state detection circuit, wherein the muscle state detection circuit is configured to detect muscle contraction response caused by electrical stimulation, In which, the digital control circuit is configured to identify the muscle fatigue level according to the changing trend of the contraction response, adjust the stimulation intensity and / or stimulation mode based on the identified fatigue level, and update the electrical pulse parameters in the corresponding control register according to the adjusted stimulation intensity and / or stimulation mode.

10. The multi-channel neuromuscular electrical stimulation device according to claim 1, characterized in that: The multi-channel neuromuscular electrical stimulation device further includes an electrode detachment detection circuit, which includes a voltage monitoring module and comparison logic. The voltage monitoring module is configured to monitor the real-time output voltage of each electrical stimulation channel. In which, the comparison logic is configured to judge the electrode state based on the ratio of the real-time output voltage detected by the voltage monitoring module and the current set current of the corresponding electrical stimulation channel. When the ratio exceeds a first preset threshold, it is determined that the electrode of the corresponding electrical stimulation channel is detached and a detachment signal is generated.

11. The multi-channel neuromuscular electrical stimulation device according to claim 1, characterized in that: The multi-channel neuromuscular electrical stimulation device further includes an electrode detachment detection circuit, which includes a voltage monitoring module, a differential circuit, and a comparison logic. The voltage monitoring module is configured to monitor the real-time output voltage of each electrical stimulation channel. wherein the differentiating circuit is configured to determine a voltage change rate of the real-time output voltage, In which, the comparison logic is configured to determine that the electrode of the corresponding electrical stimulation channel is detached and generate a detachment signal when the ratio of the real-time output voltage to the current set current of the corresponding electrical stimulation channel exceeds the second preset threshold and the voltage change rate exceeds the third preset threshold.

12. A multi-channel neuromuscular electrical stimulation control method, characterized in that: include: Generate N-level voltage output, where N ≥ 2; storing independent electrical pulse parameters for multiple electrical stimulation channels; Detect the skin impedance value of the stimulation site corresponding to each electrical stimulation channel; selecting a supply voltage for each electrical stimulation channel from the N levels of voltage output according to the detected skin impedance value; According to the stored electric pulse parameters, each electric stimulation channel is controlled to output an electric pulse sequence independently or jointly.

13. The multi-channel neuromuscular electrical stimulation control method according to claim 12, characterized in that: The multi-channel neuromuscular electrical stimulation control method is performed using the multi-channel neuromuscular electrical stimulation device according to any one of claims 1 to 11.

14. The multi-channel neuromuscular electrical stimulation control method according to claim 12 or 13, characterized in that: The step of controlling each electrical stimulation channel to independently or jointly output an electrical pulse sequence according to the stored electrical pulse parameters includes: Each electrical stimulation channel is controlled to execute one or more of the following output modes: a separate output mode, a synchronous output mode, an alternating output mode, a delayed output mode, and a different waveform combined output mode.

15. The multi-channel neuromuscular electrical stimulation control method according to claim 14, characterized in that: The method of controlling each electrical stimulation channel to independently or jointly output an electrical pulse sequence according to the stored electrical pulse parameters includes: controlling each electrical stimulation channel to execute an antagonist muscle delayed activation mode, specifically including: determining that at least one electrical stimulation channel is a synergistic muscle channel; determining that at least one other electrically stimulated channel is an antagonist muscle channel; Controlling the synergistic muscle channel to first output a first electric pulse sequence; After a preset delay time, the antagonistic muscle channel is controlled to output a second electric pulse sequence.

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