A cervical vertebra intelligent rehabilitation instrument based on electromyography-pressure feedback

Abstract

The present application relates to a kind of cervical vertebra intelligent rehabilitation appliance based on electromyogram-pressure feedback, comprising: support structure unit, electromyogram signal acquisition unit, pressure signal acquisition unit, pneumatic traction unit and control unit;Support structure unit includes mandibular support, back neck support, inner lining and adjustable fixing band, mandibular support is connected with back neck support, inner lining is set to the inner side of mandibular support and back neck support, one end of adjustable fixing band is connected with back neck support;Electromyogram signal acquisition unit is set to the inner lining of back neck support inner side and the site of user neck contact, for gathering the electromyogram signal of the neck of wearer;Pressure signal acquisition unit is used to gather the pressure distribution signal in the process of wearing;Pneumatic traction unit is used to apply adjustable traction to user neck;Control unit is connected with electromyogram signal acquisition unit, pressure signal acquisition unit, pneumatic traction unit respectively.The present application realizes personalized, adaptive intelligent rehabilitation, and can effectively avoid excessive traction and muscle damage.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a smart cervical spine rehabilitation device based on electromyography-pressure feedback. Background Technology

[0002] Cervical spondylosis is one of the leading causes of disability in my country. Typical pathological types include herniated discs, spinal stenosis, and vertebral slippage, often leading to serious consequences such as limping, paralysis, and spinal deformities. This condition not only places a heavy burden on patients and their families but also consumes significant medical resources, thus becoming a major public health problem.

[0003] The main treatments for cervical degenerative diseases include surgery, medication, and rehabilitation. While surgery effectively corrects spinal structural abnormalities, it is highly invasive and carries a high risk of perioperative complications. Medication can relieve inflammatory pain symptoms in the short term, but long-term use of multiple medications may increase the risk of adverse reactions such as liver and kidney toxicity, and even raise the risk of death. In contrast, rehabilitation, as a non-invasive intervention, focuses on neuromuscular remodeling to promote early functional recovery, demonstrating unique advantages in clinical practice.

[0004] Traditional rehabilitation equipment currently on the market has the following problems: 1. The equipment has limited functionality and a narrow range of applications; 2. The setting, maintenance, and adjustment of traction force also lack objective physiological signals as feedback basis; 3. Lack of ability to monitor muscle compensation states can easily lead to muscle fatigue. Summary of the Invention

[0005] This invention provides a cervical spine intelligent rehabilitation device based on electromyography-pressure feedback. It aims to provide objective quantitative basis for the safe and precise adjustment of traction force through the synergistic analysis and comparison of electromyography signals and pressure signals, thereby achieving personalized and adaptive intelligent rehabilitation, effectively avoiding excessive traction and muscle damage, and solving the problems of traditional cervical spine rehabilitation devices, such as single function, lack of physiological feedback basis for traction force regulation, and inability to monitor muscle compensation status.

[0006] This invention provides a cervical spine intelligent rehabilitation device based on electromyography-pressure feedback, comprising: a support structure unit, an electromyography signal acquisition unit, a pressure signal acquisition unit, a pneumatic traction unit, and a control unit; The support structure unit includes a chin support, a cervical support, an inner lining, and an adjustable fixing strap. The chin support is connected to the cervical support. The inner lining is disposed on the inner side of the chin support and the cervical support. One end of the adjustable fixing strap is connected to the cervical support, and the other end is a free end for adjusting the length. The electromyography (EMG) signal acquisition unit is composed of distributed flexible EMG electrode patches. The EMG electrode patches are disposed at the points where the inner lining of the back neck brace contacts the user's neck, and are used to acquire the wearer's neck EMG signals. The pressure signal acquisition unit is composed of a flexible thin-film pressure sensor array, which is disposed in the inner lining layer inside the chin support and the back neck support, and is used to acquire pressure distribution signals during the wearing process. The pneumatic traction unit is used to apply an adjustable traction force to the user's neck; The control unit is connected to the electromyography (EMG) signal acquisition unit, the pressure signal acquisition unit, and the pneumatic traction unit, respectively. The control unit is configured to acquire baseline EMG signals and baseline pressure signals measured by the EMG signal acquisition unit and the pressure signal acquisition unit before the pneumatic traction unit is activated; acquire EMG signals and pressure signals again after the traction process ends; identify the fatigue or compensatory state of the user's muscles by analyzing the changes of the reacquired signals relative to the baseline signals; and output a control signal for adjusting the traction force of the pneumatic traction unit during the next traction based on the fatigue or compensatory state.

[0007] A further technical solution of the present invention is that the control unit identifies the fatigue state of the user's muscles by analyzing whether there are significant changes in the average power frequency or median frequency of the electromyographic signal.

[0008] A further technical solution of the present invention is that the control unit identifies the compensatory state of the user's muscles by analyzing whether there is an unexpected asymmetric concentration in the pressure distribution signal, specifically by comparing whether the difference or ratio of the pressure borne by the chin rest and the posterior neck rest exceeds a preset threshold.

[0009] A further technical solution of the present invention is that the control signal output by the control unit is used to reduce the maximum value and / or average maintenance value of the traction force of the pneumatic traction unit during the next traction when fatigue or compensation is detected; and to maintain or moderately increase the maximum value of the traction force of the pneumatic traction unit during the next traction when fatigue or compensation is not detected.

[0010] A further technical solution of the present invention is that the distributed flexible electromyographic electrode patches are symmetrically arranged on the inner side of the posterior neck brace, corresponding to the muscle belly positions of the left and right trapezius muscles, levator scapulae muscles, or sternocleidomastoid muscles of the user.

[0011] A further technical solution of the present invention is that the flexible thin film pressure sensor array includes at least sub-arrays respectively disposed in the middle and left and right sides of the chin rest and the middle and left and right sides of the cervical rest, which together constitute a pressure distribution sensing network.

[0012] A further technical solution of the present invention is that the pneumatic traction unit includes an air pump and multiple inflatable air columns connected by an inflation conduit; the inflatable air columns are disposed between the chin rest and the inner lining layer, and between the cervical support and the inner lining layer; the control unit is electrically connected to the air pump, and inflates or deflates the inflatable air columns through the inflation conduit, using the expansion of the inflatable air columns to apply traction force to the neck.

[0013] A further technical solution of the present invention is that the control unit is also configured to: when the detected fatigue or compensation state exceeds a safety threshold, output a control signal to immediately terminate the current traction process.

[0014] A further technical solution of the present invention is that the chin support and the cervical support are integrally formed using medical-grade ABS engineering plastic through 3D printing or injection molding.

[0015] A further technical solution of the present invention is that the inner lining layer is made of slow rebound memory foam wrapped with medical-grade microfiber cloth.

[0016] Compared with the prior art, the present invention has the following advantages through the above technical solution: 1. Achieves objectification and quantification of traction force control: This invention abandons the traditional model that relies on subjective experience and uses two objective physiological indicators, electromyography and pressure, to provide precise and quantitative data support for the setting and adjustment of traction force, greatly improving the safety and scientific nature of treatment.

[0017] 2. A control logic based on "before and after comparison" has been established: This invention assesses the load response by comparing the changes in physiological signals before and after the same patient and the same treatment. This self-comparison method eliminates the interference of individual differences, has higher sensitivity, and is more personalized.

[0018] 3. A complete "perception-decision-execution" closed-loop system has been constructed: This invention highly integrates advanced flexible sensing technology, pneumatic execution technology and intelligent control technology, and innovatively creates an active rehabilitation device with monitoring, early warning and intervention functions, fundamentally solving the pain points of "blind operation" and "no feedback" of traditional equipment.

[0019] 4. Improved safety and comfort of rehabilitation therapy: This invention not only prevents excessive macroscopic traction but also promptly corrects undesirable compensatory patterns at the microscopic level, minimizing the risk of sports injuries. Simultaneously, the flexible sensing and pneumatic actuation methods also deliver a more comfortable user experience.

[0020] 5. By employing dual-modal sensing technology of electromyography and pressure, the objective and quantitative control of traction force parameters is achieved. This invention eliminates individual differences and improves the personalization of treatment by self-comparison analysis of signals before and after treatment. By constructing a closed-loop system of "perception-decision-execution", it solves the pain points of blind operation and lack of feedback of traditional equipment, improving safety and user experience. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of a preferred embodiment of the intelligent cervical spine rehabilitation device based on electromyography-pressure feedback of the present invention; Figure 2 This is a schematic diagram of the structure of a distributed flexible electromyography electrode patch.

[0022] Explanation of icon numbers: 1. Chin support; 2. Neck support; 3. Inner lining; 4. Adjustable fixing strap; 5. Distributed flexible electromyography electrode patch; 6. Integrated flexible thin film pressure sensor array; 7. Control unit; 8. Inflation conduit; 9. Inflation column; 501. Protective encapsulation layer; 502. Nano-piezoresistive material; 503. Conductive mesh. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0024] This invention proposes an intelligent cervical spine rehabilitation device based on electromyography-pressure feedback. This invention integrates a sensing system, a control system, and an execution system into a single unit, forming a complete physiological feedback closed loop. The sensing system is used to collect the most direct physiological state signals of the user's neck; the control system is responsible for processing the signals and making decisions; and the execution system is responsible for executing control commands and outputting physical traction force.

[0025] Specifically, such as Figure 1 and Figure 2 As shown, a preferred embodiment of the intelligent cervical spine rehabilitation device based on electromyography-pressure feedback of the present invention includes: a support structure unit, an electromyography signal acquisition unit, a pressure signal acquisition unit, a pneumatic traction unit, and a control unit 7.

[0026] The supporting structural unit serves as the physical carrier and mechanical basis of the entire device, including a chin support 1, a cervical support 2, a skin-friendly inner lining 3, and an adjustable fixing strap 4.

[0027] The chin support 1 is connected to the posterior neck support 2, and the chin support 1 and posterior neck support 2 are used to support the head and transmit traction force. The chin support 1 and posterior neck support 2 are integrally molded from medical-grade ABS engineering plastic through 3D printing or injection molding. Their shape is designed to mimic the physiological curve of the human chin and back of the neck to ensure good fit and support.

[0028] The inner lining layer 3 is located on the inner side of the chin support 1 and the back neck support 2. It is made of slow rebound memory foam wrapped with medical-grade microfiber cloth, which has good breathability, skin-friendliness and antibacterial properties.

[0029] The adjustable fixing strap 4 is used to securely wear the device on the user's body. The adjustable fixing strap 4 is a nylon Velcro strap, one end of which is fixedly connected to the side of the back neck brace 2, and the other end can be freely adjusted in length to adapt to users of different body types, and is fixed by Velcro.

[0030] The electromyography (EMG) signal acquisition unit consists of several distributed flexible EMG electrode patches 5. These patches are positioned on the inner lining layer 3 of the cervical support 2 at points of contact with the user's neck, and are used to acquire the wearer's cervical EMG signals. These flexible EMG electrode patches are symmetrically and precisely embedded in the inner lining layer 3 of the cervical support 2 according to the anatomical features of the neck, corresponding to the muscle belly movement points of key muscle groups such as the trapezius. This design aims to acquire the electrophysiological activity signals of the target muscle groups under rest and load conditions with the highest signal-to-noise ratio.

[0031] Specifically, the distributed flexible electromyography (EMG) electrode patch 5 is fabricated using textile electrode or printed flexible electrode technology. It is symmetrically sewn or heat-pressed in an array (e.g., 3 on each side) at specific locations on the inner lining layer 3 inside the posterior neck brace 2. These locations correspond to the surface projection areas of the upper trapezius muscles and the belly of the levator scapulae muscles on the left and right sides of the user's neck, ensuring the most effective acquisition of EMG signals. The contact portion of the flexible EMG electrode patch with the skin is made of Ag / AgCl material to reduce contact impedance and minimize motion artifacts. (See attached image) Figure 2 As shown, the flexible electromyography electrode patch includes an outermost flexible protective encapsulation layer 501, a functional nano-piezoresistive material 502 underneath, and a bottom conductive mesh 503 and electrode contacts.

[0032] The pressure signal acquisition unit consists of a flexible thin-film pressure sensor array 6, which is distributed across the surfaces of the chin rest 1 and the back neck rest 2 that contact the user's skin, forming a dense pressure sensing network. This allows for monitoring of the overall pressure value, thereby identifying abnormal pressure concentration caused by postural compensation or muscle weakness.

[0033] The pressure sensor array is disposed in the inner lining layer 3 inside the chin support 1 and the back neck support 2, and is used to collect pressure distribution signals during the wearing process.

[0034] Specifically, the flexible thin-film pressure sensor array 6 consists of multiple miniature piezoresistive sensing units, which are distributed in a matrix and encapsulated in a thin flexible polyimide film. This array is respectively laid between the chin rest 1 and the inner lining layer 3, and between the posterior neck rest 2 and the inner lining layer 3. Specifically, a sub-array is set in the center, left, and right sides of the chin rest 1 region, and a sub-array is also set in the center, left, and right sides of the posterior neck rest 2 region, together forming a complete pressure distribution sensing network for monitoring the absolute value and distribution symmetry of the pressure.

[0035] The pneumatic traction unit is used to apply adjustable traction force to the user's neck. The pneumatic traction unit mainly includes an air pump and multiple inflatable air columns 9. The inflatable air columns 9, as power output elements, are positioned between the chin rest 1, the cervical support 2, and their inner lining layer 3. When the air columns inflate, they act directly on the inner lining layer 3 and apply force to the user's neck, thereby achieving the traction purpose.

[0036] The air pump can be a miniature, low-noise DC diaphragm pump. The inflatable air columns 9 are elongated or dot-matrix inflatable silicone air bags. They are evenly arranged between the chin rest 1 and the inner lining layer 3, and between the back neck rest 2 and the inner lining layer 3. The inflation conduit 8 is a medical-grade silicone hose used to connect the air pump outlet to the air inlet of each inflatable air column 9. The control unit 7 controls the start and stop of the air pump through a relay or motor drive circuit, and controls the depressurization and deflation of the system through a normally closed solenoid valve.

[0037] The control unit 7 is connected to the electromyography signal acquisition unit, pressure signal acquisition unit, and pneumatic traction unit, respectively, and is used to acquire, process, and output control signals. The core of the control unit 7 is an embedded microcontroller (MCU), such as an STMicroelectronics STM32F series chip. It is connected to each sensor and actuator via wires.

[0038] The control unit 7 is configured to acquire baseline electromyographic signals and baseline pressure signals measured by the electromyographic signal acquisition unit and the pressure signal acquisition unit before the pneumatic traction unit is started; acquire electromyographic signals and pressure signals again after the traction process ends; identify the fatigue or compensatory state of the user's muscles by analyzing the changes of the reacquired signals relative to the baseline signals; and output a control signal for adjusting the traction force of the pneumatic traction unit during the next traction based on the fatigue or compensatory state.

[0039] Furthermore, in this embodiment, the control unit 7 identifies the user's muscle fatigue state by analyzing whether there are significant changes in the average power frequency or median frequency of the electromyographic signal.

[0040] The control unit 7 identifies the compensatory state of the user's muscles by analyzing whether there is an unexpected asymmetric concentration in the pressure distribution signal. Specifically, it compares whether the difference or ratio of the pressure borne by the chin support 1 and the cervical support 2 exceeds a preset threshold.

[0041] The control signal output by the control unit 7 is used to reduce the maximum value and / or average maintenance value of the traction force of the pneumatic traction unit during the next traction when fatigue or compensation is detected; and to maintain or moderately increase the maximum value of the traction force of the pneumatic traction unit during the next traction when fatigue or compensation is not detected.

[0042] In this embodiment, the control unit 7 also integrates a safety protection strategy. When the fatigue or compensation indicators monitored in real time momentarily exceed the absolute safety threshold during a single treatment, the control unit 7 is capable of immediately outputting a command to terminate the current traction, providing the user with the highest level of immediate protection. The control unit 7 is also configured to: output a control signal to immediately terminate the current traction process when the identified fatigue or compensation state exceeds the safety threshold.

[0043] The workflow of the intelligent cervical spine rehabilitation device based on electromyography-pressure feedback of this invention is as follows: Step 1 (Baseline Signal Acquisition): After the user wears the device correctly, before traction begins, the control unit 7 controls the electromyography (EMG) signal acquisition unit and the pressure signal acquisition unit to work, acquiring EMG and pressure signals for 30 seconds while the user is relaxed, and calculating their average values ​​as the baseline EMG and pressure signals for this treatment.

[0044] Step Two (Traction Therapy): Control unit 7 activates the air pump, inflating the air column 9 through the inflation tube 8, causing it to expand and apply a preset initial traction force (e.g., 5 kg) to the user's neck, maintaining traction for 15 minutes. During this period, the air pump stops working, and the electromyography and pressure sensors operate continuously or intermittently; however, the data from this stage is only used for safety monitoring and is not used for comparison in this analysis.

[0045] Step 3 (Collecting Post-Treatment Signals): After traction ends, control unit 7 depressurizes the air pump again to reduce the traction force to zero. It then controls the sensing unit to collect post-treatment electromyographic and pressure signals for 30 seconds.

[0046] Step 4 (Signal Analysis and Decision): Control Unit 7 calls the internal algorithm: Fatigue analysis: The mean power frequency (MPF) of the electromyographic signal after treatment is calculated. If the MPF of the signal decreases by more than a certain percentage compared with the baseline signal, it is considered muscle fatigue.

[0047] Compensation analysis: Calculate the average pressure ratio between the mandibular support 1 and the posterior neck support 2 after treatment. If the change in this ratio compared to the baseline value exceeds a preset threshold (e.g., ±20%), it is determined that a compensation mode has occurred.

[0048] Step 5 (Output Control): If fatigue or compensation is not detected, the control unit 7 will increase the peak traction force of the next treatment by 1 kg based on the current value.

[0049] If fatigue or compensation is detected, the control unit 7 will reduce the peak traction force of the next treatment by 1-2 kg compared to the current treatment, or maintain the original force value but shorten the traction duration.

[0050] If the pressure or electromyography indicators monitored in real time during treatment momentarily exceed the absolute safety threshold (e.g., pressure increases by 100%), the emergency decompression procedure should be initiated immediately to terminate the traction.

[0051] Compared with the prior art, the present invention has the following advantages through the above technical solution: 1. Achieves objectification and quantification of traction force control: This invention abandons the traditional model that relies on subjective experience and uses two objective physiological indicators, electromyography and pressure, to provide precise and quantitative data support for the setting and adjustment of traction force, greatly improving the safety and scientific nature of treatment.

[0052] 2. A control logic based on "before and after comparison" has been established: This invention assesses the load response by comparing the changes in physiological signals before and after the same patient and the same treatment. This self-comparison method eliminates the interference of individual differences, has higher sensitivity, and is more personalized.

[0053] 3. A complete "perception-decision-execution" closed-loop system has been constructed: This invention highly integrates advanced flexible sensing technology, pneumatic execution technology and intelligent control technology, and innovatively creates an active rehabilitation device with monitoring, early warning and intervention functions, fundamentally solving the pain points of "blind operation" and "no feedback" of traditional equipment.

[0054] 4. Improved safety and comfort of rehabilitation therapy: This invention not only prevents excessive macroscopic traction but also promptly corrects undesirable compensatory patterns at the microscopic level, minimizing the risk of sports injuries. Simultaneously, the flexible sensing and pneumatic actuation methods also deliver a more comfortable user experience.

[0055] 5. By employing dual-modal sensing technology of electromyography and pressure, the objective and quantitative control of traction force parameters is achieved. This invention eliminates individual differences and improves the personalization of treatment by self-comparison analysis of signals before and after treatment. By constructing a closed-loop system of "perception-decision-execution", it solves the pain points of blind operation and lack of feedback of traditional equipment, improving safety and user experience.

[0056] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A smart cervical spine rehabilitation device based on electromyography-pressure feedback, characterized in that, include: Support structure unit, electromyography signal acquisition unit, pressure signal acquisition unit, pneumatic traction unit, and control unit; The support structure unit includes a chin support, a cervical support, an inner lining, and an adjustable fixing strap. The chin support is connected to the cervical support. The inner lining is disposed on the inner side of the chin support and the cervical support. One end of the adjustable fixing strap is connected to the cervical support, and the other end is free. The electromyography (EMG) signal acquisition unit is composed of distributed flexible EMG electrode patches. The EMG electrode patches are disposed at the points where the inner lining of the back neck brace contacts the user's neck, and are used to acquire the wearer's neck EMG signals. The pressure signal acquisition unit is composed of a flexible thin-film pressure sensor array, which is disposed in the inner lining layer inside the chin support and the back neck support, and is used to acquire pressure distribution signals during the wearing process. The pneumatic traction unit is used to apply an adjustable traction force to the user's neck; The control unit is connected to the electromyography signal acquisition unit, the pressure signal acquisition unit, and the pneumatic traction unit respectively. The control unit is configured to acquire the baseline electromyography signal and the baseline pressure signal measured by the electromyography signal acquisition unit and the pressure signal acquisition unit before the pneumatic traction unit is activated. After the traction process ends, electromyographic and pressure signals are acquired again; by analyzing the changes of the acquired signals relative to the baseline signal, the fatigue or compensatory state of the user's muscles is identified; based on the fatigue or compensatory state, a control signal is output to adjust the magnitude of the traction force of the pneumatic traction unit for the next traction.

2. The intelligent cervical spine rehabilitation device based on electromyography-pressure feedback according to claim 1, characterized in that, The control unit identifies the user's muscle fatigue state by analyzing whether there are significant changes in the average power frequency or median frequency of the electromyographic signal.

3. The intelligent cervical spine rehabilitation device based on electromyography-pressure feedback according to claim 1, characterized in that, The control unit identifies the compensatory state of the user's muscles by analyzing whether there is an unexpected asymmetric concentration in the pressure distribution signal. Specifically, it compares whether the difference or ratio of the pressure borne by the chin rest and the cervical rest exceeds a preset threshold.

4. The intelligent cervical spine rehabilitation device based on electromyography-pressure feedback according to claim 1, characterized in that, The control signal output by the control unit is used to reduce the maximum value and / or average maintenance value of the traction force of the pneumatic traction unit during the next traction when fatigue or compensation is detected; and to maintain or moderately increase the maximum value of the traction force of the pneumatic traction unit during the next traction when fatigue or compensation is not detected.

5. The intelligent cervical spine rehabilitation device based on electromyography-pressure feedback according to claim 1, characterized in that, The distributed flexible electromyographic electrode patches are symmetrically arranged on the inner side of the posterior neck brace, corresponding to the muscle belly positions of the left and right trapezius, levator scapulae, or sternocleidomastoid muscles of the user.

6. The intelligent cervical spine rehabilitation device based on electromyography-pressure feedback according to claim 1, characterized in that, The flexible thin-film pressure sensor array includes at least subarrays respectively disposed in the middle and left and right sides of the chin rest and the middle and left and right sides of the cervical support, which together constitute a pressure distribution sensing network.

7. The intelligent cervical spine rehabilitation device based on electromyography-pressure feedback according to claim 1, characterized in that, The pneumatic traction unit includes an air pump and multiple inflatable air columns connected by an inflation conduit; the inflatable air columns are disposed between the chin rest and the inner lining layer, and between the cervical support and the inner lining layer; the control unit is electrically connected to the air pump and inflates or deflates the inflatable air columns through the inflation conduit, using the expansion of the inflatable air columns to apply traction force to the neck.

8. The intelligent cervical spine rehabilitation device based on electromyography-pressure feedback according to claim 1, characterized in that, The control unit is also configured to output a control signal to immediately terminate the current traction process when the detected fatigue or compensation state exceeds a safety threshold.

9. The intelligent cervical spine rehabilitation device based on electromyography-pressure feedback according to claim 1, characterized in that, The chin support and neck brace are integrally molded from medical-grade ABS engineering plastic using 3D printing or injection molding processes.

10. The intelligent cervical spine rehabilitation device based on electromyography-pressure feedback according to claim 1, characterized in that, The inner lining is made of slow-rebound memory foam wrapped with medical-grade microfiber cloth.

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