Closed-loop motion reconstruction system and method
By using implantable EEG signal acquisition and decoding technology, combined with implantable and non-implantable controllers, real-time closed-loop spinal cord electrical stimulation was achieved, solving the problems of complexity and poor real-time performance in existing technologies, and improving the accuracy and naturalness of motor reconstruction.
Patent Information
- Application Number
- CN202610502975.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-04-16
- Publication Date
- 2026-06-30
Smart Images
Figure CN122297912A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of motion reconstruction technology, and in particular to a closed-loop motion reconstruction system and method. Background Technology
[0002] Spinal cord injury (SCI) disrupts communication between the spinal cord and its superior centers, depriving these sensorimotor circuits of the excitability and regulatory drive necessary for movement. This leads to varying degrees of motor dysfunction or even complete paralysis. Traditional rehabilitation methods such as physical therapy and drug intervention have limited effectiveness and struggle to achieve substantial recovery of neurological function.
[0003] To address the aforementioned issues, spinal cord stimulation has become a research hotspot in recent years. This technology primarily involves applying electrical stimulation to specific areas of the spinal cord to reactivate neural networks in damaged pathways, promoting motor function reconstruction. However, in existing closed-loop motor reconstruction techniques, the patient's motor intention is often controlled manually or by audio, or indirectly decoded through electromyography (EMG) and other physiological signals. These methods have poor accuracy, require comprehensive judgment of multiple physiological signals, involve numerous sensors, are complex to use, and have poor real-time performance, failing to achieve natural and smooth movement. Summary of the Invention
[0004] Therefore, it is necessary to provide a closed-loop motion reconstruction system and method to address the above problems.
[0005] According to a first aspect of the embodiments of this application, a closed-loop motion reconstruction system is provided, including an implantable signal acquisition component, an implantable controller, a non-implantable controller, and an implantable neurostimulation component; the implantable signal acquisition component and the implantable neurostimulation component are electrically connected to the implantable controller, and the implantable controller is also electrically connected to the non-implantable controller; The implantable signal acquisition component is configured to acquire electroencephalogram (EEG) signals; the implantable controller is configured to transmit the acquired EEG signals to the non-implantable controller, and receive stimulation commands generated by the non-implantable controller based on the EEG signals, and then transmit the stimulation commands to the implantable neurostimulation component; the implantable neurostimulation component is configured to parse the stimulation commands and perform electrical stimulation on the nerve roots at the target location.
[0006] In one embodiment, the implantable signal acquisition component and the implantable controller, as well as the implantable neurostimulation component and the implantable controller, are connected via wired connections.
[0007] In one embodiment, the implantable controller and the non-implantable controller are wirelessly connected.
[0008] In one embodiment, the implantable signal acquisition component includes a cortical electrode and a first probe electrically connected by wires. The cortical electrode is used to acquire cortical electroencephalogram (EEG) signals, and the first probe is used to perform analog-to-digital conversion on the acquired EEG signals and then output them.
[0009] In one embodiment, the non-implantable controller is configured to recognize motor intentions based on the EEG signals and determine the stimulus command corresponding to the recognized motor intentions according to a preset mapping relationship, wherein the preset mapping relationship is a mapping relationship between motor intentions and stimulus commands.
[0010] In one embodiment, the implantable neurostimulation assembly includes a stimulation electrode and a second probe electrically connected by wires, the second probe being configured to convert the stimulation command into a stimulation spatiotemporal sequence and stimulate a nerve root at a target location via the stimulation electrode based on the stimulation spatiotemporal sequence.
[0011] In one embodiment, the stimulation command includes at least a sequence number, frequency, pulse width, and amplitude, and the stimulation spatiotemporal sequence includes at least a stimulation site, positive and negative polarity, frequency, pulse width, amplitude, and a spatiotemporal stimulation cluster composed of multiple signal pulses corresponding to different stimulation sites. The second probe is further configured to receive a stimulus command and obtain a stimulus spatiotemporal sequence that matches the received stimulus command from the built-in stimulus spatiotemporal sequences.
[0012] In one embodiment, the number of implantable signal acquisition components is up to two, and the implantable signal acquisition components are electrically connected to the implantable controller respectively; the stimulation electrode includes two rows of stimulation sites.
[0013] In one embodiment, the closed-loop motion reconstruction system further includes a programmer electrically connected to the non-implantable controller. The programmer is configured to monitor the operating status of the closed-loop motion reconstruction system and adjust the values of various stimulation parameters, including at least the frequency, pulse width, and amplitude of the stimulation command.
[0014] According to a second aspect of the embodiments of this application, a closed-loop motion reconstruction method is provided, applied to the above-described closed-loop motion reconstruction system, the closed-loop motion reconstruction method comprising: The implantable controller receives the EEG signals acquired by the implantable signal acquisition component and sends the EEG signals to the non-implantable controller. Stimulation commands are generated based on EEG signals using a non-implantable controller and then sent to an implantable controller. The implantable controller sends stimulation commands to the implantable neurostimulation component, which then interprets the commands to electrically stimulate the nerve root at the target location.
[0015] The closed-loop motor reconstruction system provided in this application can acquire electroencephalogram (EEG) signals through an implantable signal acquisition component. An external, non-implantable controller decodes the EEG signals to obtain stimulation commands corresponding to the patient's motor intentions. An implantable neurostimulation component then analyzes the stimulation commands and electrically stimulates the nerve roots at the target location. This enables real-time closed-loop spinal cord electrical stimulation using only intracranial cortical EEG as the decoding tool for motor intentions. Compared to traditional technologies, this application only requires implanting a single type of signal acquisition component for acquiring EEG signals intracranially. Combined with an implantable and non-implantable controller, the EEG signals can be decoded to obtain stimulation commands corresponding to the patient's motor intentions. The stimulation commands can be analyzed by the implantable neurostimulation component to stimulate the nerve roots. Using this system requires no manual or audio control from the patient, making it simple and direct. It does not require advanced operating skills from the patient and offers real-time performance, helping patients achieve natural and fluid movements. Furthermore, it eliminates the need for multiple sensors and complex analysis of various physiological signals, significantly reducing computational complexity while maintaining accuracy. Unlike external sensors, it avoids the complex wearing and configuration process required for each use. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the structure of a closed-loop motion reconstruction system provided in an embodiment of this application; Figure 2 A schematic diagram of the implantation positions of various components in a closed-loop motion reconstruction system provided in an embodiment of this application; Figure 3 A schematic diagram of the structure of an implanted signal acquisition component in a closed-loop motion reconstruction system provided in an embodiment of this application; Figure 4 A schematic diagram of the structure of an implantable neurostimulation component in a closed-loop motion reconstruction system provided in an embodiment of this application; Figure 5 This is a schematic diagram of the spatiotemporal sequence of stimuli in a specific example. Figure 6 This is a schematic diagram showing the distribution of stimulation sites in the stimulation electrodes of a closed-loop motion reconstruction system provided in an embodiment of this application. Figure 7 This is a flowchart of a closed-loop motion reconstruction method provided in an embodiment of this application.
[0017] Explanation of reference numerals in the attached figures: 100. Implantable signal acquisition component; 110. Cortical electrode; 120. First probe; 200. Implantable controller; 300. Non-implantable controller; 400. Implantable neurostimulation component; 410. Stimulation electrode; 420. Second probe; 500. Implantable extension lead; 600. Programmer. Detailed Implementation
[0018] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application.
[0019] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0020] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.
[0022] As described in the background section, spinal cord injury (SCI) disrupts communication between the spinal cord and its superior centers, depriving these sensorimotor circuits of the excitability and regulatory drive necessary for movement. This leads to varying degrees of motor dysfunction or even complete paralysis. Traditional rehabilitation methods such as physical therapy and drug intervention have limited effectiveness and struggle to achieve substantial recovery of neurological function.
[0023] To address the aforementioned issues, spinal cord stimulation has become a research hotspot in recent years. This technology primarily involves applying electrical stimulation to specific areas of the spinal cord to reactivate neural networks in damaged pathways, promoting motor function reconstruction. However, in existing closed-loop motor reconstruction techniques, patients' motor intentions are often controlled manually or by audio, such as through active tapping or voice control. This method is complex, demanding on patients, and exhibits slow response, failing to achieve natural and fluid movements. Some existing techniques indirectly decode patients' motor intentions using electromyography (EMG) and other physiological signals. However, this method has poor accuracy, requires comprehensive judgment of multiple physiological signals, involves numerous sensors, is complex to use, and has poor real-time performance, ultimately failing to achieve natural and fluid movements.
[0024] To address the aforementioned issues, embodiments of this application provide a closed-loop motion reconstruction system and method.
[0025] In one embodiment, a closed-loop motion reconstruction system is provided, which enables real-time active control of closed-loop electrical stimulation motion reconstruction.
[0026] Reference Figure 1 The closed-loop motion reconstruction system provided in this embodiment includes an implantable signal acquisition component 100, an implantable controller 200, a non-implantable controller 300, and an implantable neurostimulation component 400. The implantable signal acquisition component 100 and the implantable neurostimulation component 400 are electrically connected to the implantable controller 200, and the implantable controller 200 is also electrically connected to the non-implantable controller 300. The implantable signal acquisition component 100 is configured to acquire electroencephalogram (EEG) signals; the implantable controller 200 is configured to transmit the acquired EEG signals to the non-implantable controller 300, receive stimulation commands generated by the non-implantable controller 300 based on the EEG signals, and then transmit the stimulation commands to the implantable neurostimulation component 400; the implantable neurostimulation component 400 is configured to parse the stimulation commands and electrically stimulate nerve roots at target locations.
[0027] In practical applications, the implantable signal acquisition component 100, the implantable controller 200, and the implantable neurostimulation component 400 can all be implanted into the patient's body. Figure 2 The diagram illustrates the installation locations of each implantable component / controller within the human body, showing both front and back views. For details, refer to... Figure 2The implantable signal acquisition component 100 can be implanted in the patient's brain to acquire the patient's electroencephalogram (EEG) signals and transmit the EEG signals to a controller implanted in the patient's body, namely the implantable controller 200. The implantable controller 200 can transmit the acquired EEG signals to a controller located outside the patient's body, namely the non-implantable controller 300. The non-implantable controller 300 can generate stimulation commands based on the EEG signals and transmit the stimulation commands back to the implantable controller 200. The implantable controller 200 can transmit the stimulation commands to a neurostimulation component implanted in the patient's body, namely the implantable neurostimulation component 400. The implantable neurostimulation component 400 can analyze the stimulation commands and electrically stimulate the nerve roots at the target location of the patient, which refers to the spinal cord. By stimulating the nerve roots at the patient's spinal cord, the central nervous system motor control pathway can be reconstructed, thereby controlling the patient's lower limb neuromuscular system to produce movement.
[0028] The closed-loop motor reconstruction system provided in this embodiment can acquire EEG signals through an implantable signal acquisition component 100. The external non-implantable controller 300 can decode the EEG signals to obtain stimulation commands corresponding to the patient's motor intentions. Then, the implantable neurostimulation component 400 analyzes the stimulation commands and performs electrical stimulation on the nerve roots at the patient's target location. This enables real-time closed-loop spinal cord electrical stimulation that uses only intracranial cortical EEG as the decoding of motor intentions. Compared to traditional technologies, this application only requires implanting a single type of signal acquisition component for collecting EEG signals intracranially. Combined with an implantable controller 200 and a non-implantable controller 300, the EEG signals can be decoded to obtain stimulation commands corresponding to the patient's motor intentions. The stimulation commands can be parsed by the implantable neurostimulation component 400 to stimulate the nerve roots. When using the above system, no manual or audio control by the patient is required, making it simple and direct to use. It does not require high skill from the patient and is real-time, helping the patient to achieve natural and smooth movements. In addition, it eliminates the need to configure multiple sensors and perform complex analysis of multiple physiological signals, significantly reducing computational complexity while ensuring accuracy. Furthermore, it eliminates the need for complex wearing and configuration processes required for each use, unlike external sensors.
[0029] In one embodiment, the implantable signal acquisition component 100 and the implantable controller 200, as well as the implantable neurostimulation component 400 and the implantable controller 200, are connected by wires.
[0030] Specifically, the implantable signal acquisition component 100 and the implantable controller 200 can be electrically connected via an implantable extension wire 500. One end of the implantable extension wire 500 can be male, and the other end can be female. For example, the male end of the implantable extension wire 500 can be connected to the female end of the implantable signal acquisition component 100, and the female end of the implantable extension wire 500 can be connected to the male end of the implantable controller 200. The implantable extension wire 500 can run from the implantable signal acquisition component 100 under the skin, through the back of the ear, down the neck, and down to the chest to connect to the implantable controller 200.
[0031] Similarly, the implantable neurostimulation device 400 and the implantable controller 200 can also be electrically connected via an implantable extension lead 500. The female connector of the implantable extension lead 500 can be connected to the male connector of the implantable neurostimulation device 400, and the male connector of the implantable extension lead 500 can be connected to the female connector of the implantable controller 200. The implantable extension lead 500 can pass from the implantable neurostimulation device 400 under the skin through the waist to the chest and connect to the implantable controller 200.
[0032] In one embodiment, the implantable controller 200 and the non-implantable controller 300 are connected wirelessly. Specifically, the implantable controller 200 and the non-implantable controller 300 can communicate wirelessly via Bluetooth, Wi-Fi, or other wireless methods.
[0033] In this embodiment, both the signal acquisition component and the neurostimulation component implanted in the body are wired to the implantable controller 200. Compared with the prior art, where the signal acquisition component and the neurostimulation component are directly connected to the external controller wirelessly, this can effectively improve the reliability and bandwidth of signal transmission, and also has better real-time transmission performance.
[0034] Reference Figure 3 In one embodiment, the implantable signal acquisition component 100 includes a cortical electrode 110 and a first probe 120 electrically connected by wires. The cortical electrode 110 is used to acquire cortical electroencephalogram (EEG) signals, and the first probe 120 is used to perform analog-to-digital conversion on the acquired EEG signals and then output them.
[0035] The implantable signal acquisition component 100, also known as an implantable brain signal acquisition unit (NRU), and the cortical electrode 110, also known as an ECoG electrode, can cover the epidural space of the lower limb motor cortex of the brain, below the skull. The implantable signal acquisition component 100 supports both in situ and ectopic implantation. In in situ implantation, the lead of the cortical electrode 110 passes through the skull, and the first probe 120 is located above the cortical electrode 110 on the skull. The area where the first probe 120 is located needs to be thinned to avoid protruding from the scalp. In situ implantation, a skull replacement method can also be used; that is, the skull at the location of the first probe 120 is removed to form a hole with the same shape as the first probe 120, and the first probe 120 is implanted in place of the skull at that location. In ectopic implantation, the lead connecting the cortical electrode 110 and the first probe 120 passes through the skull, and the first probe 120 is positioned next to the upper part of the skull above the cortical electrode 110 to avoid overlapping with the cortical electrode 110.
[0036] After acquiring intracranial cortical EEG signals, the cortical electrode 110 transmits them via a wire to the first probe 120. The first probe 120 performs analog-to-digital conversion on the intracranial cortical EEG signals and then transmits them to the implantable controller 200 via an implantable extension wire. The implantable controller 200, also known as an implantable brain-computer interface controller (ICU), can be implanted in a pouch subcutaneously located in the pectoralis major muscle and fixed to the fascia by sutures. Upon receiving the EEG signals, the implantable controller 200 can wirelessly transmit the signals percutaneously to a non-implantable controller 300 located outside the body.
[0037] In one embodiment, the non-implantable controller 300 is configured to recognize a motor intention based on the EEG signal and determine the stimulus command corresponding to the recognized motor intention based on a preset mapping relationship, wherein the preset mapping relationship is a mapping relationship between a motor intention and a stimulus command.
[0038] The non-implantable controller 300, also known as an external brain-computer interface controller (ECU), decodes received EEG signals to identify the patient's intention to stand, sit, or walk, and then converts the identified intention into a corresponding stimulus command. Specifically, the non-implantable controller 300 has a built-in mapping relationship between intention and stimulus command. When a current intention is identified, it determines the corresponding stimulus command based on the built-in mapping relationship and transmits it wirelessly to the implantable controller 200. Upon receiving the stimulus command, the implantable controller 200 transmits it to the implantable neurostimulation component 400.
[0039] Reference Figure 4In one embodiment, the implantable neurostimulation assembly 400 includes a stimulation electrode 410 electrically connected via a wire and a second probe 420, the second probe 420 being configured to convert the stimulation command into a stimulation spatiotemporal sequence and stimulate a nerve root at a target location via the stimulation electrode 410 based on the stimulation spatiotemporal sequence.
[0040] The implantable neurostimulation component 400, also known as an implantable spinal nerve stimulator (NSU), has a stimulation electrode 410 that can be implanted in the spine, outside the dura mater of the spinal cord, and fixed to the spine by bone screws. A second probe 420 can be implanted in a subcutaneous pouch above the gluteus maximus muscle and fixed to the fascia by sutures. When the second probe 420 receives a stimulation command, it can determine the corresponding spatiotemporal sequence of stimulation. Based on this sequence, the stimulation electrode 410 is controlled to electrically stimulate the nerve root cisterns corresponding to the relevant muscles of the spinal cord, thereby controlling muscle contraction and driving flexion / extension of the hip, knee, and ankle joints to complete the patient's subjective movements, thus achieving closed-loop spinal cord electrical stimulation.
[0041] In one embodiment, the stimulation command includes at least a sequence number, frequency, pulse width, and amplitude, and the stimulation spatiotemporal sequence includes at least a stimulation site, positive and negative polarity, frequency, pulse width, amplitude, and a spatiotemporal stimulation cluster composed of multiple signal pulses corresponding to different stimulation sites. The second probe 420 is further configured to: receive the stimulation command and obtain a stimulation spatiotemporal sequence matching the received stimulation command from the built-in stimulation spatiotemporal sequences.
[0042] That is, the intention to move corresponds one-to-one with the stimulus spatiotemporal sequence through the stimulus command. For example, the intention to stand corresponds to the spatiotemporal sequence of the standing stimulus, the intention to step with the left leg corresponds to the spatiotemporal sequence of the left leg stimulus, the intention to step with the right leg corresponds to the spatiotemporal sequence of the right leg stimulus, and the intention to sit corresponds to the spatiotemporal sequence of the sitting stimulus.
[0043] Figure 5The diagram illustrates stimulation sequence 1 corresponding to stimulation site 1 and stimulation sequence 2 corresponding to stimulation site 2. These sequences are staggered in time and spatially correspond to different muscle locations, thus forming a spatiotemporal stimulation sequence for a movement (such as hip flexion). Stimulation sequences 1 and 2 can utilize different stimulation parameters depending on the muscle location, such as the amplitude, pulse width, and frequency of the stimulation voltage / current. In other words, assuming the identified movement intention is hip flexion, the non-implantable controller 300 can determine the stimulation command corresponding to the hip flexion movement (including the amplitude, pulse width, and frequency of the stimulation current / voltage). The second probe 420 can further acquire a spatiotemporal stimulation sequence matching the received stimulation command, i.e., the spatiotemporal stimulation sequence jointly formed by stimulation sequence 1 corresponding to stimulation site 1 and stimulation sequence 2 corresponding to stimulation site 2, or the spatiotemporal stimulation cluster composed of signal pulses corresponding to stimulation sites 1 and 2 respectively. Each stimulation pulse includes a corresponding charge balancing pulse, thereby maintaining the balance of the stimulation output charge and avoiding tissue damage and electrode degradation caused by charge accumulation.
[0044] In one embodiment, the number of implantable signal acquisition components 100 is at most two, and the implantable signal acquisition components 100 are electrically connected to the implantable controller 200 respectively; the stimulation electrode 410 includes two rows of stimulation sites (see reference). Figure 6 In practical applications, to decode the movement intentions of the left and right legs, implantable signal acquisition components 100 can be placed in the left and right hemispheres of the head, respectively. Correspondingly, the stimulation electrodes 410 can include two rows of stimulation sites, corresponding to the muscles of the left and right legs, respectively. When the electroencephalogram (EEG) signals of the left and right hemispheres are acquired by the two implantable signal acquisition components 100, and after the movement intention is decoded by the non-implantable controller 300, the EEG signals of the left and right hemispheres can be mapped to stimulation commands for the right and left legs, respectively. These commands are then converted into corresponding spatiotemporal stimulation sequences by the second probe 420, and activated by the stimulation sites in the right and left columns of the stimulation electrodes 410. Figure 6 The stimulation sites shown in the left and right columns stimulate the spinal cord neurons corresponding to the muscles of the right and left legs, respectively.
[0045] In one embodiment, the closed-loop motion reconstruction system further includes a programmer 600 electrically connected to the non-implantable controller 300. The programmer 600 is configured to monitor the operating status of the closed-loop motion reconstruction system and adjust the values of various stimulation parameters, including at least the frequency, pulse width, and amplitude of the stimulation command.
[0046] In practical applications, the programmable controller 600 can communicate with the non-implantable controller 300 wirelessly via Bluetooth, WIFI, or other means. The programmable controller 600 can adjust the safe range of various stimulation parameters and can set personalized parameter safety thresholds that can be adjusted by the patient according to the patient's current physical condition, such as a current not exceeding 10mA. It can also monitor the working status of the entire closed-loop motion reconstruction system in real time, such as the current stimulation mode, power level, and fault alarms.
[0047] In another embodiment, a closed-loop motion reconstruction method is provided, applied to the aforementioned closed-loop motion reconstruction system. (Refer to...) Figure 7 The closed-loop motion reconstruction method provided in this embodiment includes: Step S100: Receive the EEG signal acquired by the implantable signal acquisition component 100 through the implantable controller 200, and send the EEG signal to the non-implantable controller 300. Step S300: Generate a stimulation command based on the EEG signal through the non-implantable controller 300, and send the stimulation command to the implantable controller 200; Step S500: The stimulation command is sent to the implantable neurostimulation component 400 through the implantable controller 200, and the implantable neurostimulation component 400 analyzes the stimulation command to electrically stimulate the nerve root at the target location.
[0048] The closed-loop motion reconstruction method provided in this embodiment can acquire EEG signals through an implantable signal acquisition component 100. The implantable controller 200 receives the EEG signals acquired by the implantable signal acquisition component 100 and sends them to a non-implantable controller 300. The external non-implantable controller 300 can decode the EEG signals to obtain stimulation commands corresponding to the patient's motion intention. The non-implantable controller 300 can send the stimulation commands to an implantable neurostimulation component 400 through the implantable controller 200. The implantable neurostimulation component 400 then analyzes the stimulation commands and performs electrical stimulation on the nerve roots at the patient's target location. This enables real-time closed-loop spinal cord electrical stimulation that uses only intracranial cortical EEG as the decoding tool for motion intention. Compared to traditional technologies, this application only requires implanting a single type of signal acquisition component for collecting EEG signals intracranially. Combined with an implantable controller 200 and a non-implantable controller 300, the EEG signals can be decoded to obtain stimulation commands corresponding to the patient's motor intentions. The stimulation commands can be analyzed by the implantable neurostimulation component 400 to stimulate the nerve roots. During the reconstruction process, no manual or audio control by the patient is required, making it simple and direct to use. It does not require high skill from the patient and is real-time, helping the patient to achieve natural and smooth movements. In addition, it eliminates the need to configure multiple sensors and perform complex analysis of multiple physiological signals, significantly reducing computational complexity while ensuring accuracy. Furthermore, it eliminates the need for complex wearing and configuration processes required for each use, unlike external sensors.
[0049] For details regarding the closed-loop motion reconstruction method, please refer to the specific description in the closed-loop motion reconstruction system provided in the foregoing embodiments, which will not be repeated here.
[0050] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0051] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.
Claims
1. A closed-loop motion reconstruction system, characterized in that, It includes an implantable signal acquisition component, an implantable controller, a non-implantable controller, and an implantable neurostimulation component; the implantable signal acquisition component and the implantable neurostimulation component are electrically connected to the implantable controller, and the implantable controller is also electrically connected to the non-implantable controller; The implantable signal acquisition component is configured to acquire electroencephalogram (EEG) signals; The implantable controller is configured to transmit the acquired electroencephalogram (EEG) signals to the non-implantable controller, and receive stimulation commands generated by the non-implantable controller based on the EEG signals, and then transmit the stimulation commands to the implantable neurostimulation component; the implantable neurostimulation component is configured to parse the stimulation commands and perform electrical stimulation on the nerve roots at the target location.
2. The closed-loop motion reconstruction system according to claim 1, characterized in that, The implantable signal acquisition component and the implantable controller, as well as the implantable neurostimulation component and the implantable controller, are all connected via wired connections.
3. The closed-loop motion reconstruction system according to claim 1, characterized in that, The implantable controller and the non-implantable controller are connected wirelessly.
4. The closed-loop motion reconstruction system according to claim 1, characterized in that, The implantable signal acquisition component includes a cortical electrode and a first probe electrically connected by wires. The cortical electrode is used to acquire cortical electroencephalogram (EEG) signals, and the first probe is used to perform analog-to-digital conversion on the acquired EEG signals and then output them.
5. The closed-loop motion reconstruction system according to claim 1, characterized in that, The non-implantable controller is configured to recognize motor intentions based on the EEG signals and determine the stimulus command corresponding to the recognized motor intentions according to a preset mapping relationship, wherein the preset mapping relationship is the mapping relationship between motor intentions and stimulus commands.
6. The closed-loop motion reconstruction system according to claim 1, characterized in that, The implantable neurostimulation assembly includes a stimulation electrode and a second probe electrically connected by wires. The second probe is configured to convert the stimulation command into a stimulation spatiotemporal sequence and stimulate the nerve root at the target location through the stimulation electrode based on the stimulation spatiotemporal sequence.
7. The closed-loop motion reconstruction system according to claim 6, characterized in that, The stimulation command includes at least a sequence number, frequency, pulse width, and amplitude, and the stimulation spatiotemporal sequence includes at least a stimulation site, positive and negative polarity, frequency, pulse width, amplitude, and a spatiotemporal stimulation cluster composed of multiple signal pulses corresponding to different stimulation sites. The second probe is further configured to receive a stimulus command and obtain a stimulus spatiotemporal sequence that matches the received stimulus command from the built-in stimulus spatiotemporal sequences.
8. The closed-loop motion reconstruction system according to claim 7, characterized in that, The number of implantable signal acquisition components is at most two, and the implantable signal acquisition components are electrically connected to the implantable controller respectively; the stimulation electrode includes two rows of stimulation sites.
9. The closed-loop motion reconstruction system according to claim 1, characterized in that, The closed-loop motion reconstruction system also includes a programmer, which is electrically connected to the non-implantable controller. The programmer is configured to monitor the working status of the closed-loop motion reconstruction system and adjust the values of various stimulation parameters, including at least the frequency, pulse width, and amplitude in the stimulation command.
10. A closed-loop motion reconstruction method, characterized in that, Applied to the closed-loop motion reconstruction system as described in any one of claims 1-9, the closed-loop motion reconstruction method includes: The implantable controller receives the EEG signals acquired by the implantable signal acquisition component and sends the EEG signals to the non-implantable controller. Stimulation commands are generated based on EEG signals using a non-implantable controller and then sent to an implantable controller. The implantable controller sends stimulation commands to the implantable neurostimulation component, which then interprets the commands to electrically stimulate the nerve root at the target location.