A closed-loop transcutaneous electrical stimulation device based on EEG feedback

Abstract

The present invention relates to a device and method for transcutaneous electrical stimulation based on electroencephalogram (EEG) control; the device comprises a transcutaneous electrical stimulation module (1), a moxibustion control module (2), an electroencephalogram (EEG) measurement module (3), an infrared imaging camera (4), a servo feedback control computer (5), a camera bracket (6) and a moxibustion clamping manipulator (7); transcutaneous electrical stimulation combined with moxibustion of specific acupoints can better stimulate the rehabilitation system of the patient; an infrared temperature measurement camera is used to photograph the changes in the temperature characteristics of the meridians on the face of the stimulated person, and the changes in the EEG characteristics of the stimulated person are collected in real time, and the electrical stimulation parameters and the intensity and route of the moxibustion are adjusted in a closed loop in real time, which can greatly shorten the patient's treatment cycle; the real-time EEG and facial infrared image characteristics and the current stimulation parameters are sent to a deep neural network to train a body reaction mathematical model of the stimulated person, and then the stimulation parameters are accurately adjusted according to the mathematical model, which further accelerates the patient's rehabilitation process, achieves a better treatment effect and shortens the treatment time.

Description

Technical field:

[0002] The present invention relates to the technical field of conservative treatment medicine, and in particular to a device and method for transcutaneous electrical stimulation based on electroencephalogram control. Background technology:

[0004] Transcutaneous electrical stimulation is a common treatment method for analgesia or stimulating the body's repair function, rehabilitation and other purposes. There are two main types of transcutaneous electrical stimulation at present, one is open-loop electrical stimulation. The main content of this method is to use a current waveform generator to control the electrical parameters such as the size, waveform, and frequency of the stimulation current emitted by the electrical stimulator through a program to electrically stimulate the target area of ​​the body. Another method is closed-loop electrical stimulation. The common method is to collect brain electrode waveforms and use the characteristics of the brain wave waveform as a control quantity to control the stimulation current parameters emitted by the electrical stimulator. The open-loop stimulation method does not take into account the body's response to electrical stimulation, and only relies on the experience of the acupuncturist to adjust the stimulation current parameters. The closed-loop electrical stimulation method is rarely used and is mostly used in animal experiments. This method controls the stimulation electrical parameters in real time according to the characteristics of the body's brain wave signals, and has good personalized treatment characteristics. However, the tolerance of the body to simple electrical stimulation varies greatly. For example, when a simple electrical stimulator is used to stimulate specific muscles to relax the body, although it can also stimulate and simulate the contraction reaction of the muscle, many patients report that they are more tired after use. It is far less effective than manual massage. Moxibustion is one of the main treatment methods in traditional Chinese medicine. It has a definite effect and rarely causes discomfort during the treatment. However, moxibustion is currently mainly performed manually or by wearing a moxibustion box, without the involvement of the body's response to moxibustion. A large number of clinical applications have shown that moxibustion on the transcutaneous electrical stimulation site at the same time as electrical stimulation is more effective in stimulating the body's immune response. At the same time, moxibustion feels mild and has a high degree of acceptance. When acupuncture and moxibustion are applied to specific parts of the body, the body will produce a specific temperature change reaction. Adding these reactions to the stimulation control link can greatly increase the personalization of the treatment plan, save patients' treatment time and increase treatment comfort. Summary of the invention:

[0006] In view of the deficiencies in the prior art, the present invention provides a new moxibustion method which integrates EEG and infrared temperature measurement system signals as feedback quantities, controls the waveform and intensity of the stimulation current, and controls the depth and route of moxibustion.

[0007] The technical solution of the present invention is: a closed-loop transcutaneous electrical stimulation device based on electroencephalogram feedback, characterized in that the device includes a transcutaneous electrical stimulation module 1, a moxibustion control module 2, an electroencephalogram measurement module 3, an infrared imaging camera 4, a servo feedback control computer 5, a camera bracket 6 and a moxibustion clamping manipulator 7.

[0008] The transcutaneous electrical stimulation module 1 includes a waveform generator 8 and an electrode sheet 9, which are mainly used to generate a stimulation current waveform required for electrical stimulation.

[0009] The moxibustion control module 2 includes a driving motor 10, a moxibustion holder 11, a moxa stick 12 and a moxibustion igniter 15. The moxibustion control module 2 is mainly used for moxibustion of specific parts in coordination with electrical stimulation. Moxibustion during electrical stimulation can effectively enhance the body's stimulation response and accelerate the recovery process.

[0010] The EEG measurement module 3 includes brain electrodes 13 and an EEG signal acquisition / amplification / recognition module 14. The EEG measurement module 3 mainly completes the tasks of acquisition, processing and recognition of EEG signals.

[0011] Among them, the main function of the infrared imaging camera 4 is to collect infrared thermal images of the face of the stimulated person 16, and accurately identify the changes in facial temperature distribution before and after the simultaneous treatment of electrical stimulation and moxibustion.

[0012] The servo feedback control computer 5 runs the acquisition and analysis software to obtain the sensor data and calculate the next step of electrical stimulation control parameters in real time according to the EEG signal recognition results, infrared image recognition results, current moxibustion skin temperature and current electrical stimulation parameters.

[0013] Among them, the connection relationship between the various components is as follows: the stimulated person 16 wears an EEG measurement module 3 on his head, and the EEG measurement module 3 is connected to the servo feedback control computer 5 through an EEG data line 17; the infrared imaging camera 4 is installed on the camera bracket, connected to the servo feedback control computer 5 through a camera data line 18, and the camera lens is aimed at the face of the stimulated person 16; the transcutaneous electrical stimulation module 1 is attached to the stimulated part of the stimulated person 16, and is connected to the servo feedback control computer 5 through an electrical stimulation data line 19; the moxibustion control module 2 is installed at the end of the moxibustion clamping manipulator 7, and is connected to the servo feedback control computer 5 through a moxibustion control line 20, thereby realizing accessibility to any workspace position; the moxibustion clamping manipulator 7 is connected to the servo feedback control computer 5 through a manipulator control line 21.

[0014] The steps for using the above-mentioned closed-loop transcutaneous electrical stimulation device based on EEG feedback are as follows:

[0015] [1] The stimulated person 16 wears an EEG measurement module 3 on his head. The EEG measurement module 3 is connected to the servo feedback control computer 5 via an EEG data line 17, and transmits the current EEG signal to the servo feedback control computer 5 in real time.

[0016] [2] The transcutaneous electrical stimulation module 1 is attached to the stimulated part of the stimulated person 16 and is connected to the servo feedback control computer 5 via the electrical stimulation data line 19;

[0017] [3] The infrared imaging camera 4 is mounted on a camera bracket and connected to a servo feedback control computer 5 via a camera data cable 18, with the camera lens aimed at the face of the stimulated person 16;

[0018] [4] The moxibustion control module 2 is installed at the end of the moxibustion clamping manipulator 7, and the moxibustion clamping manipulator 7 is connected to the servo feedback control computer 5 through the manipulator control line 21; select the target acupuncture point, select the moxibustion burning path and time, the moxibustion igniter 15 ignites the moxa stick 12, and the servo feedback control computer 5 controls the moxibustion clamping manipulator 7 to move to the target position through the data line 21, and performs moxibustion stimulation on the stimulated person 16;

[0019] [5] Start transcutaneous electrical stimulation module 1;

[0020] [6] Starting the infrared imaging camera 4 to capture the facial infrared radiation characteristic image of the stimulated person 16;

[0021] [7] The servo feedback control computer 5 calculates the EEG characteristics and infrared radiation characteristic vector T of the stimulated person 16 in real time, especially the temperature change near the midline of the face, and compares it with the set threshold Th. If the threshold Th is exceeded, the electrical stimulation parameters are adjusted in real time according to the doctor's prescription rules.

[0022] In the above-mentioned closed-loop transcutaneous electrical stimulation device based on EEG feedback, the servo feedback control computer 5 collects and calculates the EEG characteristics and facial infrared temperature characteristics of the stimulated person 16 in real time as the feature vector C, and the current electrical stimulation parameters, the current skin temperature caused by moxibustion and moxibustion path as the controlled quantity D. C and D at the same time are taken as a group of samples, and at least 1000 groups of such samples are obtained and sent to a deep neural network for regression analysis to obtain a personalized closed-loop stimulation plan for the stimulated person 16. Description of the drawings:

[0024] Figure 1 The overall structure diagram of the system

[0025] Figure 1 middle:

[0026] 1 is the transcutaneous electrical stimulation module

[0027] 2 is the moxibustion control module

[0028] 3 is the EEG measurement module

[0029] 4 infrared imaging camera

[0030] 5 is the servo feedback control computer

[0031] 6 for camera bracket

[0032] 7. Moxibustion gripping robot

[0033] 16 for the stimulated

[0034] 17 for EEG data line

[0035] 18 for camera data cable

[0036] 19 is the electrical stimulation data line

[0037] 20 is the moxibustion control line

[0038] 21 is the robot control line

[0039] Figure 2 Schematic diagram of the EEG acquisition module

[0040] In the figure:

[0041] 8 is the waveform generator

[0042] 9 is the electrode sheet

[0043] Figure 3 For moxibustion control module

[0044] In the figure:

[0045] 10 is a driving motor

[0046] 11 for moxibustion holder

[0047] 12 moxa cones

[0048] 15 moxibustion igniter

[0049] Figure 4 EEG measurement module

[0050] In the figure

[0051] 13 for brain electrodes

[0052] 14 is the EEG signal acquisition / amplification / recognition module

[0053] 16 for the stimulated

[0054] 17 for EEG data line

[0055] Beneficial effects of the present invention: Experiments conducted by the research team have shown that transcutaneous electrical stimulation combined with moxibustion of specific acupoints can better stimulate the patient's own rehabilitation system. Moxibustion of specific acupoints will cause rapid changes in the temperature of the meridian routes, and combined with the stimulating effect of electrical stimulation on the body, it will also cause changes in brain wave characteristics. Therefore, an infrared temperature measurement camera is used to capture the changes in the temperature characteristics of the facial meridians of the stimulated person, and at the same time, the changes in the brain wave characteristics of the stimulated person are collected in real time. The two changes in characteristics are combined with the guidance of the doctor's clinical experience, and the electrical stimulation parameters and the intensity and route of moxibustion are adjusted in a closed loop in real time, which can greatly shorten the patient's treatment cycle. At the same time, the real-time brain wave and facial infrared image features and the current stimulation parameters are sent to the deep neural network to train the mathematical model of the body response of the stimulated person, and then the stimulation parameters are accurately adjusted according to the mathematical model, which further accelerates the patient's recovery process, reduces the cost of treatment, makes the treatment plan more personalized, and achieves better treatment effects and shortens the treatment time. Specific implementation method:

[0057] See also Figure 1-4 As shown, the specific implementation of the present invention is as follows.

[0058] The technical solution of the present invention is: a closed-loop transcutaneous electrical stimulation device based on electroencephalogram feedback, characterized in that the device includes a transcutaneous electrical stimulation module 1, a moxibustion control module 2, an electroencephalogram measurement module 3, an infrared imaging camera 4, a servo feedback control computer 5, a camera bracket 6 and a moxibustion clamping manipulator 7.

[0059] The transcutaneous electrical stimulation module 1 includes a waveform generator 8 and an electrode sheet 9, which are mainly used to generate a stimulation current waveform required for electrical stimulation.

[0060] The moxibustion control module 2 includes a driving motor 10, a moxibustion holder 11, a moxa stick 12 and a moxibustion igniter 15. The moxibustion control module 2 is mainly used for moxibustion of specific parts in coordination with electrical stimulation. Moxibustion during electrical stimulation can effectively enhance the body's stimulation response and accelerate the recovery process.

[0061] The EEG measurement module 3 includes brain electrodes 13 and an EEG signal acquisition / amplification / recognition module 14. The EEG measurement module 3 mainly completes the tasks of acquisition, processing and recognition of EEG signals.

[0062] Among them, the main function of the infrared imaging camera 4 is to collect infrared thermal images of the face of the stimulated person 16, and accurately identify the changes in facial temperature distribution before and after the simultaneous treatment of electrical stimulation and moxibustion.

[0063] The servo feedback control computer 5 runs the acquisition and analysis software to obtain the sensor data and calculate the next step of electrical stimulation control parameters in real time according to the EEG signal recognition results, infrared image recognition results, current moxibustion skin temperature and current electrical stimulation parameters.

[0064] Among them, the connection relationship between the various components is as follows: the stimulated person 16 wears an EEG measurement module 3 on his head, and the EEG measurement module 3 is connected to the servo feedback control computer 5 through an EEG data line 17; the infrared imaging camera 4 is installed on the camera bracket, connected to the servo feedback control computer 5 through a camera data line 18, and the camera lens is aimed at the face of the stimulated person 16; the transcutaneous electrical stimulation module 1 is attached to the stimulated part of the stimulated person 16, and is connected to the servo feedback control computer 5 through an electrical stimulation data line 19; the moxibustion control module 2 is installed at the end of the moxibustion clamping manipulator 7, and is connected to the servo feedback control computer 5 through a moxibustion control line 20, thereby realizing accessibility to any workspace position; the moxibustion clamping manipulator 7 is connected to the servo feedback control computer 5 through a manipulator control line 21.

[0065] The steps for using the above-mentioned closed-loop transcutaneous electrical stimulation device based on EEG feedback are as follows:

[0066] [1] The stimulated person 16 wears an EEG measurement module 3 on his head. The EEG measurement module 3 is connected to the servo feedback control computer 5 via an EEG data line 17, and transmits the current EEG signal to the servo feedback control computer 5 in real time.

[0067] [2] The transcutaneous electrical stimulation module 1 is attached to the stimulated part of the stimulated person 16 and is connected to the servo feedback control computer 5 via the electrical stimulation data line 19;

[0068] [3] The infrared imaging camera 4 is mounted on a camera bracket and connected to a servo feedback control computer 5 via a camera data cable 18, with the camera lens aimed at the face of the stimulated person 16;

[0069] [4] The moxibustion control module 2 is installed at the end of the moxibustion clamping manipulator 7, and the moxibustion clamping manipulator 7 is connected to the servo feedback control computer 5 through the manipulator control line 21; select the target acupuncture point, select the moxibustion burning path and time, the moxibustion igniter 15 ignites the moxa stick 12, and the servo feedback control computer 5 controls the moxibustion clamping manipulator 7 to move to the target position through the data line 21, and performs moxibustion stimulation on the stimulated person 16;

[0070] [5] Start transcutaneous electrical stimulation module 1;

[0071] [6] Starting the infrared imaging camera 4 to capture the facial infrared radiation characteristic image of the stimulated person 16;

[0072] [7] The servo feedback control computer 5 calculates the EEG characteristics and infrared radiation characteristic vector T of the stimulated person 16 in real time, especially the temperature change near the midline of the face, and compares it with the set threshold Th. If the threshold Th is exceeded, the electrical stimulation parameters are adjusted in real time according to the doctor's prescription rules.

[0073] In the above-mentioned closed-loop transcutaneous electrical stimulation device based on EEG feedback, the servo feedback control computer 5 collects and calculates the EEG characteristics and facial infrared temperature characteristics of the stimulated person 16 in real time as the feature vector C, and the current electrical stimulation parameters, the current skin temperature caused by moxibustion and moxibustion path as the controlled quantity D. C and D at the same time are taken as a group of samples, and at least 1000 groups of such samples are obtained and sent to a deep neural network for regression analysis to obtain a personalized closed-loop stimulation plan for the stimulated person 16.

Claims

1. A closed-loop transcutaneous electrical stimulation device based on EEG feedback, Features: The device comprises a transcutaneous electrical stimulation module (1), a moxibustion control module (2), an electroencephalogram (EEG) measurement module (3), an infrared imaging camera (4), a servo feedback control computer (5), a camera bracket (6), and a moxibustion clamping manipulator (7); the transcutaneous electrical stimulation block (1) comprises a waveform generator (8) and an electrode sheet (9); the moxibustion control module (2) comprises a driving motor (10), a moxibustion clamp (11), a moxa stick (12), and a moxibustion igniter (15); and the electroencephalogram (3) measurement module comprises a brain electrode (13) and an electroencephalogram (EEG) signal acquisition / amplification / recognition module (14); Among them, the transcutaneous electrical stimulation module (1) is mainly used to generate the stimulation current waveform required for electrical stimulation; the moxibustion control module (2) is mainly used to cooperate with electrical stimulation to perform moxibustion on specific parts. Performing moxibustion while performing electrical stimulation can effectively enhance the body's stimulation response and accelerate the recovery process; the electroencephalogram measurement module (3) is mainly used to collect, process and identify electroencephalogram signals; the infrared imaging camera (4) mainly functions to collect infrared thermal images of the face of the stimulated person (16) and accurately identify changes in facial temperature distribution before and after electrical stimulation and moxibustion are carried out simultaneously; the servo feedback control computer (5) is used to run the collection and analysis software, obtain sensor data, and calculate the next step of electrical stimulation control parameters in real time based on the electroencephalogram signal recognition results, infrared image recognition results, current moxibustion skin temperature and current electrical stimulation parameters; The stimulated person (16) wears an electroencephalogram (EEG) measurement module (3) on his head, and the EEG measurement module (3) is connected to a servo feedback control computer (5) via an EEG data line (17); an infrared imaging camera (4) is mounted on a camera bracket (6) and connected to the servo feedback control computer (5) via a camera data line (18), with the camera lens aimed at the face of the stimulated person (16); a transcutaneous electrical stimulation module (1) is attached to the stimulated part of the stimulated person (16) and connected to the servo feedback control computer (5) via an electrical stimulation data line (19); a moxibustion control module (2) is mounted on the end of a moxibustion clamping manipulator (7) and connected to the servo feedback control computer (5) via a moxibustion control line (20); the moxibustion clamping manipulator (7) is connected to the servo feedback control computer (5) via a manipulator control line (21); The steps for using the device are as follows: [1] The stimulated person (16) wears an EEG measurement module (3) on his head. The EEG measurement module (3) is connected to a servo feedback control computer (5) via an EEG data cable (17) and transmits current EEG signals to the servo feedback control computer (5) in real time. [2] The transcutaneous electrical stimulation module (1) is attached to the stimulated part of the stimulated person (16) and is connected to the servo feedback control computer (5) via an electrical stimulation data line (19); [3] The infrared imaging camera (4) is mounted on a camera bracket and connected to a servo feedback control computer (5) via a camera data cable (18), with the camera lens directed toward the face of the person being stimulated (16); [4] The moxibustion control module (2) is installed at the end of the moxibustion clamping manipulator (7), and the moxibustion clamping manipulator (7) is connected to the servo feedback control computer (5) through the manipulator control line (21); Select the target acupuncture points, and choose the moxibustion path and time; The moxibustion igniter (15) ignites the moxa stick (12), and the servo feedback control computer (5) controls the moxibustion clamping manipulator (7) to move to the target position through the data line (21), so as to perform moxibustion stimulation on the stimulated person (16); [5] Start the transcutaneous electrical stimulation module (1); [6] starting the infrared imaging camera (4) to capture an infrared radiation characteristic image of the face of the stimulated person (16); [7] The servo feedback control computer (5) calculates the EEG characteristics and infrared radiation characteristic vector T of the stimulated person (16) and the temperature change near the midline of the face in real time, and compares them with the set threshold value Th. If the threshold value Th is exceeded, the electrical stimulation parameters are adjusted in real time according to the doctor's prescription rules; The servo feedback control computer (5) collects and calculates the EEG characteristics and facial infrared temperature characteristics of the stimulated person (16) in real time as the feature vector C, and the current electrical stimulation parameters, the current skin temperature caused by moxibustion and moxibustion path as the controlled quantity D. C and D at the same time are taken as a group of samples, and at least 1000 groups of samples are obtained and sent to a deep neural network for regression analysis to obtain a personalized closed-loop stimulation plan for the stimulated person (16).

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