A potential signal acquisition method and an implantable nerve stimulator

Abstract

The present disclosure provides a potential signal acquisition method and an implantable nerve stimulator, wherein the method comprises: outputting a pulse stimulation signal to a stimulation target; actively balancing charges of the stimulation target after the stimulation pulse of the pulse stimulation signal ends; and acquiring a potential signal of the target after the active charge balancing ends and before the next stimulation pulse starts.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of medical devices, in particular to a potential signal acquisition method and an implantable neurostimulator. BACKGROUND

[0002] A deep brain stimulator is an implantable medical device, mainly used for treating movement disorders and mental disorders, and its indications include Parkinson's disease, dystonia, essential tremor and obsessive-compulsive disorder, etc. With the development of neural regulation field, the correlation between the mechanism of deep brain electrical stimulation and the electrical stimulation parameters is becoming closer and closer. As a direct intervention on the electrical activity of deep brain, the relationship between deep brain electrical stimulation and spontaneous brain electrical activity may affect the efficacy and side effects of stimulation. Therefore, the demand for developing a deep brain stimulator with deep brain potential signal acquisition function is more urgent.

[0003] In related technologies, the acquired potential signals are mainly LFP (local field potential) signals and ECAP (evoked compound action potential) signals, with an amplitude of uV order of magnitude, and the acquisition occurs during the stimulation pulse. The stimulation pulse will have a noise effect on the acquisition of the potential signal. SUMMARY

[0004] The present disclosure provides a potential signal acquisition method and an implantable neurostimulator.

[0005] According to a first aspect of the embodiments of the present disclosure, a potential signal acquisition method is provided, comprising:

[0006] outputting a pulse stimulation signal to a stimulation target point;

[0007] after the end of the stimulation pulse of the pulse stimulation signal, actively balancing charges of the stimulation target point;

[0008] after the end of the active charge balancing and before the start of the next stimulation pulse, acquiring a potential signal of the target point.

[0009] According to a second aspect of the embodiments of the present disclosure, an implantable neurostimulator is provided, comprising a main controller, a pulse generation module and a signal acquisition module; wherein the main controller,

[0010] is configured to control the pulse generation module to output a pulse stimulation signal to a stimulation target point; and after the end of the stimulation pulse of the pulse stimulation signal, actively balance charges of the stimulation target point;

[0011] is configured to control the signal acquisition module to acquire a potential signal of the target point after the end of the active charge balancing and before the start of the next stimulation pulse.

[0012] In the embodiments of the present disclosure, after inputting the pulse stimulation signal to the stimulation target, active charge balance can be performed on the stimulation target after the end of the stimulation pulse, i.e., at the stimulation falling edge of the pulse stimulation signal, and the potential signal of the target target can be collected after the end of the active charge balance and before the start of the next stimulation pulse. With this scheme, the potential signal of the target target of the target object can be collected in the case of eliminating the residual charge of the pulse stimulation signal, so that the collected potential signal is more accurate.

[0013] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, but not limiting the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0014] The accompanying drawings, which are incorporated into the specification and constitute part of it, illustrate embodiments consistent with the present disclosure and serve to explain the principles of the present disclosure together with the specification.

[0015] Figure 1 is a potential signal collection method flowchart according to an exemplary embodiment;

[0016] Figure 2 is a stimulation waveform schematic diagram according to an exemplary embodiment;

[0017] Figure 3 is a time length determination method flowchart according to an exemplary embodiment;

[0018] Figure 4 is another stimulation waveform schematic diagram according to an exemplary embodiment;

[0019] Figure 5 is another stimulation waveform schematic diagram according to an exemplary embodiment;

[0020] Figure 6 is another stimulation waveform schematic diagram according to an exemplary embodiment;

[0021] Figure 7 is another stimulation waveform schematic diagram according to an exemplary embodiment;

[0022] Figure 8 is an implantable neurostimulator schematic diagram according to an exemplary embodiment;

[0023] Figure 9 is a structural schematic diagram of a computer device according to an exemplary embodiment. DETAILED DESCRIPTION

[0024] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The description of the exemplary embodiments is only to illustrate the principles of the present disclosure and should not be construed to limit the scope of the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0025] The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. As used in the present disclosure and the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0026] It will be understood that, although the terms first, second, third, etc. can be used herein to describe various information, these terms are not intended to denote a temporal or chronological order. Rather, these terms are used only to distinguish different sets of information from one another. For example, a first information can be termed a second information, and similarly, a second information can also be termed a first information, without departing from the scope of the present disclosure. Depending on the context, the word "if' as used herein can be interpreted to mean "when" or "in response to determining" or "in response to a determination".

[0027] To make the potential signal acquisition method provided by the present disclosure clearer, the process of the scheme provided by the present disclosure is described in detail below in combination with the drawings and specific embodiments.

[0028] Referring to Figure 1 , Figure 1 is a flowchart of a potential signal acquisition method according to an embodiment of the present disclosure. As shown in Figure 1 , the flowchart includes steps 101 to 103.

[0029] Step 101: output a pulse stimulation signal to a stimulation target.

[0030] The stimulation target is a part of the body of a target subject that needs to be stimulated. For example, the stimulation target can be a target region in the brain tissue of a target patient that needs to be stimulated by the deep brain stimulator during treatment. The pulse stimulation signal is a stimulation signal output when stimulating the target subject. For example, the pulse stimulation signal can be a pulse signal output by the deep brain stimulator when stimulating the target region in the brain tissue of the target patient.

[0031] The step can output a pulse stimulation signal to the stimulation target of the target object to stimulate the stimulation target of the target object. For example, the step can output a corresponding pulse signal to a target region in the brain tissue of the target patient to stimulate the target region in the brain tissue. For example, the signal waveform of the pulse stimulation signal output by the step to the stimulation target can be a waveform as shown in Figure 2 It can be understood that the process of outputting the pulse stimulation signal to the stimulation target is a periodic output process, and in the embodiments of the present disclosure, the collection of the potential signal is also implemented in an output period. For example Figure 2 In the embodiments of the present disclosure, the potential signal is collected in a time t in a pulse stimulation signal output period.

[0032] It can be understood that the embodiments of the present disclosure do not limit the specific implementation of outputting the pulse stimulation signal to the stimulation target. For example, the main controller of the deep brain stimulator can be used to control the pulse generation module, and the pulse stimulation signal can be output to the stimulation target based on the stimulation electrode.

[0033] Step 102, after the stimulation pulse of the pulse stimulation signal ends, actively charge balancing is performed on the stimulation target.

[0034] In the step, the active charge balancing can be performed on the stimulation target after the stimulation pulse of the pulse stimulation signal ends. The step can use the active charge balancing process to reduce the "leftover" effect on the body of the target object after the stimulation pulse ends.

[0035] It can be understood that the specific way of active charge balancing in the embodiments of the present disclosure is not limited. For example, in the embodiments of the present disclosure Figure 2 For example, at the moment when the stimulation pulse ends, the stimulation electrode can output a pulse signal opposite to the pulse stimulation signal, that is, output a reverse pulse signal, to offset the residual charge on the body of the target object after the pulse stimulation signal is output.

[0036] Step 103, after the active charge balancing ends and before the next stimulation pulse starts, the potential signal of the target target is collected.

[0037] Since the active charge balancing process can reduce or eliminate the residual charge caused by the pulse stimulation signal output to the stimulation target, in the embodiments of the present disclosure, it is desirable to collect the potential signal without any residual charge effect or with residual charge below a threshold value, so that the collected potential signal is more accurate and is not or is reduced by the influence of the residual charge of the pulse stimulation signal.

[0038] In this step, the potential signal of the target point is collected within the acquisition time t, after the active charge balance is completed and before the next stimulation pulse begins, i.e., after the residual charge of the output pulse stimulation signal is eliminated or below the threshold.

[0039] The acquisition duration t can be a pre-set acquisition time length, or it can be a duration information dynamically obtained based on different information such as acquisition requirements, target object's physical parameters, and stimulation parameters of the pulse stimulation signal, and is not limited thereto. In addition, the target point can be a target point region that is the same as or different from the stimulation target point, or it can be a target point region that partially overlaps with the stimulation target point. In the embodiments of this disclosure, the relationship or influence between the stimulation target point and the target point is not limited.

[0040] In this embodiment of the present disclosure, after outputting a pulsed stimulation signal to the target point, active charge balancing can be performed on the target point after the stimulation pulse ends. Furthermore, after the active charge balancing is completed and before the next stimulation pulse begins, the potential signal of the target point is acquired. This approach allows for the acquisition of the potential signal of the target object only after the residual charge has been eliminated or is at a low level, resulting in a more accurate acquisition of the potential signal.

[0041] In some optional embodiments, in step 103, after the active charge balance is completed and before the next stimulation pulse begins, the potential signal of the target point is collected. Specifically, this may include: collecting the potential signal of the target point after a delay period starting from the delay start time.

[0042] by Figure 2 For example, the moment corresponding to the end of the stimulation pulse can be taken as the start time of the delay, and the duration corresponding to T2 can be taken as the delay duration. That is, in the above optional embodiment, the time after T2 following the falling edge of the stimulus can be determined as the end of the active charge balance and the beginning of the next stimulation pulse. That is, at the end of the T2 duration, it is considered that the residual charge of the output pulse stimulation signal has been eliminated or substantially eliminated, thereby acquiring the potential signal of the target point.

[0043] In the above optional embodiments, the delay start time is selected as the time corresponding to the end of the stimulation pulse, that is, the falling edge of the stimulation is taken as the delay start time. In some optional embodiments, the time corresponding to the start of the next stimulation pulse, that is, the time corresponding to the rising edge of the pulse stimulation signal, or the charge balance time can be taken as the delay start time. The difference is that, with different delay start times, the delay duration can be adaptively changed to ensure that at the end of the delay duration, the stimulation signal at the target point is basically zero, that is, the influence of residual charge in the output pulse stimulation signal is eliminated.

[0044] In some optional embodiments, the delay time length and / or the collection time length can be determined according to stimulation parameters of the pulse stimulation signal and reverse pulse signal parameters of the active charge balance; the stimulation parameters include at least one of the following: first frequency information, first amplitude information, first pulse width information, contact impedance information of the collection electrode and / or the stimulation electrode; the reverse pulse signal parameters include at least one of the following: second frequency information, second amplitude information, second pulse width information, contact impedance information of the collection electrode and / or the stimulation electrode.

[0045] For example, the delay time length or the collection time length can be determined according to one or more of the frequency information, the amplitude information, the pulse width information, the contact impedance information of the collection electrode and / or the stimulation electrode of the pulse stimulation signal, and one or more of the frequency information, the amplitude information, the pulse width information, the contact impedance information of the collection electrode and / or the stimulation electrode of the reverse pulse signal. It can be understood that the above are only specific examples of parameters, and more pulse stimulation signal parameters or reverse pulse signal parameters can be selected as parameters for determining the delay time length or the collection time length in specific implementations. In a preferred embodiment, in the case that the pulse stimulation signal and the reverse pulse signal are at the same frequency, the delay time length can be determined according to the difference between the stimulation energy of the pulse stimulation signal and the balance energy of the reverse pulse signal, in combination with the pulse width of the reverse pulse signal. The stimulation energy and the balance energy can be calculated according to the amplitude information and the pulse width information of the signals. In a preferred embodiment, the collection time length can be determined according to the frequency, the pulse width and the delay time length of the pulse stimulation signal.

[0046] In some optional embodiments, the determination of the delay time length and / or the collection time length according to the stimulation parameters of the pulse stimulation signal can include steps 301 to 303. Figure 3 As shown in the figure, the determination of the delay time length and / or the collection time length according to the stimulation parameters of the pulse stimulation signal can include steps 301 to 303.

[0047] Step 301: Obtain the stimulation parameters and the reverse pulse signal parameters.

[0048] In this step, the stimulation parameters of the pulse stimulation signal can be obtained, such as the frequency information, the amplitude information, the pulse width information and the contact impedance information of the pulse stimulation signal; at the same time, the reverse pulse signal parameters of the active charge balance can be obtained, such as the frequency information, the amplitude information, the pulse width information and the contact impedance information of the reverse pulse signal.

[0049] Step 302: Determine the delay time length and / or the collection time length to be set according to the stimulation parameters and the reverse pulse signal parameters.

[0050] After the stimulation parameter and the reverse pulse signal parameter are acquired, the step can comprehensively determine the to-be-set delay time length or acquisition time length according to the stimulation parameter and the reverse pulse signal parameter. It should be noted that the specific algorithm for determining the to-be-set delay time length or acquisition time length according to the stimulation parameter and the reverse pulse signal parameter can be obtained by means of a pre-stored mapping table or by a pre-designed calculation formula or algorithm, and the embodiments of the present disclosure are not limited.

[0051] In a possible implementation, the to-be-set delay time length or acquisition time length can be determined according to the stimulation parameter and the reverse pulse signal parameter by means of supervised learning, unsupervised learning or reinforcement learning in machine learning. In another possible implementation, after the stimulation parameter and the reverse pulse signal parameter are acquired, the to-be-set delay time length or acquisition time length can be determined according to the stimulation parameter and the reverse pulse signal parameter by means of table lookup. The above is only an exemplary implementation and does not constitute a limitation on the implementation of the scheme.

[0052] Step 303, in the case where the to-be-set delay time length and / or acquisition time length is different from the delay time length and / or the acquisition time length, updating the delay time length and / or the acquisition time length according to the to-be-set delay time length and / or acquisition time length.

[0053] After the to-be-set delay time length or acquisition time length is determined, the step can further judge whether the to-be-set value is different from the current value. If the two values are the same, there is no need to update; if the two values are different, the current value is updated according to the to-be-set value, that is, the delay time length and / or the acquisition time length is updated according to the to-be-set delay time length and / or acquisition time length.

[0054] In some optional embodiments, the determining the delay time length and / or the acquisition time length according to the stimulation parameter of the pulse stimulation signal comprises: determining the delay time length and / or the acquisition time length according to a variation range of the stimulation parameter of the pulse stimulation signal.

[0055] If the current stimulation parameter cannot be acquired in real time, the variation range of the stimulation parameter can be determined in the above embodiments, and the delay time length or the acquisition time length is determined according to the variation range of the stimulation parameter of the pulse stimulation signal.

[0056] In some optional embodiments, the pulse stimulation signal can be output to the stimulation target point based on a stimulation frequency, and the potential signal of the target point can be acquired based on a sampling frequency. The sampling frequency is an integer multiple of the stimulation frequency, or the stimulation frequency is an integer multiple of the sampling frequency.

[0057] In the optional embodiment above, the stimulation frequency can be set as an integer multiple of the sampling frequency. For example, the stimulation frequency can be set as x*acquisition frequency, x being an integer. In the case of x=1, as shown in Figure 2 In the case of x=2, as shown in Figure 4

[0058] In the optional embodiment above, the sampling frequency can be set as an integer multiple of the stimulation frequency. For example, the acquisition frequency can be set as x*stimulation frequency, x being an integer. In the case of x=1, as shown in Figure 5 In the case of x=2, as shown in Figure 6

[0059] In some optional embodiments, the potential signal of the target target point can be acquired at least once in the same cycle in which the pulse stimulation signal is output to the stimulation target point. In the embodiments of the present disclosure, the potential signal of the target target point can be acquired once or multiple times in the same cycle in which the pulse stimulation signal is output to the stimulation target point. For example, the acquisition times can be set as 3 times in each stimulation cycle according to the needs, as shown in Figure 7

[0060] Figure 8 As shown in the above formula, the present disclosure provides an implantable neurostimulator, for example, a deep brain stimulator, which can perform the potential signal acquisition method of any embodiment of the present disclosure. The deep brain stimulator comprises a main controller, a pulse generation module and a signal acquisition module; wherein the main controller,

[0061] controls the pulse generation module to output a pulse stimulation signal to a stimulation target point; and actively charges balance is performed on the stimulation target point after the stimulation pulse of the pulse stimulation signal ends;

[0062] controls the signal acquisition module to acquire a potential signal of a target target point after the actively charging balance ends and before the next stimulation pulse starts.

[0063] Optionally, the deep brain stimulator further comprises a potential noise elimination module; and the main controller is further configured to

[0064] control the pulse generation module to access the potential noise elimination module after the stimulation pulse of the pulse stimulation signal ends; and control the pulse generation module to disconnect the potential noise elimination module before the next stimulation pulse starts.

[0065] Optionally, the deep brain stimulator further comprises a stimulation switch array and an acquisition switch array; and the pulse generation module,

[0066] ​​​sending a synchronization signal to the main controller before a falling edge of a stimulation pulse of the pulse stimulation signal, controlling the stimulation switch array to disconnect the stimulation channel of the pulse generation module by the main controller, and after the end of the potential signal acquisition, controlling the stimulation switch array to access the stimulation channel of the pulse generation module by the main controller; or

[0067] sending a synchronization signal to the main controller before the potential signal acquisition, controlling the stimulation switch array to disconnect the stimulation channel of the pulse generation module by the main controller, and after the end of the potential signal acquisition, controlling the stimulation switch array to access the stimulation channel of the pulse generation module by the main controller; or

[0068] sending a synchronization signal to the main controller before a rising edge of a stimulation pulse of the pulse stimulation signal, controlling the acquisition switch array to disconnect the acquisition channel of the signal acquisition module by the main controller, and after the end of the stimulation pulse, controlling the acquisition switch array to access the acquisition channel of the signal acquisition module by the main controller.

[0069] For the deep brain stimulator embodiment, since it basically corresponds to the method embodiment, the relevant part is described in the method embodiment. The above-described deep brain stimulator embodiment is only illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place or distributed on multiple network units. According to actual needs, part or all of the modules can be selected to achieve the purpose of at least one embodiment of the present disclosure. Those skilled in the art can understand and implement without creative labor.

[0070] The present disclosure also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor can implement the potential signal acquisition method of any embodiment of the present disclosure when executing the program.

[0071] Figure 9 A more specific computer device hardware structure schematic diagram provided by the embodiment of the present disclosure is shown, which can include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 for communication within the device.

[0072] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, etc., for executing relevant programs to implement the technical solutions provided by the embodiments of the present specification.

[0073] The memory 1020 can be implemented by a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 1020 can store an operating system and other application programs, and when the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and called and executed by the processor 1010.

[0074] The input / output interface 1030 is configured to connect input / output modules to implement information input and output. The input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. The input devices can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices can include a display, a speaker, a vibrator, an indicator light, etc.

[0075] The communication interface 1040 is configured to connect a communication module (not shown in the figure) to implement the communication interaction between the device and other devices. The communication module can realize communication through a wired manner (such as USB, network cable, etc.) or through a wireless manner (such as mobile network, WIFI, Bluetooth, etc.).

[0076] The bus 1050 includes a channel for transmitting information between various components (such as the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040) of the device.

[0077] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only include the components necessary to implement the solutions of the embodiments of the present specification, and does not have to include all the components shown in the figure.

[0078] The present disclosure also provides a computer readable storage medium, having stored thereon a computer program, which, when executed by a processor, enables the potential signal acquisition method of any of the embodiments of the present disclosure.

[0079] The non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disc, and an optical data storage device, and the present disclosure is not limited thereto.

[0080] In some optional embodiments, the embodiments of the present disclosure provide a computer program product comprising computer readable code which, when run on a device, causes a processor in the device to implement the potential signal acquisition method as provided by any of the above embodiments. The computer program product can be implemented in particular by means of hardware, software or a combination thereof.

[0081] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed here. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure following, in general, the principles of the present disclosure and including such

[0082] It should be understood that the present disclosure is not limited to the precise structures as herein described and illustrated in the drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the present disclosure. The scope of the present disclosure is limited only by the claims that follow.

[0083] The above descriptions are only the preferred embodiments of the present disclosure and are not intended to limit the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the scope of protection of the present disclosure.

Claims

1. An implantable neurostimulator, comprising: The implantable nerve stimulator comprises a main controller, a pulse generation module and a signal acquisition module, wherein the main controller is configured to control the pulse generation module to output a pulse stimulation signal to a stimulation target point, and to control the pulse generation module to perform active charge balance on the stimulation target point after the end of a stimulation pulse of the pulse stimulation signal. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse.

2. The implantable neurostimulator of claim 1, wherein, The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse.

3. The implantable neurostimulator of claim 1, wherein, The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse.

4. The implantable neurostimulator of claim 1, wherein, The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next stimulation pulse. The main controller is configured to control the signal acquisition module to acquire a potential signal of a target point after the end of the active charge balance and before the start of a next

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