Functional electrical stimulation device combined with rehabilitation therapy evaluation system of CPM rehabilitation apparatus

Abstract

The application discloses a rehabilitation treatment evaluation system of a functional electric stimulation device combined with a CPM rehabilitation device. An electrode module is attached to the surface of a measurement site, an electromyography acquisition module acquires original sEMG signals from the electrode module and sends the signals to an upper computer processing module, the upper computer processing module acquires the sEMG signals from the electromyography acquisition module and filters the signals, data processing is performed to obtain electric stimulation intensity and feedback electric stimulation parameters which are sent to a functional electric stimulation module, a CPM rehabilitation module receives external real-time angle parameters, the functional electric stimulation module receives the electric stimulation intensity real-time feedback to control electric stimulation, receives the feedback electric stimulation parameters and the real-time angle parameters to update a feedback control site. The application intelligently adjusts the parameters and sites of the electric stimulation on the surface of the human body, achieves the effect of adapting to the real-time state of the human body, and combines active movement and passive movement by adding the lower limb joint rehabilitation period CPM, so that the muscle activity of a patient is provided and the problem that muscle fatigue is caused by continuous electric stimulation is reduced.

Description

Technical Field

[0001] This invention relates to a health assessment system in the field of biomedical engineering, and in particular to a rehabilitation assessment system and method that combines a functional electrical stimulation device based on surface electromyography (sEMG) feedback with a continuous passive motion (CPM) rehabilitation device. Background Technology

[0002] With the increasingly significant trend of population aging, the number of people suffering from bone and joint damage is gradually increasing. Post-fracture rehabilitation, especially disuse atrophy and its treatment and rehabilitation methods, has received increasing attention from medical practitioners in recent years. Disuse atrophy is a common complication of bone and joint injuries in clinical practice, specifically manifested as muscle atrophy, muscle inactivation, and decreased muscle strength.

[0003] Currently, common methods for preventing and treating disuse muscle atrophy can be broadly categorized into exercise therapy and physical therapy. Exercise therapy generally combines exercise and functional training to improve muscle's antioxidant stress capacity, increase skeletal muscle volume, and promote blood circulation in skeletal muscles, thereby promoting the recovery from disuse muscle atrophy. Common exercise therapies include passive exercise, resistance exercise, and endurance exercise. Resistance exercise and endurance exercise are active exercises for patients, and they come in many forms. However, for some patients in the early postoperative period or with severe disuse muscle atrophy, active exercise is not very practical, and passive exercise therapy is usually used. Currently, the main assistive device for passive exercise therapy is the CPM rehabilitation device, which allows the limbs to perform continuous passive movement, thereby promoting the regeneration and repair of bone and joint cartilage. However, because it only allows passive movement of the limbs, the lack of active movement limits the degree of improvement in muscle activity. Physical therapy is also a widely used method for treating disuse muscle atrophy, especially for patients whose limbs are immobile and cannot undergo exercise therapy, such as patients in the early stages of fractures. Physical therapy includes low-frequency electrical stimulation therapy, medium-frequency electrical stimulation therapy, thermotherapy, acupuncture, etc. Electrical stimulation (ESS) is currently the most popular physical therapy. It strengthens muscle contraction on the affected side to prevent and treat disuse atrophy. However, due to individual physiological differences, selecting the appropriate ESS parameters is challenging and often relies on the doctor's experience and the patient's subjective feelings. Furthermore, continuous ESS can lead to muscle fatigue. Therefore, effectively and precisely implementing personalized ESS is a major problem that needs to be solved. Additionally, the torque generated by single ESS is relatively small, making it difficult for patients to achieve precise movements. The effective combination of ESS and CPM (Continuous Motion Circulation) is becoming a developing trend.

[0004] Research on sEMG signal acquisition as an assessment method and functional electrical stimulation as a rehabilitation method has been ongoing in China. Chinese patent CN109107039B, published on September 14, 2018, discloses a lower limb rehabilitation training device assisted by electromyographic feedback and electrical stimulation. This invention proposes controlling electrical stimulation for rehabilitation training based on electromyographic signal feedback. However, the feedback treatment method in the aforementioned device is too simplistic and cannot be adjusted according to the active movement of the human joints. Summary of the Invention

[0005] To address the problems existing in the background art, the present invention provides a rehabilitation treatment assessment system and method based on a functional electrical stimulation device for sEMG feedback combined with a CPM rehabilitation device.

[0006] The technical solution of the present invention is as follows:

[0007] It includes an electrode module, an electromyography (EMG) acquisition module, a functional electrical stimulation (FPS) module, a CPM rehabilitation module, and a host computer processing module.

[0008] The electrode module is attached to the surface of the corresponding sites on the healthy and affected sides to be measured.

[0009] The electromyography (EMG) acquisition module is electrically connected to the electrode module, and acquires the raw sEMG signals from the healthy side and the affected side from the electrode module and sends them to the host computer processing module.

[0010] The host computer processing module is electrically connected to the electromyography (EMG) acquisition module and the functional electrical stimulation (fEP) module, respectively. It acquires sEMG signals from the EMG acquisition module and performs data filtering processing. Then, it processes the data through an algorithm based on EMG feedback electrical stimulation to obtain the electrical stimulation intensity and feedback electrical stimulation parameters, and then sends them to the functional electrical stimulation module.

[0011] The CPM rehabilitation module and the functional electrical stimulation module are electrically connected to receive real-time angle parameters from external input.

[0012] The functional electrical stimulation module is electrically connected to the electrode module. It receives real-time feedback on the electrical stimulation intensity from the host computer processing module to control the electrode module to apply electrical stimulation. At the same time, it receives feedback electrical stimulation parameters and real-time angle parameters from the host computer processing module and the PM rehabilitation module respectively, processes and updates the electrical stimulation site, and then sends them to the real-time feedback control of electrical stimulation intensity to adjust the electrical stimulation site.

[0013] The electromyography (EMG) acquisition module includes a filtering circuit, an amplifier, and an analog-to-digital converter (ADC). The filtering circuit receives the raw EMG signal from the electrode module, performs low-pass filtering, and then sends it to the amplifier. The amplifier amplifies the filtered EMG signal and sends it to the ADC. The ADC performs analog-to-digital conversion on the amplified EMG signal and then sends it to the host computer processing module.

[0014] The electromyographic signal mentioned is an sEMG signal.

[0015] The number of electrode modules is multiple. The electrode modules are attached to treatment sites on the affected side, namely the vastus medialis, vastus lateralis, and rectus femoris muscles in the thigh, to collect corresponding electromyographic information on the affected side.

[0016] The electrode modules of the electromyography acquisition module and the functional electrical stimulation module can be reused simultaneously.

[0017] The electromyography (EMG) acquisition module includes an acquisition control unit, which controls the acquisition unit and the transmission unit. The acquisition unit consists of a filter circuit, an amplifier, and an analog-to-digital converter. The acquisition unit is connected to the acquisition control unit via the transmission unit. The acquisition control unit receives initialization information from the host computer processing module, parses it, and then controls the acquisition unit circuit.

[0018] The transmission unit consists of an ATWINC1510 wireless transmission module, which is responsible for the wireless data transmission between the electromyography acquisition module and the host computer processing module.

[0019] The rehabilitation assessment system described above performs functional electrical stimulation with sEMG feedback in the following manner:

[0020] (1) Attach the electrode module to the corresponding sites on the healthy and affected sides of the human body to be measured;

[0021] (2) Initialize the host computer processing module and the CPM rehabilitation module;

[0022] (3) Initialize the electromyography acquisition module and the functional electrical stimulation module;

[0023] (4) Conducting electromyography (EMG) acquisition and electrical stimulation feedback phase:

[0024] The healthy and affected sides were subjected to CPM rehabilitation reciprocating movements, while the functional electrical stimulation module controlled the electrode module to apply electrical stimulation to the electrical stimulation sites on both sides.

[0025] The raw sEMG signals from the healthy and affected sides are acquired from the electrode module via the electromyography acquisition module and sent to the host computer processing module.

[0026] After the data is filtered and processed in the background of the host computer processing module, the electrical stimulation intensity and feedback electrical stimulation parameters are calculated by the algorithm based on electromyographic feedback electrical stimulation. Then, the real-time electrical stimulation intensity is sent to the functional electrical stimulation module through another thread, and the feedback electrical stimulation parameters are sent to the functional electrical stimulation module. The functional electrical stimulation module controls the electrode module to apply electrical stimulation in real time according to the electrical stimulation intensity.

[0027] (5) Angle feedback electrical stimulation stage:

[0028] During the electromyography (EMG) acquisition and electrical stimulation feedback phase, the functional electrical stimulation module processes and updates the electrical stimulation sites based on the real-time angle parameters fed back from the CPM rehabilitation module and the feedback electrical stimulation parameters. Then, it sends the updated electrical stimulation sites to the real-time feedback control of the electrical stimulation intensity to achieve intelligent stimulation of the muscles at the corresponding angle on the affected side.

[0029] 1. A closed-loop feedback electrical stimulation mode based on sEMG signals:

[0030] The rehabilitation assessment system uses closed-loop feedback electrical stimulation control based on sEMG signals. A feedback algorithm maps the characteristic values ​​of the sEMG signals to electrical stimulation intensity, which is then applied to the affected side. Specifically:

[0031] First, the healthy side performed a specific action while sEMG signals were collected simultaneously. Then, the affected side performed the same action while sEMG signals were collected simultaneously. Finally, the RMS deviation value of the sEMG signals between the healthy and affected sides was calculated and expressed as follows:

[0032] RMS bias =RMS unaffected -RMS affected

[0033] In the formula, RMS affected and RMS unaffected The root mean square values ​​of sEMG signals from the affected and healthy sides when performing the same action;

[0034] Then, based on the RMS deviation value, the quality factor Q of the weakness of the affected muscle relative to the healthy muscle is obtained according to the following formula:

[0035]

[0036] Finally, the electrical stimulation intensity is obtained based on the quality factor Q, and is calculated as follows:

[0037]

[0038] In the formula, I is the electrical stimulation intensity obtained after feedback, Imax is the preset maximum stimulation intensity, Qmin is the threshold at which the affected side does not need electrical stimulation to assist in completing the action, and Qmax is the threshold at which the maximum electrical stimulation intensity needs to be triggered to assist in completing the action.

[0039] The specific movement mentioned refers to a complete joint flexion and extension movement.

[0040] The closed-loop feedback electrical stimulation mode based on sEMG signals described above in this invention uses a control group feedback method.

[0041] The above feature values ​​are selected from the root mean square values ​​of the electromyographic signals, and the calculation formula is as follows:

[0042]

[0043] In the formula, RMS is the root mean square value of the selected electromyographic signal, i.e., the eigenvalue, and x i Let N represent the filtered electromyographic signal at time point i, and let N represent the length of the sliding window.

[0044] 2. A mode of electrical stimulation based on joint flexion angle feedback:

[0045] Taking the knee joint as an example, the quadriceps femoris muscle is the main force used when the knee joint is flexed and extended. When the knee joint flexion angle is 0°-20°, the vastus medialis muscle is the main force used; when the flexion angle is 20°-90°, the vastus lateralis muscle is the main force used; and when the flexion angle is 90°-140°, the rectus femoris muscle is the main force used.

[0046] By using the channel switching function of the functional electrical stimulation module, real-time channel switching is performed based on the real-time joint angle data obtained from the angle feedback of the CPM rehabilitation module. Different channels correspond to different sites, thereby realizing intelligent coordinated electrical stimulation of different muscles or muscle combinations under different knee flexion angles.

[0047] Simultaneously, based on the deviation parameters obtained from electromyographic feedback, the required electrical stimulation parameters for the affected side are changed in real time to achieve personalized, dynamic, and intelligent rehabilitation and assessment.

[0048] The beneficial effects of this invention are:

[0049] Using the method of this invention, comprehensive rehabilitation treatment and assessment of disuse muscular atrophy can be achieved in various situations.

[0050] This invention proposes an algorithm for feedback control of electrical stimulation based on a motion model using electromyography (EMG) signals and real-time joint angle signals. This algorithm intelligently adjusts the parameters and locations of electrical stimulation on the human body surface to adapt to the real-time state of the body. Combined with CPM during the rehabilitation period of lower limb joints, it can combine active and passive movements to improve muscle activity and reduce muscle fatigue caused by continuous electrical stimulation.

[0051] This invention addresses the difficulties in rehabilitation treatment caused by physiological differences among individuals, solves problems that traditional rehabilitation treatments cannot solve, provides a reference for assessment in various situations, and improves the effectiveness of patient rehabilitation treatment and the accuracy of assessment. Attached Figure Description

[0052] Figure 1This is a system block diagram of a rehabilitation treatment assessment system based on a functional electrical stimulation device with sEMG feedback combined with a CPM rehabilitation device, according to an embodiment of the present invention.

[0053] Figure 2 This is a flowchart illustrating the rehabilitation treatment and assessment method based on closed-loop feedback electrical stimulation mode using sEMG signals, according to an embodiment of the present invention.

[0054] Figure 3 This is a flowchart illustrating the rehabilitation treatment and assessment method based on angle feedback electrical stimulation mode according to an embodiment of the present invention.

[0055] Figure 4 This is a physical diagram of the host computer of the rehabilitation treatment assessment system based on the sEMG feedback functional electrical stimulation device combined with the CPM rehabilitation device, according to an embodiment of the present invention.

[0056] Figure 5 This is a real-time data graph of quality factor and stimulation intensity obtained from the rehabilitation assessment of the closed-loop feedback electrical stimulation mode based on sEMG signals according to an embodiment of the present invention. Detailed Implementation

[0057] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments described below are intended to facilitate the understanding of the present invention and do not constitute any limitation thereof.

[0058] like Figure 1 As shown, a multi-mode disuse muscular atrophy comprehensive rehabilitation treatment system based on a multi-channel functional electrical stimulation device with sEMG feedback combined with a CPM rehabilitation device includes an electrode module, an electromyography acquisition module, a functional electrical stimulation module, a CPM rehabilitation module, and a host computer processing module.

[0059] The electrode module is attached to the surface of the corresponding sites on the healthy and affected sides to be measured.

[0060] The electromyography (EMG) acquisition module is electrically connected to the electrode module. It acquires raw sEMG signals from the healthy and affected sides from the electrode module and sends them to the host computer processing module.

[0061] The host computer processing module is electrically connected to the electromyography (EMG) acquisition module and the functional electrical stimulation (fEP) module respectively. It acquires sEMG signals from the EMG acquisition module and performs data filtering processing. Then, it processes the data through an algorithm based on EMG feedback electrical stimulation to obtain the electrical stimulation intensity and feedback electrical stimulation parameters, and then sends them to the functional electrical stimulation module.

[0062] The CPM rehabilitation module is electrically connected to the functional electrical stimulation module to receive real-time angle parameters from external input.

[0063] The functional electrical stimulation module is electrically connected to the electrode module. It receives real-time feedback on the electrical stimulation intensity from the host computer processing module to control the electrode module to apply electrical stimulation. At the same time, it receives feedback electrical stimulation parameters and real-time angle parameters from the host computer processing module and the PM rehabilitation module respectively, processes them to update the electrical stimulation site, and then sends them to the real-time feedback control of electrical stimulation intensity to adjust the electrical stimulation site.

[0064] The electromyography (EMG) acquisition module and the functional electrical stimulation (fEP) module form the core module of feedback therapy. The module is used to collect surface EMG information and adjust the intensity and location of electrical stimulation in real time based on the real-time acquired EMG signals of the patient and the angle of movement on the affected side. At the same time, it stores rehabilitation exercise data for analysis and processing to evaluate the effect of rehabilitation exercise.

[0065] The electromyography (EMG) acquisition module includes a filter circuit for low-pass filtering of the raw EMG signal, an amplifier for amplifying the filtered EMG signal, and an analog-to-digital converter (ADC) for receiving the EMG signal and outputting status information. The filter circuit receives the raw EMG signal from the electrode module, performs low-pass filtering, and then sends it to the amplifier. The amplifier amplifies the filtered EMG signal and sends it to the ADC. The ADC performs analog-to-digital conversion on the amplified EMG signal and then sends it to the host computer processing module.

[0066] The electromyography (EMG) acquisition module includes an acquisition control unit, which contains an ATSAMS70N20A microcontroller. The acquisition control unit is used to control the acquisition unit and the transmission unit. The acquisition unit consists of a filter circuit, an amplifier, and an analog-to-digital converter. The acquisition unit is connected to the acquisition control unit via the transmission unit. The acquisition control unit receives initialization information from the host computer processing module, parses it, and then controls the acquisition unit circuit.

[0067] The transmission unit consists of an ATWINC1510 wireless transmission module, which is responsible for wireless data transmission between the electromyography acquisition module and the host computer processing module.

[0068] The functional electrical stimulation module includes an electrical stimulation main control unit, a biphasic stimulation output unit, and a channel selection unit. The electrical stimulation main control unit contains an STM32F103C8T6 microcontroller and its peripheral circuitry. The microcontroller communicates via two SPI interfaces and two I / O interfaces. 2 The microcontroller uses a C-interface and two 12-bit ADCs to control the biphasic stimulation output unit and channel selection unit. The peripheral circuitry includes an 8MHz passive crystal oscillator, a reset circuit, an SWD debugging interface, and status information LEDs. These peripheral circuits are used to maintain the normal operation of the microcontroller.

[0069] The biphasic stimulation output unit is used to output a balanced biphasic electrical stimulation waveform, which can effectively avoid damage to human tissue during monophasic electrical stimulation treatment; the channel selection unit is used to select the channel to trigger electrical stimulation according to the enable signal of the microcontroller.

[0070] The functional electrical stimulation module also includes a power management unit, which provides reliable power to the functional electrical stimulation module. The system requires stable voltages of +5V, +3.3V, and +140V.

[0071] The +5V voltage is regulated by an LDO regulator TPS7A4501 to power the DAC and optocoupler chips; the +3.3V voltage is stepped down to +3.3V by an LDO chip LP5907MFX-3.3; the +140V voltage is sampled and boosted by a boost circuit, mainly using an LM5022, with a maximum boost ratio of 10.

[0072] In practice, the treatment site is the quadriceps femoris muscle in the thigh area.

[0073] The functional electrical stimulation (fEP) module transmits corresponding constant current electrical stimulation pulses based on real-time electrical stimulation parameters obtained from the host computer processing module, providing rehabilitation treatment to the muscle groups at the treatment sites. The fEP module controls the corresponding channel switching based on angle feedback information from the CPM rehabilitation module, achieving the effect of stimulating the muscles at the corresponding sites at the appropriate angles.

[0074] The CPM rehabilitation module includes an angle feedback module, which provides real-time feedback to the functional electrical stimulation module based on the angle of movement of the corresponding affected joint, triggering the angle feedback function of the functional electrical stimulation module and adjusting the electrical stimulation site in real time.

[0075] The host computer processing module functions include: processing real-time electromyographic data acquired by the electromyographic acquisition module, and plotting the original electromyographic signal, root mean square (RMS) value, and real-time curve of the quality factor Q (defined below) obtained through the electromyographic feedback algorithm; initializing the specific parameters of the functional electrical stimulation module: frequency, stimulation intensity, stimulation time, rest time, waveform, etc., and returning the status of stimulation in real time.

[0076] The electromyography (EMG) acquisition module is a high-density wireless EMG acquisition system. It uses a circuit module with the 24-bit high-precision digital-to-analog converter chip ADS1299 as its core. The maximum sampling rate of a single channel can reach 16kHz, and the number of channels can reach 32.

[0077] The functional electrical stimulation module employs a symmetrical balanced biphasic constant current wave low-frequency modulated mid-frequency electrical stimulation system. The stimulation intensity is adjustable between 0-100.0 mA with a step size of 0.2 mA, and the output frequency is adjustable between 0-500 Hz with a step size of 1 Hz, meeting the needs of most clinical rehabilitation applications. Since the pulse width of low-frequency electrical stimulation typically does not exceed 600 μs, it is set to be adjustable between 50-600 μs with a step size of 1 μs. Due to the absolute refractory period, a rest period should be added between positive and negative stimulation phases, with the interval adjustable between 0-300 μs with a step size of 1 μs. The treatment time for a single round equals the stimulation time plus the rest time; the stimulation time for a single round is set to be adjustable between 0-10 s with a step size of 1 s. Because prolonged continuous stimulation can easily lead to muscle fatigue, a rest period is usually established after a period of stimulation to allow the muscles to fully rest before resuming stimulation. Therefore, the rest time for each round is set to be adjustable from 0 to 10 seconds, with a step size of 1 second. In clinical practice, the treatment duration of electrical stimulation typically does not exceed 60 minutes; therefore, the stimulation duration is set to be adjustable from 0 to 60 minutes, with a step size of 1 minute.

[0078] As a preferred option, the initial settings are a low frequency of 1Hz, a medium frequency of 5kHz, and a maximum stimulation intensity of 10V. This frequency combination can achieve the effects of mild pain relief and promoting blood return.

[0079] The CPM rehabilitation module uses the JK-A lower limb joint rehabilitation device, with a range of motion of -10° to 120° and a movement speed of 0-4° / s. It employs a 10-bit 360° programmable magnetic rotary encoder, AS5040, to acquire angle information in real time. Due to its non-contact nature, it maintains high accuracy even after prolonged use. The AS5040 supports both 3.3V and 5V power supplies, ensuring good compatibility with the functional electrical stimulation module. The AS5040 has a resolution of 0.35°, and its real-time angle position data is output via a synchronous serial interface. The SPI interface in the microprocessor used in the functional electrical stimulation module is used to simulate the SSI interface to read the angle data. The specific simulation steps are: ① Set the SPI data length to 16 bits and set it to slave mode; ② Set both the clock polarity CPOL and clock phase CPHA to 1; ③ Connect the corresponding chip select and clock terminals, while connecting the SSI DO terminal to the SPI MOSI terminal. After receiving data x via SPI, the current angle value can be obtained by processing it using the following formula:

[0080]

[0081] Preferably, the initial CPM angle range is set to 0–120°, and the angular velocity is maintained at 2° / s.

[0082] The rehabilitation assessment system performs functional electrical stimulation with sEMG feedback in the following manner:

[0083] (1) Attach the electrode module to the corresponding sites on the healthy and affected sides of the human body to be measured;

[0084] (2) Initialize the host computer processing module and the CPM rehabilitation module, set the initial parameters of the host computer processing module and the data receiving and processing mode, and initialize the range of motion, speed of motion and torque of the CPM rehabilitation module.

[0085] (3) Initialize the electromyography acquisition module and the functional electrical stimulation module, set the corresponding settings for serial port and wireless communication, set the channel selection, feedback coefficient threshold, feedback stage selection and other coefficients of the electromyography acquisition module, and set the channel enable, waveform, low frequency and medium frequency, stimulation time, rest time and other coefficients of the functional electrical stimulation module.

[0086] (4) Conducting electromyography (EMG) acquisition and electrical stimulation feedback phase:

[0087] The healthy and affected sides were subjected to CPM rehabilitation reciprocating movements, while the functional electrical stimulation module controlled the electrode module to apply electrical stimulation to the electrical stimulation sites on both sides.

[0088] The raw sEMG signals from the healthy and affected sides are acquired from the electrode module via the electromyography acquisition module and sent to the host computer processing module.

[0089] After data filtering and processing by the host computer processing module, the electrical stimulation intensity and feedback electrical stimulation parameters are calculated by the algorithm based on electromyographic feedback electrical stimulation. Then, the real-time electrical stimulation intensity is sent to the microcontroller unit of the functional electrical stimulation module through another thread, and the feedback electrical stimulation parameters are sent to the functional electrical stimulation module. The functional electrical stimulation module controls the electrode module to apply electrical stimulation in real time according to the electrical stimulation intensity for real-time adjustment.

[0090] (5) Angle feedback electrical stimulation stage:

[0091] During the electromyography (EMG) acquisition and electrical stimulation feedback phase, the functional electrical stimulation module processes and updates the electrical stimulation sites based on the real-time angle parameters input from the CPM rehabilitation module and the feedback electrical stimulation parameters. This data is then sent to the electrical stimulation intensity feedback control to adjust the electrical stimulation sites, thereby achieving the effect of intelligently stimulating the muscles at the corresponding angle on the affected side.

[0092] The real-time status of the system is transmitted to the host computer processing module in real time via the transmission module.

[0093] The system's operating modes include a closed-loop feedback electrical stimulation mode based on sEMG signals (i.e., sEMG signal feedback mode) and a feedback electrical stimulation mode based on joint flexion angle (i.e., angle-based feedback electrical stimulation mode).

[0094] 1. A closed-loop feedback electrical stimulation mode based on sEMG signals, such as... Figure 3 As shown:

[0095] The rehabilitation assessment system uses closed-loop feedback electrical stimulation control based on sEMG signals. A feedback algorithm maps the characteristic values ​​of the sEMG signal to electrical stimulation intensity. The intensity of the electrical stimulation is then obtained through this algorithm and applied to the affected side. Specifically:

[0096] First, the healthy side performed a specific action while sEMG signals were collected simultaneously. Then, the affected side performed the same action while sEMG signals were collected simultaneously. Finally, the RMS deviation value of the sEMG signals between the healthy and affected sides was calculated and expressed as follows:

[0097] RMS bias =RMS unaffected -RMS affected

[0098] In the formula, RMS affected and RMS unaffected The root mean square values ​​of sEMG signals from the affected and healthy sides when performing the same action;

[0099] Then, based on the RMS deviation value, the quality factor Q of the weakness of the affected muscle relative to the healthy muscle is obtained according to the following formula. The smaller the quality factor Q value, the closer the physiological state of the affected muscle is to that of the healthy muscle. The calculation is as follows:

[0100]

[0101] Finally, the electrical stimulation intensity is obtained based on the quality factor Q. This intensity is then obtained through feedback from the sEMG signals of the affected and healthy muscles. A feedback algorithm is then used to calculate the final electrical stimulation intensity, which is applied to the affected side. The calculation is as follows:

[0102]

[0103] In the formula, I is the electrical stimulation intensity obtained after feedback, Imax is the preset maximum stimulation intensity, Qmin is the threshold at which the affected side does not need electrical stimulation to assist in completing the action, and Qmax is the threshold at which the maximum electrical stimulation intensity needs to be triggered to assist in completing the action.

[0104] In the sEMG signal feedback mode, the electromyography (EMG) signal of the healthy limb was acquired first. The unprocessed sEMG signal from the healthy limb showed significant noise interference. After processing with a 2-500Hz bandpass filter and a 48-52Hz bandstop filter, the noise in the sEMG signal was effectively filtered out. Following the acquisition of the healthy limb's EMG signal, the affected limb's EMG signal was then acquired. Based on the RMS values ​​of the EMG signals from the healthy and affected limbs, the following can be obtained: Figure 5 The quality factor curve shown indicates that a higher quality factor means a greater intensity of electrical stimulation is required for the affected limb. The feedback current curve is shown below. Figure 5 As shown.

[0105] 2. A mode of electrical stimulation based on joint flexion angle feedback, such as... Figure 4 As shown:

[0106] Taking the knee joint as an example, the quadriceps femoris muscle is the main force used when the knee joint is flexed and extended. When the knee joint flexion angle is 0°-20°, the vastus medialis muscle is the main force used; when the flexion angle is 20°-90°, the vastus lateralis muscle is the main force used; and when the flexion angle is 90°-140°, the rectus femoris muscle is the main force used.

[0107] By using the channel switching function of the functional electrical stimulation module, real-time channel switching is performed based on the real-time joint angle data obtained from the angle feedback of the CPM rehabilitation module. Different channels correspond to different sites, realizing intelligent coordinated electrical stimulation of different muscles or muscle combinations under different knee flexion angles.

[0108] Simultaneously, based on the deviation parameters obtained from electromyographic feedback, the required electrical stimulation parameters for the affected side are changed in real time to achieve personalized, dynamic, and intelligent rehabilitation and assessment.

[0109] In practice, the CPM rehabilitation module is equipped with an angle sensing module. It reads out real-time angle information through the functional electrical stimulation module in the SPI mode. Based on the angle information, it allocates feedback current to the electrical stimulation channel located at different stimulation sites. The real-time feedback current is calculated by obtaining the real-time feedback coefficient Q through electromyographic feedback, and can be adjusted according to the patient's real-time condition.

[0110] Preferably, there are multiple stimulation sites, and three electrical stimulation channels can be selected to correspond to the three stimulation sites of the vastus medialis, vastus lateralis, and rectus femoris muscles.

[0111] When the knee flexion angle is 0°-20°, the vastus medialis muscle is electrically stimulated; when the flexion angle is 20°-90°, the vastus lateralis muscle is electrically stimulated; and when the flexion angle is 90°-140°, the rectus femoris muscle is electrically stimulated.

[0112] like Figure 4As shown, the host computer diagram of the rehabilitation treatment assessment system based on sEMG feedback functional electrical stimulation device combined with CPM rehabilitation device is divided into three parts: serial port setting area, electromyography detection and electrical stimulation feedback setting area, and electrical stimulation parameter configuration area.

[0113] The serial port settings area initializes the serial port number, baud rate, data bits, parity bit, and stop bit of the lower-level machine; the electromyography (EMG) detection and electrical stimulation feedback function area initializes the feedback coefficients and quality factor in the EMG feedback algorithm. EMG detection is divided into two stages:

[0114] ① Collect the corresponding electromyographic data from the healthy side, acquire the raw electromyographic signals in real time, and store the processed RMS values ​​of the electromyography as reference data for the second stage of feedback on the affected side.

[0115] ② In the feedback phase of electromyography stimulation on the affected side, the original electromyography signal of the affected side is acquired in real time, the processed electromyography RMS value is stored, and the real-time feedback current Ir and real-time feedback coefficient Q are calculated according to the feedback algorithm.

[0116] During the real-time acquisition of electromyographic (EMG) data, the RMS EMG data and feedback current Ir collected in Function 1 and Function 2 are plotted as real-time curves. The electrical stimulation parameter configuration area includes four channels, which can be enabled for the desired channels, and the frequency, current intensity, pulse width, stimulation time, rest time, treatment time, and positive and negative intervals can be set. A built-in angle feedback function is added, which provides real-time feedback of three different electrical stimulation sites based on the acquired angle, allowing for real-time adjustment of the sites. The current channel and the real-time stimulated muscle sites are displayed on the host computer screen in real time.

[0117] like Figure 5 As shown, the real-time data graph of quality factor and stimulation intensity obtained from rehabilitation assessment based on closed-loop feedback electrical stimulation mode using sEMG signals is divided into real-time feedback coefficient, i.e., quality factor Q, and real-time electrical stimulation parameter, i.e., feedback current Ir. Figure 4 It can be seen that the feedback current changes with the quality factor Q. Therefore, the threshold of the feedback current can be limited by controlling the quality factor Q, thus achieving safe and effective electrical stimulation therapy. Preferably, the quality factor Q... max Set to 0.9, Q min Set it to 0.2.

[0118] Tests have shown that this closed-loop feedback electrical stimulation mode can effectively adjust the intensity of electrical stimulation based on the patient's sEMG signal. At the same time, it can achieve joint feedback effect based on the real-time joint angle data of the joint flexion angle feedback electrical stimulation mode, and control the intensity and site of electrical stimulation in real time, thereby achieving the effect of intelligent regulation of the intensity and form of rehabilitation treatment.

[0119] The embodiments described above provide a detailed explanation of the technical solutions and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, additions, and equivalent substitutions made within the scope of the principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A rehabilitation assessment system combining a functional electrical stimulation device and a CPM rehabilitation device, characterized in that, It includes an electrode module, an electromyography (EMG) acquisition module, a functional electrical stimulation (FPS) module, a CPM rehabilitation module, and a host computer processing module. The electrode module is attached to the surface of the corresponding sites on the healthy and affected sides to be measured. The electromyography (EMG) acquisition module is electrically connected to the electrode module, and acquires the raw sEMG signals from the healthy side and the affected side from the electrode module and sends them to the host computer processing module. The host computer processing module is electrically connected to the electromyography (EMG) acquisition module and the functional electrical stimulation (fEP) module, respectively. It acquires sEMG signals from the EMG acquisition module and performs data filtering processing. Then, it processes the data through an algorithm based on EMG feedback electrical stimulation to obtain the electrical stimulation intensity and feedback electrical stimulation parameters, and then sends them to the functional electrical stimulation module. The CPM rehabilitation module and the functional electrical stimulation module are electrically connected to receive real-time angle parameters from external input. The functional electrical stimulation module is electrically connected to the electrode module. It receives real-time feedback on the electrical stimulation intensity from the host computer processing module to control the electrode module to apply electrical stimulation. At the same time, it receives feedback electrical stimulation parameters and real-time angle parameters from the host computer processing module and the CPM rehabilitation module respectively, processes and updates the electrical stimulation sites, and then controls the electrode module to apply electrical stimulation to the electrical stimulation sites. The rehabilitation assessment system uses closed-loop feedback electrical stimulation control based on sEMG signals. A feedback algorithm maps the characteristic values ​​of the sEMG signals to electrical stimulation intensity, which is then applied to the affected side. Specifically: First, the healthy side performed a specific action while sEMG signals were collected simultaneously. Then, the affected side performed the same action while sEMG signals were collected simultaneously. Finally, the RMS deviation value of the sEMG signals between the healthy and affected sides was calculated and expressed as follows: RMS bias =RMS unaffected -RMS affected In the formula, RMS affected and RMS unaffected The root mean square values ​​of sEMG signals from the affected and healthy sides when performing the same action; Then, based on the RMS deviation value, the quality factor Q of the weakness of the affected muscle relative to the healthy muscle is obtained according to the following formula: Q=RMS bias / RMS unaffected Finally, the electrical stimulation intensity is obtained based on the quality factor Q, and is calculated as follows: I=0,Q≤Q min I=QI max / ( Q max -Q min )-Q min I max / ( Q max -Q min ),Q min ≤Q≤Q max I=I max ,Q≥Q max In the formula, I is the intensity of the electrical stimulation obtained after feedback, I max Q is the preset maximum stimulus intensity. min Q represents the threshold at which the affected side does not require electrical stimulation to assist in completing a movement. max This represents the threshold at which the maximum electrical stimulation intensity needs to be triggered to assist in completing the action.

2. The rehabilitation assessment system combining a functional electrical stimulation device with a CPM rehabilitation device according to claim 1, characterized in that, The electromyography (EMG) acquisition module includes a filtering circuit, an amplifier, and an analog-to-digital converter (ADC). The filtering circuit receives the raw EMG signal from the electrode module, performs low-pass filtering, and then sends it to the amplifier. The amplifier amplifies the filtered EMG signal and sends it to the ADC. The ADC performs analog-to-digital conversion on the amplified EMG signal and then sends it to the host computer processing module.

3. The rehabilitation assessment system combining a functional electrical stimulation device with a CPM rehabilitation device according to claim 2, characterized in that, The electromyography (EMG) acquisition module includes an acquisition control unit, which controls the acquisition unit and the transmission unit. The acquisition unit consists of a filter circuit, an amplifier, and an analog-to-digital converter. The acquisition unit is connected to the acquisition control unit via the transmission unit. The acquisition control unit receives initialization information from the host computer processing module, parses it, and then controls the acquisition unit circuit.

4. The rehabilitation assessment system combining a functional electrical stimulation device with a CPM rehabilitation device according to claim 3, characterized in that, The transmission unit consists of an ATWINC1510 wireless transmission module, which is responsible for the wireless data transmission between the electromyography acquisition module and the host computer processing module.

5. The rehabilitation assessment system combining a functional electrical stimulation device with a CPM rehabilitation device according to claim 1, characterized in that, The rehabilitation assessment system described above performs functional electrical stimulation with sEMG feedback in the following manner: (1) Attach the electrode module to the corresponding sites on the healthy and affected sides of the human body to be measured; (2) Initialize the host computer processing module and the CPM rehabilitation module; (3) Initialize the electromyography acquisition module and the functional electrical stimulation module; (4) Conducting electromyography (EMG) acquisition and electrical stimulation feedback phase: CPM rehabilitation reciprocating motions are performed on both the healthy and affected sides. Simultaneously, the functional electrical stimulation module controls the electrode module to apply electrical stimulation to the electrical stimulation sites on both sides. The raw sEMG signals from both sides are acquired by the electromyography acquisition module from the electrode module and sent to the host computer processing module. The host computer processing module performs data filtering in the background and then calculates the electrical stimulation intensity and feedback electrical stimulation parameters using an algorithm based on electromyography feedback electrical stimulation. Then, another thread sends the real-time electrical stimulation intensity and feedback electrical stimulation parameters to the functional electrical stimulation module. The functional electrical stimulation module controls the electrode module to apply electrical stimulation in real time according to the electrical stimulation intensity. (5) The angle feedback electrical stimulation stage: During the electromyography (EMG) acquisition and electrical stimulation feedback phase, the functional electrical stimulation module processes and updates the electrical stimulation sites based on the real-time angle parameters fed back from the CPM rehabilitation module and the feedback electrical stimulation parameters. Then, it sends the updated electrical stimulation sites to the real-time feedback control of the electrical stimulation intensity to achieve intelligent stimulation of the muscles at the corresponding angle on the affected side.

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