Stimulation system for treating tremor, action method and stimulation parameter adjusting method

Abstract

The invention relates to the technical field of medical treatment, in particular to a stimulation system for treating tremor, an action method and a stimulation parameter adjusting method, and the stimulation system comprises an execution part which is used for applying a target stimulation action for treating tremor to at least one target position of a human body; the acquisition part is used for acquiring a motion state signal of at least one target position of a human body and acquiring a motor cortex electroencephalogram of the human body; and the control part is used for generating target stimulation parameters according to the motion state signals and the motor cortex electroencephalogram, and adjusting target stimulation actions applied by the execution part to treat tremor according to the target stimulation parameters. Therefore, the problems that in the prior art, the medicine treatment effect is poor, the brain pacemaker operation risk is high, cost is high, safety is poor, vibration gloves are poor in treatment comfort and humanization, and normal life of a patient is affected are solved.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a stimulation system, an action method and a stimulation parameter adjustment method for treating tremor. Background Art

[0002] Pathological tremor is a common movement disorder in the field of neuroscience, including two categories: resting tremor and action tremor. Resting tremor is more common in PD (Parkinson's Disease), while action tremor is common in ET (Essential Tremor). Clinically, Parkinson's disease is mainly characterized by resting tremor, bradykinesia, muscle rigidity and postural balance disorders. According to different clinical characteristics, it is divided into tremor-dominant type, gait instability and postural abnormality type and mixed type. Essential tremor is mainly characterized by action tremor, that is, tremor only occurs when the limbs move, and does not tremble when the limbs are still.

[0003] At present, the treatment methods mainly include drug therapy and neuromodulation technology, as follows:

[0004] 1) Drug treatment technology: For essential tremor, early drug treatment is mainly based on arotinolol, propranolol, primidone, etc. For Parkinson's disease, it mainly includes dopamine, lidocaine, selegiline, etc. Among them, Parkinson's patients have poor response to dopamine and levodopa.

[0005] 2) Neuromodulation technology solutions: Neuromodulation technology includes invasive neuromodulation technology and non-invasive neuromodulation technology. Invasive neuromodulation technology mainly refers to deep brain electrical stimulation, which is expensive, technically demanding, and traumatic to a certain extent. Non-invasive neuromodulation technology mainly refers to vibration gloves, which have poor treatment comfort and affect the patient's normal daily life. Summary of the invention

[0006] The present application provides a stimulation system for treating tremor and its control method, storage medium and product, in order to solve the problems of poor effect of drug treatment in the prior art, high risk, high cost and poor safety of brain pacemaker surgery, poor comfort and humanization of vibration glove treatment and impact on patients' normal daily life.

[0007] A first aspect of the present application provides a stimulation system for treating tremor, including: an execution unit, used to apply a target stimulation action for treating tremor to at least one target position of a human body; a collection unit, used to collect a motion state signal of at least one target position of a human body and collect a motor cortex electroencephalogram of the human body; a control unit, used to generate target stimulation parameters according to the motion state signal and the motor cortex electroencephalogram, and adjust the target stimulation action for treating tremor applied by the execution unit according to the target stimulation parameters.

[0008] Optionally, the execution unit includes at least one stimulation unit, wherein the at least one stimulation unit applies a corresponding target stimulation action for treating tremor based on the target stimulation parameters.

[0009] Optionally, if the at least one stimulation unit is a plurality of stimulation units, at least one of the wearing method, the target stimulation action and the combination method of the plurality of stimulation units is different.

[0010] Optionally, the wearing mode includes at least one of wearable type, attached type and external type, the target stimulation action includes at least one of vibration stimulation, mechanical stimulation, electrical stimulation, thermal stimulation, radiation stimulation, magnetic stimulation, light stimulation, chemical stimulation, ultrasonic stimulation and infrared stimulation, and the combination mode includes array combination.

[0011] Optionally, the acquisition unit includes at least one of an accelerometer, a gyroscope, an inertial measurement unit and an EEG cap.

[0012] Optionally, the stimulation system for treating tremor further comprises: a power supply for supplying power to the stimulation system for treating tremor.

[0013] A second aspect of the present application provides a medical device, comprising a stimulation system for treating tremor according to the above embodiment.

[0014] In a third aspect, the present application provides a method for treating tremor by using a stimulation system, including a human body part and a device part; the human body part includes a receptor, an actuator and a controller, wherein the receptor includes a vestibular organ hair cell unit and a muscle spindle tendon unit, the actuator includes a spinal cord unit and a muscle unit, and the controller includes a lateral cuneate nucleus unit, a vestibular nucleus unit, a brainstem unit, a cerebellum unit and a motor cortex unit; the device part includes an execution part, a collection part and a control part, wherein the collection part sends the collected motion state signal and motor cortex electroencephalogram sensor data to the control part, the control part generates stimulation parameters according to the collected motion state signal and motor cortex electroencephalogram sensor data, and sends the stimulation parameters to the execution part, and the execution part applies peripheral stimulation actions to the receptors according to the stimulation parameters to generate sensory input; the method for treating tremor by using a stimulation system includes the following steps:

[0015] The receptors input peripheral sensations to the vestibular organ hair cell units and muscle spindle tendon units to generate sensory feedback signals; the vestibular organ hair cell units and muscle spindle tendon units send sensory feedback signals to the lateral cuneate nucleus units and vestibular nucleus units; the lateral cuneate nucleus and vestibular nucleus units send sensory feedback signals to the cerebellar units; the cerebral cortex units send movement command signals to the cerebellar units; the cerebellar units generate movement correction signals based on the movement command signals and sensory feedback signals; the movement correction signals are sent to the brainstem units; the brainstem units send movement correction signals to the spinal cord units; the cerebral cortex units send movement state signals to the spinal cord units; the spinal cord units generate corrected movement command signals based on the movement correction signals and movement command signals and give them to the muscle units; the muscle units generate final movement state signals based on the corrected movement command signals.

[0016] A fourth aspect of the present application provides a method for adjusting stimulation parameters for treating tremor, the method being used to adjust the target stimulation parameters of the stimulation system for treating tremor of the above-mentioned embodiment, comprising the following steps: obtaining a motion state signal of at least one target position of a test person; obtaining a motor cortex electroencephalogram of the test person; modeling a first network model, taking a standard stimulation parameter sequence set and a motor cortex electroencephalogram as inputs of the network model, and taking the motion state signal as output of the network model, to model the first network model, wherein the first network model simulates the neural pathways and networks related to human tremor on the first day of using the stimulation system to treat tremor; testing the first network model, changing the stimulation parameters so that the motion state signal changes from a pathological state to a physiological state, and obtaining a target stimulation parameter sequence set for the first network model; starting from the first network model, taking the motor cortex electroencephalogram and the target stimulation parameter sequence set of the previous network of the current network as inputs of the network model, and taking the motion state signal as output of the network model, to model the current network model; changing the stimulation parameters so that the motion state signal changes from a pathological state to a physiological state, and obtaining a target stimulation parameter sequence set for the current network; adjusting the target stimulation action for treating tremor applied by the execution unit according to the target stimulation parameters.

[0017] Optionally, the network model can be a control model, which simulates a neural network related to human tremor. The control model is used to adjust target stimulation parameters, including the following steps: using the motor cortex electroencephalogram as the input of the control model, and using the motion state signal as the output of the control model, and obtaining the state equations or transfer functions of each part of the control model through system identification and mathematical modeling methods; performing system stability analysis based on the state equations or transfer functions, determining the target stimulation parameters that can make the system tend to be stable, so that the motion state signal changes from a pathological state to a physiological state, and obtaining the target stimulation parameters; and adjusting the target stimulation action for treating tremor applied by the execution unit according to the target stimulation parameters.

[0018] Optionally, the network model can be a neural network model, which simulates a neural network related to human tremor. The neural network model is used to adjust the target stimulation parameters, including the following steps: using the motor cortex electroencephalogram as the input of the neural network model, adjusting the neural network model parameters so that the output of the neural network model and the motion state signal tend to be consistent, wherein the neural network model simulates the neural network related to human tremor; inputting different stimulation parameters into the neural network model so that the motion state signal is transformed from a pathological state to a physiological state, thereby obtaining the target stimulation parameters.

[0019] Optionally, the network model can be a nonlinear dynamic model, which simulates a neural network related to human tremor. The nonlinear dynamic model is used to adjust target stimulation parameters, including the following steps: using the motor cortex electroencephalogram as the input of the nonlinear dynamic model, and adjusting the nonlinear dynamic model parameters so that the output of the nonlinear dynamic model and the motion state signal tend to be consistent; wherein the nonlinear dynamic model simulates the neural network related to human tremor as a nonlinear dynamic system formed by coupling multiple oscillators; and inputting different stimulation parameters into the nonlinear dynamic model so that the motion state signal is transformed from a pathological state to a physiological state, thereby obtaining the target stimulation parameters.

[0020] A fifth aspect of the present application provides a computer-readable storage medium having a computer program or instruction stored thereon. When the computer program or instruction is executed, it is used to implement the stimulation parameter adjustment method for treating tremor as described in the above embodiment.

[0021] A sixth aspect of the present application provides a computer program, including a computer program or instructions, which, when executed, are used to implement the stimulation parameter adjustment method for treating tremor as described in the above embodiment.

[0022] Therefore, this application includes the following beneficial effects:

[0023] The control unit of the embodiment of the present application adjusts the target stimulation parameters of multiple stimulation units in real time based on the motion state signal and motor cortex electroencephalogram monitored by the acquisition unit to stimulate the target position of the human body to treat tremor, forming a closed-loop control system to better suppress the treatment tremor and achieve the best treatment effect. Thus, the problems of poor drug treatment effect in related technologies, high risk, high cost and poor safety of brain pacemaker surgery, poor comfort and humanization of vibration gloves treatment and affecting the normal life of patients are solved.

[0024] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0026] Figure 1 A schematic block diagram of a stimulation system for treating tremor according to an embodiment of the present application;

[0027] Figure 2 A detailed exemplary diagram of a stimulation system for treating tremor according to one embodiment of the present application;

[0028] Figure 3 A diagram showing a method of action of a stimulation system for treating tremor according to one embodiment of the present application;

[0029] Figure 4 This is an example diagram of stimulation parameters provided according to one embodiment of the present application;

[0030] Figure 5 A diagram of a stimulation parameter adjustment method for treating tremor according to an embodiment of the present application;

[0031] Figure 6 This is an example diagram of a method for adjusting stimulation parameters for treating tremor according to an embodiment of the present application;

[0032] Figure 7 This is an example diagram of adjusting stimulation parameters according to the nonlinear dynamic model provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0034] The following describes the stimulation system for treating tremor and its control method, storage medium and product of the embodiment of the present application with reference to the accompanying drawings. In response to the problems mentioned in the above background technology, the present application provides a stimulation system for treating tremor, in which the control unit dynamically adjusts the target stimulation parameters of multiple stimulation units based on the motion state signal of the human body and the motor cortex electroencephalogram monitored by the acquisition unit to stimulate the target position of the human body to treat tremor, forming a closed-loop control system to better suppress the treatment tremor and achieve the best treatment effect. Thereby, the problems of poor drug treatment effect in related technologies, high risk, high cost and poor safety of brain pacemaker surgery, poor comfort and humanization of vibration gloves treatment and affecting the normal daily life of patients are solved.

[0035] Specifically, Figure 1 It is a block diagram of a stimulation system for treating tremor according to an embodiment of the present application.

[0036] like Figure 1 As shown, the stimulation system for treating tremor includes: an execution unit 101 , a collection unit 102 and a control unit 103 .

[0037] Among them, the execution unit 101 is used to apply a target stimulation action for treating tremor to at least one target position of the human body; the acquisition unit 102 is used to collect the motion state signal and motor cortex electroencephalogram of at least one target position of the human body; the control unit 103 generates target stimulation parameters according to the motion state signal and the motor cortex electroencephalogram, and adjusts the target stimulation action for treating tremor applied by the execution unit 101 according to the target stimulation parameters.

[0038] In the embodiment of the present application, the execution unit 101 includes a plurality of stimulation units, and at least one stimulation unit applies a corresponding target stimulation action for treating tremor based on a target stimulation parameter. The plurality of stimulation units are different in at least one of wearing mode, stimulation mode, and combination mode, and the target stimulation action for treating tremor is applied by the plurality of stimulation units to stimulate at least one target position of the human body to treat tremor.

[0039] In addition, the stimulation system for treating tremor in the embodiment of the present application may also be provided with a power supply for powering the stimulation system for treating tremor, and an external power supply may also be used, without specific limitation.

[0040] Specifically, if Figure 2As shown, the execution unit 101 of the embodiment of the present application includes a first stimulation unit, a second stimulation unit, a third stimulation unit, ..., an Nth stimulation unit. The target stimulation parameters are applied by multiple stimulation units to stimulate at least one target position of the human body to treat tremor. In the embodiment of the present application, these stimulation units can be in different wearing modes, stimulation modes, and combination modes. The wearing modes can be divided into wearable type, attached type, external type, etc., wherein the wearable type is such as a wristband, the attached type is such as a flexible electronic device attached to the surface of the skin, the external type is such as the execution unit 101 in contact with the human body, and the control unit 103 is external and does not contact the human body. The target stimulation action includes at least one of vibration stimulation, mechanical stimulation, electrical stimulation, thermal stimulation, radiation stimulation, magnetic stimulation, light stimulation, chemical stimulation, ultrasonic stimulation and infrared stimulation. The combination mode can be an array combination, etc. For example, a plurality of stimulation units are arranged on the inner side of the wearable stimulation wristband, and the array composed of these stimulation units is a stimulation application unit, and the stimulation application unit is an array combination. The specific arrangement mode of the wristband array is determined based on the patient's symptoms and diagnosis results. The acquisition unit 102 includes an accelerometer, a gyroscope, an inertial measurement unit, an electroencephalogram cap, etc., to collect motion state signals of at least one target position of the human body, including signals such as acceleration, velocity, position and frequency of body parts. The control unit 103 mainly generates target stimulation parameters based on the motion state signals and motor cortex electroencephalogram obtained by the acquisition unit 102, and adjusts the target stimulation action for treating tremor applied by the execution unit 101 according to the target stimulation parameters, wherein the target stimulation parameters include at least one of the stimulation frequency, stimulation amplitude, time interval between multiple stimulation units, and stimulation sequence of multiple stimulation units. In the actual execution process, the embodiment of the present application can pass the target stimulation parameters to the execution unit 101 to treat tremor. Compared with drug therapy and invasive neuromodulation technology, the treatment scheme based on sensory input is safer and non-invasive, avoiding surgical risks and drug side effects.

[0041] Figure 3 : is a schematic diagram of the method of action of the stimulation system for treating tremor according to the embodiment of the present application. In the actual implementation process, the stimulation system for treating tremor according to the embodiment of the present application regulates the function of the cerebellum through sensory input to treat tremor symptoms caused by essential tremor and Parkinson's disease. The cerebellum is an important part of the brain tissue and is responsible for coordinating and regulating muscle movements, including fine motor control and motor learning. The cerebellum receives command signals from the motor cortex and sensory signals transmitted by sensory neurons, performs complex calculations to generate appropriate movement correction signals, and sends them to the spinal cord, thereby regulating and correcting movements in real time.

[0042] Furthermore, if Figure 3As shown, with the cerebellum as the core, the cerebellum of the embodiment of the present application is in a feedback loop of motor control, receiving motor command signals from the motor cortex and sensory signals transmitted by sensory neurons, performing calculations in the cerebellum, and outputting motor correction signals to the spinal cord, thereby affecting the motor control of the spinal cord and ultimately correcting abnormal tremors. The method of action of the stimulation system includes the actions of the human body and the device. The action pathway shows the process in which the device adjusts the stimulation parameters based on the motion state signals of the human body and the sensor data of the motor cortex electroencephalogram, and applies the sensory input to the human body. Among them, the sensory signals include: touch, proprioception, vestibular sensation, vision, etc., and the motion state signals include: acceleration, speed, position, frequency, etc. of body parts.

[0043] In the embodiments of the present application, Figure 3 As shown, the human body part includes receptors, actuators and controllers, wherein the receptors include vestibular organ hair cell units and muscle spindle tendon units, the actuators include spinal cord units and muscle units, the controller includes lateral cuneate nucleus units, vestibular nucleus units, brainstem units, cerebellum units, and cerebral cortex units, the spinal cord units and muscle units send motion state signals to the spinal cord units and muscle units; the vestibular organ hair cell units and muscle spindle tendon units send sensory feedback signals to the cerebellum units; the motor cortex units send motion command signals to the spinal cord units; the cerebellum units generate motion correction signals according to the motion command signals and the sensory feedback signals; the spinal cord units generate final motion command signals to the muscle units according to the motion correction signals and the motion command signals, and the muscle units determine target stimulation parameters according to the final motion command signals.

[0044] Specifically, the controller of the human body part in the embodiment of the present application is mainly the human brain part, the actuator is the spinal cord and muscle, and the controlled object is the actual motion state, which is expressed as a motion state signal. The motor cortex transmits the motion command to the spinal cord, and the spinal cord transmits to the muscle to produce the actual motion state. At the same time, the motor cortex also transmits the motion command to the cerebellum, and the motion command is compared and calculated with the sensory feedback signal in the cerebellar cortex, and the sensory feedback signal comes from the proprioceptive signal generated by the muscle spindle to the lateral nucleus of the cuneus, and the vestibular organ hair cells generate sensory signals such as vestibular sensory signals transmitted to the vestibular nucleus, and the cerebellum obtains the difference between the actual motion state and the desired motion state through the sensory feedback signal, and outputs the motion correction signal to the brainstem after calculation, and the motion correction signal is compared and calculated with the motion command directly transmitted from the motor cortex at the spinal cord, and then the corrected motion command is output to the muscle to produce the corrected actual motion state.

[0045] According to the stimulation system for treating tremor proposed in the embodiment of the present application, the control unit adjusts the target stimulation parameters of multiple stimulation units in real time based on the motion state signal of the human body and the motor cortex electroencephalogram monitored by the acquisition unit to stimulate the target position of the human body to treat tremor, forming a closed-loop control system to better suppress the treatment tremor and achieve the best treatment effect. Thus, the problems of poor drug treatment effect in related technologies, high risk, high cost and poor safety of brain pacemaker surgery, poor comfort and humanization of vibration gloves treatment and affecting the normal life of patients are solved.

[0046] Because the nervous system has plasticity, plasticity refers to the ability of the brain and nervous system to change its structure and function under the influence of environmental changes or experience learning. This means that if a specific type of stimulation is continuously given to the nervous system, the nervous system can still retain and use these newly learned patterns or information even after the stimulation stops. When treating tremors, the principle of neuroplasticity can be used to achieve long-term improvement of symptoms.

[0047] It can be understood that the embodiments of the present application can use multiple stimulation units to apply target stimulation parameters to stimulate the target position of the human body to treat tremor, which can effectively intervene in the activities of the cerebellum and related neural networks, and use the natural neural feedback mechanism of the human body to correct abnormal movement control signals, thereby alleviating tremor symptoms and achieving long-term tremor relief effects, as follows:

[0048] 1. Compared with drug treatment, this application reduces the risk of drug side effects, especially drug resistance and other adverse reactions that may be caused by long-term use of drugs.

[0049] 2. Compared with invasive neuromodulators, the sensory input-based treatment method provided in the embodiments of the present application does not require surgical implantation, thus avoiding related surgical risks and possible complications and being safer.

[0050] 3. By taking advantage of the plasticity of the nervous system, long-term sensory input may produce sustained therapeutic effects, which may last even after the stimulation stops.

[0051] 4. Once the physical equipment required for sensory input is industrialized, the cost will be very low, because the stimulation applied is physical and acts on the body surface. The stimulation generation and equipment manufacturing are cheaper than deep brain stimulation therapy. In addition, compared with drug therapy, the cost is significantly reduced.

[0052] 5. For patients with essential tremor and Parkinson's disease, this application may significantly improve their quality of life, reduce inconveniences in work and life, enhance people's life satisfaction and happiness, increase the number of available labor force in society, and promote the improvement of social efficiency.

[0053] like Figure 4In the stimulation parameter example diagram shown, the target stimulation parameters may include stimulation frequency, stimulation amplitude, time interval between multiple stimulation units, and stimulation sequence of multiple stimulation units. As an example, the horizontal axis is time, the vertical axis is stimulation unit, and the embodiment of the present application takes four stimulation units as an example. The dotted line represents a stimulation cycle, and the wavy line represents the stimulation of a single stimulation unit. The stimulation parameters of a single stimulation unit include: stimulation frequency, stimulation amplitude. The stimulation parameters composed of multiple stimulation units include: time interval between multiple stimulation units, and stimulation sequence of multiple stimulation units.

[0054] The stimulation parameter adjustment method for treating tremor proposed in accordance with an embodiment of the present application is described with reference to the accompanying drawings. The method is used to adjust the target stimulation parameters of the stimulation system for treating tremor in the above-mentioned embodiment.

[0055] Figure 5 A flowchart of a stimulation parameter adjustment method for treating tremor provided in an embodiment of the present application.

[0056] like Figure 5 As shown, the stimulation parameter adjustment method for treating tremor includes the following steps:

[0057] In step S501, a motion state signal of at least one target position of the test person and a motor cortex electroencephalogram of the test person are obtained.

[0058] Among them, the motion state signal may include the acceleration, speed, position and frequency of the body part. The embodiment of the present application can select the body part related to the treatment of tremor as the target position, for example, the body area closely related to the cerebellar function, or the muscles and joints directly associated with the tremor.

[0059] In step S502, a first network model is built, and a standard stimulation parameter sequence set and the motor cortex electroencephalogram are used as inputs of the network model, and the movement state signal is used as output of the network model to build a first network model, wherein the first network model simulates the neural pathways and networks related to human tremor on the first day of using the stimulation system to treat tremor.

[0060] In step S503, the first network model is tested, and stimulation parameters are changed so that the motion state signal is transformed from a pathological state to a physiological state, thereby obtaining a target stimulation parameter sequence set of the first network model.

[0061] In step S504, starting from the first network model, the motor cortex electroencephalogram and the target stimulation parameter sequence set of the previous network of the current network are used as the input of the network model, and the motion state signal is used as the output of the network model to model the current network model; the stimulation parameters are changed so that the motion state signal is transformed from a pathological state to a physiological state, and the target stimulation parameters of the current network are obtained.

[0062] Specifically, Figure 6 As shown, the first step is to collect data: collect the EEG signal of the motor cortex of the patient under fixed movement behavior, such as writing a fixed string of words, and at the same time apply a stimulation sequence with standard stimulation parameters to the human sensory system to collect the movement state information of the tremor part: tremor amplitude and frequency, etc. The second step is to model the network: the motor cortex EEG and the standard stimulation sequence are used as the input of the network, and the movement state information is used as the output of the network. For different stimulation parameter sequences, the output of the network can well simulate the actual movement state signal, then stop the modeling of the first network. The third step is to test the network. The parameters of the modeled network are fixed, the stimulation parameters are changed, the stimulation sequence and the motor cortex EEG obtained in the first step of the experiment are input, and different stimulation parameters are tested to reduce the tremor frequency and amplitude of the network output. These stimulation parameters that can reduce the tremor frequency and amplitude are recorded as stimulation sequence set 1, which will be used for the next day's treatment. On the second day, the stimulation sequence set 1 obtained by the test simulation is used to repeat the first and second steps to model network 2. Since this network is used to simulate the network related to human tremor, based on the plasticity of human neurons, the specific parameters of the network will change. After modeling, the third step is executed. And so on, until the Nth day (the N value here is generally two weeks, which can be adjusted according to the actual patient's condition), the patient's movement status information shows that the tremor amplitude and frequency are reduced, so that the tremor is relieved.

[0063] In one embodiment of the present application, the network model is a control model, and the control model is used to adjust the target stimulation parameters, including: taking the motor cortex electroencephalogram as the input of the control model, taking the motion state signal as the output of the control model, obtaining the state equation or transfer function of each unit of the control model through system identification and mathematical modeling methods, and the control model simulates the neural network related to human tremor; performing system stability analysis according to the state equation or transfer function, determining the target stimulation parameters that can make the system tend to be stable, so that the motion state signal changes from a pathological state to a physiological state, and obtaining the target stimulation parameters.

[0064] Based on the above tremor-related control model, the embodiment of the present application can use the EEG of the motor cortex of the brain as input, and the motion state signal (actual motion state) as the output of the model, and can use system identification or direct modeling methods to obtain the transfer function and state equation of the control model to analyze the controllability and observability of the system. Perform stability analysis on the phase plane to identify the unstable state of the tremor patient, and design a stimulation strategy to apply stimulation to the peripheral-related links of the system to return the system to a stable state, relieve tremor symptoms, and ensure the effectiveness and safety of treatment.

[0065] The control model includes a state equation and a transfer function, and the target stimulation parameters of multiple stimulation units are determined based on the state equation and the transfer function. The specific method of adjusting the stimulation parameters is as follows: for tremor patients, their transfer function or state equation is in a critical stable oscillation or unstable pathological state on the phase plane, and the stimulation is located at the output end of the control model. Based on the transfer function, the stimulation parameters that can make the system return to a stable physiological state are calculated.

[0066] In one embodiment of the present application, the network model is a neural network model, and the neural network model is used to adjust the target stimulation parameters, including: taking the motor cortex electroencephalogram as the input of the neural network model, adjusting the neural network model parameters so that the output of the neural network model and the motion state signal tend to be consistent, wherein the neural network model simulates the neural network related to human tremor; inputting different stimulation parameters into the neural network model so that the motion state signal is transformed from a pathological state to a physiological state, thereby obtaining the target stimulation parameters.

[0067] In the embodiment of the present application, any neural network that can make the input-output relationship valid can be used, and the neural network structure of different patients is different. The neural network structure includes LSTM (Long Short-Term Memory), RNN (Recurrent Neural Network), CNN (Convolutional Neural Network), etc. The embodiment of the present application can adjust the target stimulation parameters of multiple stimulation units through the neural network model, and use a large amount of physiological data, including the EEG (Electroencephalography) of the patient's motor cortex, tremor-related movement state information, etc., to train the neural network model so that it can predict and optimize the stimulation parameters to achieve the best tremor relief effect.

[0068] In one embodiment of the present application, the network model is a nonlinear dynamic model, and the nonlinear dynamic model is used to adjust the target stimulation parameters, including: taking the motor cortex electroencephalogram as the input of the nonlinear dynamic model, and adjusting the nonlinear dynamic model parameters so that the output of the nonlinear dynamic model and the motion state signal tend to be consistent; wherein the nonlinear dynamic model simulates the human tremor-related neural network as a nonlinear dynamic system formed by the coupling of multiple oscillators; and inputting different stimulation parameters into the nonlinear dynamic model so that the motion state signal is transformed from a pathological state to a physiological state, thereby obtaining the target stimulation parameters.

[0069] In the embodiment of the present application, the human tremor-related nervous system can be simulated as a nonlinear dynamic system formed by coupling multiple oscillators. By establishing differential equations for each oscillator, there is a dependency relationship between the variables in the multiple differential equations, thereby establishing a nonlinear dynamic model. Figure 7 As shown, nonlinear dynamic models such as attractors and Kuramoto models can be used, and the wearer's motor cortex electroencephalogram is used as the input of the nonlinear dynamic model, and the tremor-related motion state signal is used as the output of the nonlinear dynamic model to establish a nonlinear dynamic model. Further, a synchronization measurement index within the network is established, and different stimuli are applied to reduce the synchronization index of the system, so that the system enters a favorable attractor from an unfavorable attractor, thereby alleviating tremor symptoms. The nonlinear dynamic model is used to simulate the stimulation parameters that can reduce the system synchronization index, and the actual stimulation parameters are adjusted according to these simulated stimulation parameters.

[0070] It should be noted that some steps in the multiple stimulation parameter adjustment methods for treating tremor in the embodiments of the present application can refer to each other. To avoid redundancy, they will not be elaborated again this time.

[0071] According to the stimulation parameter adjustment method for treating tremor proposed in the embodiment of the present application, the target stimulation parameters are generated by monitoring the motor cortex electroencephalogram and motion state signals of the human body and combining any one of the neural network model, control model, and nonlinear dynamic model, and then adjusting the target stimulation action for treating tremor applied by the execution unit to better suppress the treatment tremor and achieve the best treatment effect. Thus, the problems of poor drug treatment effect in related technologies, high risk, high cost, and poor safety of brain pacemaker surgery are solved.

[0072] In addition, an embodiment of the present application also provides a medical device, including the stimulation system for treating tremor of the above embodiment.

[0073] The embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned stimulation parameter adjustment method for treating tremor.

[0074] The embodiment of the present application also provides a computer program, including a computer program or instructions, which, when executed, is used to implement the stimulation parameter adjustment method for treating tremor as described in the above embodiment.

[0075] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0076] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0077] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0078] It should be understood that the various parts of the present application can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, the steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0079] A person of ordinary skill in the art may understand that all or part of the steps carried by the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the above-mentioned program may be stored in a computer-readable storage medium, which, when executed, includes one of the steps of the method embodiment or a combination thereof.

[0080] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A stimulation system for treating tremor, characterized in that include: An execution unit, configured to apply a target stimulation action for treating tremor to at least one target position of a human body; A collection unit, used for collecting motion state signals of at least one target position of a human body and collecting motor cortex electroencephalogram of the human body; The control unit generates target stimulation parameters according to the movement state signal and the motor cortex electroencephalogram, and adjusts the target stimulation action for treating tremor applied by the execution unit according to the target stimulation parameters.

2. The stimulation system for treating tremor according to claim 1, characterized in that The execution unit includes at least one stimulation unit, wherein the at least one stimulation unit applies a corresponding target stimulation action for treating tremor based on the target stimulation parameters.

3. The stimulation system for treating tremor according to claim 2, characterized in that: If the at least one stimulation unit is a plurality of stimulation units, at least one of a wearing method, a target stimulation action, and a combination method of the plurality of stimulation units is different.

4. The stimulation system for treating tremor according to claim 3, characterized in that: The wearing mode includes at least one of a wearable type, an attached type and an external type; the target stimulation action includes at least one of vibration stimulation, mechanical stimulation, electrical stimulation, thermal stimulation, radiation stimulation, magnetic stimulation, light stimulation, chemical stimulation, ultrasonic stimulation and infrared stimulation; and the combination mode includes an array combination.

5. The stimulation system for treating tremor according to claim 1, characterized in that: The acquisition unit includes at least one of an accelerometer, a gyroscope, an inertial measurement unit and an electroencephalogram cap.

6. A medical device, characterized in that: A stimulation system for treating tremor comprising the method according to any one of claims 1 to 5.

7. A method of stimulating a system for treating tremor, characterized in that: The invention comprises a human body part and an equipment part, wherein the equipment part is a stimulation system for treating tremor according to any one of claims 1 to 5, the human body part comprises a receptor, an actuator and a controller, wherein the receptor comprises: a vestibular organ hair cell unit and a muscle spindle tendon unit, the actuator comprises a spinal cord unit and a muscle unit, and the controller comprises a lateral cuneate nucleus unit, a vestibular nucleus unit, a brainstem unit, a cerebellum unit and a cerebral cortex unit; the equipment part comprises an execution part, a collection part and a control part; the collection part sends the collected motion state signal and motor cortex electroencephalogram sensor data to the control part, the control part generates stimulation parameters according to the collected motion state signal and motor cortex electroencephalogram sensor data, and sends the stimulation parameters to the execution part, and the execution part applies peripheral stimulation actions to the receptor to generate sensory input according to the stimulation parameters; The method of stimulating the system for treating tremor comprises the following steps: The vestibular organ hair cell unit and the muscle spindle tendon unit send sensory input to the lateral cuneate nucleus unit and the vestibular nucleus unit to generate sensory feedback signals; The lateral cuneate nucleus and vestibular nucleus units send the sensory feedback signals to the cerebellar units; The cerebral cortex unit sends the movement command signal to the cerebellum unit; The cerebellum unit generates a movement correction signal according to the movement command signal and the sensory feedback signal, and sends the movement correction signal to the brainstem unit; The brainstem unit sends movement correction signals to the spinal cord unit; The cerebral cortex unit sends the movement command signal to the spinal cord unit; The spinal cord unit generates a corrected movement command signal to the muscle unit according to the movement correction signal and the movement command signal; The muscle unit generates the movement state signal according to the corrected movement command signal.

8. A method for adjusting stimulation parameters for treating tremor, characterized in that: The method is used to adjust the target stimulation parameters of the stimulation system for treating tremor according to any one of claims 1 to 5, wherein the method comprises the following steps: Acquiring a motion state signal of at least one target position of the test person and a motor cortex electroencephalogram of the test person; Modeling a first network model, taking the standard stimulation parameter sequence set and the motor cortex electroencephalogram as inputs of the network model, and taking the movement state signal as outputs of the network model, to model the first network model, wherein the first network model simulates the neural pathways and networks related to human tremor on the first day of using the stimulation system to treat tremor; Testing the first network model, changing the stimulation parameters so that the motion state signal changes from a pathological state to a physiological state, and obtaining a target stimulation parameter sequence set of the first network model; Starting from the first network model, the motor cortex electroencephalogram and the target stimulation parameter sequence set of the previous network of the current network are used as the input of the network model, and the motion state signal is used as the output of the network model to model the current network model; the stimulation parameters are changed so that the motion state signal is transformed from a pathological state to a physiological state, and the target stimulation parameters of the current network are obtained; The target stimulation action for treating tremor applied by the execution unit is adjusted according to the target stimulation parameters of the current network.

9. The method for adjusting stimulation parameters for treating tremor according to claim 8, characterized in that: The network model is a control model, and the control model is used to adjust the target stimulation parameters, including: The motor cortex electroencephalogram is used as the input of the control model, the movement state signal is used as the output of the control model, and the state equation or transfer function of each unit of the control model is obtained through system identification and mathematical modeling methods, and the control model simulates the neural network related to human tremor; The system stability analysis is performed according to the state equation or transfer function to determine the target stimulation parameters that can make the system tend to be stable, so that the motion state signal is transformed from a pathological state to a physiological state, and the target stimulation parameters are obtained.

10. The method for adjusting stimulation parameters for treating tremor according to claim 8, characterized in that: The network model is a neural network model, and the neural network model is used to adjust the target stimulation parameters, including: Using the motor cortex electroencephalogram as an input of a neural network model, adjusting the parameters of the neural network model so that the output of the neural network model and the motion state signal tend to be consistent, wherein the neural network model simulates a neural network related to human tremor; Different stimulation parameters are input into the neural network model so that the motion state signal is transformed from a pathological state to a physiological state, thereby obtaining the target stimulation parameters.

11. The method for adjusting stimulation parameters for treating tremor according to claim 8, characterized in that: The network model is a nonlinear dynamic model, and the nonlinear dynamic model is used to adjust the target stimulation parameters, including: The motor cortex electroencephalogram is used as the input of a nonlinear dynamic model, and the parameters of the nonlinear dynamic model are adjusted so that the output of the nonlinear dynamic model and the motion state signal tend to be consistent; wherein the nonlinear dynamic model simulates a neural network related to human tremor as a nonlinear dynamic system formed by coupling multiple oscillators; Different stimulation parameters are input into a nonlinear dynamic model so that the motion state signal is transformed from a pathological state to a physiological state, thereby obtaining the target stimulation parameters.

12. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed, the stimulation parameter adjustment method for treating tremor according to any one of claims 7 to 11 is implemented.

13. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed, the stimulation parameter adjustment method for treating tremor according to any one of claims 7 to 11 is implemented.

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