An electrical stimulation pulse physiotherapy device and an electrical stimulation pulse adaptive control method thereof

Abstract

The present invention relates to the technical field of electric stimulation pulse control, and specifically to an electric stimulation pulse physiotherapy instrument and its electric stimulation pulse adaptive control method. The present invention obtains the cumulative deviation index and deviation contribution index of each dimensional electromyographic feature of each relaxation and contraction interval according to the change trend of each dimensional electromyographic feature of different relaxation and contraction intervals within the neighborhood range of each relaxation and contraction interval; obtains the degree of change of the propagation characteristics in each relaxation and contraction interval according to the weight of the electromyographic features of different dimensions of each relaxation and contraction interval, and the difference fluctuation characteristics of each dimensional electromyographic feature of each relaxation and contraction interval between adjacent positions; obtains the muscle activity index of each relaxation and contraction interval in combination with the fluctuation degree of the moment difference between adjacent positions; and adjusts the electric stimulation pulse. The present invention analyzes the activation effect of the muscle and improves the accuracy of regulation by considering the different stimulation responses of different positions.

Description

Technical Field

[0001] The present invention relates to the technical field of electrical stimulation pulse control, and in particular to an electrical stimulation pulse physiotherapy apparatus and an electrical stimulation pulse adaptive control method thereof. Background Art

[0002] Functional electrical stimulation is an effective method of rehabilitation treatment. It uses low-frequency impulse current to apply electrical stimulation to one or more groups of muscles of the patient, inducing muscle movement or simulating normal voluntary movement. It can effectively improve the movement of the patient's muscles or groups and improve daily living ability. It is a neuromuscular electrical stimulation therapy.

[0003] In the prior art, the electrical stimulation intensity is adjusted by adjusting the EMG electromyographic signal of the muscle group in the patient's electrical stimulation area, and the parameters of the electrical stimulation physiotherapy device are adjusted according to the patient's muscle response. However, due to individual differences among patients and different positions during detection, the muscle responses to the same electrical stimulation are different during electrical stimulation control. Judging by only obtaining the electromyographic signal at one position may lead to adjustment errors and poor control effects. Summary of the invention

[0004] In order to solve the technical problem that only obtaining the electromyographic signal of one position may lead to adjustment errors and poor control effect, the purpose of the present invention is to provide an electric stimulation pulse physiotherapy instrument and an electric stimulation pulse adaptive control method thereof. The technical scheme adopted is as follows:

[0005] The present invention proposes a method for adaptively adjusting an electrical stimulation pulse, the method comprising:

[0006] Acquire the electromyographic signals of the patient's muscle stimulation site at different positions according to the time sequence;

[0007] For any position, according to the change trend of the extreme point on the electromyographic signal, multiple relaxation and contraction intervals of the electromyographic signal are obtained, and the multi-dimensional electromyographic features of the electromyographic signal in different relaxation and contraction intervals are obtained; within the neighborhood of each relaxation and contraction interval, according to the change trend of the electromyographic features of each dimension in different relaxation and contraction intervals, the cumulative deviation index of the electromyographic features of each dimension in each relaxation and contraction interval is obtained; according to the difference in the cumulative deviation indexes of the electromyographic features of each dimension in adjacent relaxation and contraction intervals, the deviation contribution index of the electromyographic features of each dimension in each relaxation and contraction interval is obtained;

[0008] According to the distribution of the deviation contribution index of each dimension of the electromyographic feature in the relaxation and contraction interval between different positions, the weight of each dimension of the electromyographic feature is obtained; according to the weight of the electromyographic features of different dimensions in each relaxation and contraction interval, and the difference fluctuation characteristics of the electromyographic features of each dimension in each relaxation and contraction interval between adjacent positions, the variation degree of the propagation characteristics in each relaxation and contraction interval is obtained; according to the variation degree of the propagation characteristics of different relaxation and contraction intervals within the neighborhood of each relaxation and contraction interval, and the fluctuation degree of the moment difference between adjacent positions, the muscle activity index of each relaxation and contraction interval is obtained;

[0009] The electrical stimulation pulses are adjusted according to the muscle activity index.

[0010] Furthermore, the method for obtaining the relaxation and contraction interval includes:

[0011] The numerical value of the extreme point is used as the horizontal axis of the histogram, and the frequency corresponding to the extreme point in the frequency domain is used as the vertical axis of the histogram; the histogram is segmented based on the maximum inter-class variance method to obtain the contraction numerical range and the relaxation numerical range;

[0012] Traverse the electromyographic signal, mark the range corresponding to the data point based on the contraction value range and the relaxation value range, and if there are a continuous number of data points belonging to the same range, form a small interval with the corresponding data points;

[0013] The mean values ​​of the amplitudes of the data points of the electromyographic signals in two consecutive small intervals are obtained in turn and normalized as the electromyographic average value; if the electromyographic average value is less than the preset electromyographic threshold, the corresponding two small intervals constitute a relaxation-contraction interval.

[0014] Furthermore, the method for obtaining the cumulative deviation index includes:

[0015] Obtain the difference between the maximum and minimum values ​​in each relaxation and contraction interval as the interval time range;

[0016] The cumulative deviation index is obtained according to the formula of the cumulative deviation index. The formula for obtaining the cumulative deviation index is:

[0017] ;in, Indicates The first position The first relaxation-contraction interval The cumulative deviation index of the electromyographic characteristics of each dimension; Indicates The number of relaxed shrinkage intervals in the neighborhood of a relaxed shrinkage interval; Indicates the neighborhood The first relaxation-contraction interval Dimensional electromyographic features; represents the first The mean of the EMG characteristics in each dimension; Indicates the neighborhood The first relaxation-contraction interval The ratio of the EMG characteristics of each dimension to the time range of the interval; represents the first of all relaxation and contraction intervals in the neighborhood. The mean ratio of the electromyographic characteristics of each dimension and the interval time range.

[0018] Furthermore, the method for obtaining the deviation contribution index includes:

[0019] The difference in the cumulative deviation index of each dimension of the electromyographic feature between each relaxation-contraction interval and the previous relaxation-contraction interval is calculated and normalized as the deviation contribution index of each dimension of the electromyographic feature of each relaxation-contraction interval.

[0020] Furthermore, the method for obtaining the weight of each dimension of electromyographic feature includes:

[0021] The weight of each dimension of the electromyographic feature is obtained according to the formula for obtaining the weight of each dimension of the electromyographic feature. The formula for obtaining the weight of each dimension of the electromyographic feature is expressed as:

[0022] ;in, Indicates The weight of the EMG feature of each dimension; Indicates The first position The first relaxation-contraction interval Deviation contribution index of electromyographic features in each dimension; Indicates Dimensional electromyographic characteristics The difference in time between a relaxation-contraction interval and the corresponding matching interval; Indicates The variance of the corresponding deviation contribution index of all matching intervals between different positions under the EMG characteristics of each dimension; represents an exponential function with a natural function as its base; Indicates the number of relaxation and contraction intervals.

[0023] Furthermore, the method for obtaining the matching interval includes:

[0024] The DTW distance between the deviation contribution index of the electromyographic characteristics of different relaxation-contraction intervals in each dimension between each position and different other positions is obtained, and the relaxation-contraction interval with the smallest DTW distance in the corresponding other positions is selected as the matching interval.

[0025] Furthermore, the method for obtaining the propagation characteristic variation degree includes:

[0026] Obtain the matching interval of the electromyographic characteristics of each dimension between adjacent positions;

[0027] The difference variance of the electromyographic features of each dimension in the matching interval between different adjacent positions is obtained, and the product of the variance result and the weight of the electromyographic features of the corresponding dimension is calculated as the first product; the accumulation of the first products of the electromyographic features of all dimensions in each relaxation and contraction is obtained as the degree of change of the propagation characteristics in each relaxation and contraction interval.

[0028] Furthermore, the method for obtaining the muscle activity index includes:

[0029] Obtain the variance of the time differences between all adjacent positions as the degree of time fluctuation;

[0030] The cumulative value of the propagation characteristic change degree of all relaxation and contraction intervals in the neighborhood of each relaxation and contraction interval is obtained as the first activity coefficient; the ratio of the first activity coefficient and the momentary fluctuation degree is obtained as the muscle activity index of each relaxation and contraction interval.

[0031] Furthermore, the preset electromyography threshold is 0.7.

[0032] The present invention also proposes an electrical stimulation pulse physiotherapy device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any one of the steps of the electrical stimulation pulse adaptive control method.

[0033] The present invention has the following beneficial effects:

[0034] The electromyographic signal of the present invention reflects the activity state and characteristics of the muscle, and different relaxation and contraction states will lead to different manifestations of the electromyographic signal, and the multi-dimensional electromyographic characteristics of the electromyographic signal in different relaxation and contraction intervals are obtained. In the neighborhood of each relaxation and contraction interval, according to the change trend of the electromyographic characteristics of each dimension in different relaxation and contraction intervals, the cumulative deviation index of the electromyographic characteristics of each dimension in each relaxation and contraction interval is obtained, reflecting the stability and change trend of the electromyographic characteristics over a period of time; the deviation contribution index of the electromyographic characteristics of each dimension in each relaxation and contraction interval is obtained, and the contribution of the electromyographic characteristics of each dimension to the overall deviation degree is quantified; according to the electromyographic characteristics of each dimension in the relaxation and contraction intervals between different positions, the cumulative deviation index of the electromyographic characteristics of each dimension in the relaxation and contraction intervals ... between different positions is obtained, reflecting the stability and change trend of the electromyographic characteristics over a period of time; according to the electromyographic characteristics of each dimension in the relaxation and contraction intervals between different positions, the cumulative deviation index of the electromyographic characteristics of each dimension in the relaxation and contraction intervals between different positions is obtained, reflecting the stability and change trend of the electromyographic characteristics over a period of time; according to the electromyographic characteristics of each dimension in the relaxation and contraction intervals between different positions, the cumulative deviation index of the electromyographic characteristics of each dimension in the relaxation and contraction intervals between different positions is obtained, reflecting the stability and change trend of the electromyographic characteristics over a period of time; The deviation contribution index distribution of the sign is used to obtain the weight of each dimension of the electromyographic feature, reflecting the importance of each dimension of the electromyographic feature in the overall evaluation; according to the weights of the electromyographic features of different dimensions in each relaxation and contraction interval, and the difference fluctuation characteristics of each dimension of the electromyographic feature in each relaxation and contraction interval between adjacent positions, the propagation characteristic variation degree in each relaxation and contraction interval is obtained to evaluate the functional state of the muscle in different states; according to the propagation characteristic variation degree of different relaxation and contraction intervals in the neighborhood range of each relaxation and contraction interval, and the degree of fluctuation of the moment difference between adjacent positions, the muscle activity index of each relaxation and contraction interval is obtained, which is helpful to evaluate the activity of the muscle; the electrical stimulation pulse is adjusted. The present invention analyzes the activation effect of the muscle and improves the accuracy of regulation by considering the different stimulation responses at different positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 A flow chart of an electric stimulation pulse adaptive control method provided by one embodiment of the present invention;

[0037] Figure 2 A flow chart of a method for obtaining a relaxation contraction interval provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of an electric stimulation pulse type physiotherapy device and its electric stimulation pulse adaptive control method proposed by the present invention, its specific implementation method, structure, characteristics and effects, in conjunction with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0039] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0040] The specific scheme of an electrical stimulation pulse therapy device and its electrical stimulation pulse adaptive control method provided by the present invention is described in detail below with reference to the accompanying drawings.

[0041] See also Figure 1 , which shows a method flow chart of an electric stimulation pulse adaptive control method provided by an embodiment of the present invention, specifically comprising:

[0042] Step S1: Acquire the electromyographic signals of the patient's muscle stimulation site at different positions according to the time sequence.

[0043] In the embodiment of the present invention, since simply judging the electromyographic signal of one position will lead to adjustment errors, it is necessary to pay attention to the synergistic effect of muscles at different positions, which reflects the training of the overall muscles and is more helpful for regulating the electrical stimulation pulses. First, EMG sensors are installed at multiple positions of the patient's stimulated part through experience, and electromyographic data at different positions at different times are obtained, that is, the electromyographic signals of the patient's muscle stimulation part at different positions are obtained according to the time sequence.

[0044] It should be noted that the parameters of the EMG sensor are: the electromyographic signal is a weak electrical signal with an amplitude range of 0 to 5mV. A pre-differential amplifier circuit is used to suppress common-mode noise interference in the signal, and the amplification factor is 20 times; the frequency of the electromyographic signal is mainly distributed between 10 and 500Hz, and a 10-500Hz bandpass filter circuit is designed to filter out noise outside the effective frequency range; a 16-bit bipolar analog-to-digital conversion module is used, and the communication method between the STM microcontroller is SPI, and the sampling frequency is 2000Hz.

[0045] Step S2: For any position, according to the changing trend of the extreme points on the electromyographic signal, multiple relaxation and contraction intervals of the electromyographic signal are obtained, and the multi-dimensional electromyographic features of the electromyographic signal in different relaxation and contraction intervals are obtained; within the neighborhood of each relaxation and contraction interval, according to the changing trend of the electromyographic features of each dimension in different relaxation and contraction intervals, the cumulative deviation index of the electromyographic features of each dimension of each relaxation and contraction interval is obtained; according to the difference in the cumulative deviation indexes between the electromyographic features of each dimension of adjacent relaxation and contraction intervals, the deviation contribution index of the electromyographic features of each dimension of each relaxation and contraction interval is obtained.

[0046] When muscles are stimulated to move, they follow a series of stages such as relaxation, contraction, relaxation, and contraction. In order to analyze the state of the muscles in each stage, extreme points usually represent important turning points on the data curve; by analyzing the changing trend of extreme points, the relaxation and contraction state of the muscles can be reflected. For any position, multiple relaxation and contraction intervals of the electromyographic signal can be obtained based on the changing trend of the extreme points on the electromyographic signal.

[0047] Preferably, in one embodiment of the present invention, the method for obtaining the relaxation and contraction interval can be found in Figure 2 , which shows a flow chart of a method for obtaining a relaxation contraction interval, including:

[0048] Step S201: using the numerical value of the extreme point as the horizontal axis of the histogram and the frequency corresponding to the extreme point in the frequency domain as the vertical axis of the histogram; segmenting the histogram based on the maximum inter-class variance method to obtain a contraction numerical range and a relaxation numerical range.

[0049] Since there are obvious differences in EMG signals when they are contracted and relaxed, by constructing a histogram, we can more intuitively understand the numerical distribution of extreme points, which helps to more accurately identify different states in EMG signals.

[0050] It should be noted that the method for obtaining extreme points includes: traversing the electromyographic signal, if the value of each data point is greater than the value of the adjacent data points before and after it, it is marked as a maximum point; if the value of each data point is greater than the value of the adjacent data points before and after it, it is marked as a minimum point; in other embodiments of the present invention, the Newton method can also be used to obtain the extreme points on the electromyographic signal. The specific means are technical means well known to those skilled in the art and will not be described in detail here. The specific maximum inter-class variance is a technical means well known to those skilled in the art and will not be described in detail here.

[0051] Step S202: traverse the electromyographic signal, mark the range corresponding to the data point based on the contraction value range and the relaxation value range, and if there are a continuous number of data points belonging to the same range, form a small interval with the corresponding data points.

[0052] By marking and forming small intervals, the contraction and relaxation states of muscles in the electromyographic signals can be clearly identified.

[0053] It should be noted that, in one embodiment of the present invention, if the number is greater than 3 consecutively, a subsequent interval can be formed; in other embodiments of the present invention, the specific value can be set according to the specific situation, and is not limited or elaborated here.

[0054] Step S203: sequentially obtain the mean values ​​of the amplitudes of the data points of the electromyographic signals in two consecutive small intervals, and normalize them to obtain the mean electromyographic value; if the mean electromyographic value is less than the preset electromyographic threshold, the corresponding two small intervals constitute a relaxation-contraction interval.

[0055] It should be noted that in a real-time example of the present invention, the preset electromyographic threshold is 0.7; in other embodiments of the present invention, the size of the preset electromyographic threshold can be set according to specific circumstances, which is not limited or elaborated here.

[0056] EMG signals have multi-dimensional features, which can reflect the activity state of muscles from different angles, and reflect the overall trend and fluctuation of signals. The multi-dimensional EMG features of EMG signals in different relaxation and contraction intervals are obtained.

[0057] It should be noted that, in one embodiment of the present invention, the electromyographic signal is processed and analyzed to obtain multiple multi-dimensional electromyographic conversions, and the multi-dimensional electromyographic features include the average level of the electromyographic signal, the integrated electromyographic signal, the Range (rmp) electromyographic signal amplitude, the RMS (μV) root mean square, the median frequency and average power frequency of the electromyographic signal in the frequency domain, etc. The specific means are well known to those skilled in the art and will not be elaborated here.

[0058] Electromyographic signals exhibit different characteristics in the state of relaxation and contraction. Analyzing the changing trend of each sensitive electromyographic feature can help us to have a deeper understanding of the laws of muscle activity and to quantitatively evaluate the cumulative deviation index. Within the neighborhood of each relaxation and contraction interval, the cumulative deviation index of the electromyographic feature of each dimension in each relaxation and contraction interval is obtained according to the changing trend of the electromyographic feature of each dimension in different relaxation and contraction intervals.

[0059] Preferably, in one embodiment of the present invention, the method for obtaining the cumulative deviation index includes:

[0060] Obtain the difference between the maximum and minimum values ​​in each relaxation and contraction interval as the interval time range;

[0061] The cumulative deviation index is obtained according to the formula of the cumulative deviation index. The formula for obtaining the cumulative deviation index is:

[0062] ;

[0063] in, Indicates The first position The first relaxation-contraction interval The cumulative deviation index of the electromyographic characteristics of each dimension; Indicates The number of relaxed shrinkage intervals in the neighborhood of a relaxed shrinkage interval; Indicates the neighborhood The first relaxation-contraction interval Dimensional electromyographic features; represents the first The mean of the EMG characteristics in each dimension; Indicates the neighborhood The first relaxation-contraction interval The ratio of the EMG characteristics of each dimension to the time range of the interval; represents the first of all relaxation and contraction intervals in the neighborhood. The mean ratio of the electromyographic characteristics of each dimension and the interval time range.

[0064] In the formula for obtaining the cumulative deviation index, Reflects the The first relaxation-contraction interval The fluctuation degree of the EMG characteristics of each dimension relative to the mean, that is, the deviation degree of the EMG characteristics of each dimension within the interval; Indicates the degree of deviation of the dimensional electromyographic characteristics within the interval; The ratio of the deviation degree of the electromyographic characteristic within the interval to the change in the slope of the dimensional electromyographic characteristic. The larger the ratio, the greater the fluctuation of the dimensional electromyographic characteristic and the more obvious the deviation.

[0065] It should be noted that, in one embodiment of the present invention, the relaxation-contraction interval is obtained by traversing the electromyographic signal, and the size of the neighborhood range is the range consisting of all the previous relaxation-contraction intervals for each relaxation-contraction interval. In other embodiments of the present invention, the neighborhood range can be set according to the specific situation, and is not limited or elaborated here.

[0066] By calculating the deviation difference of the electromyographic characteristics of adjacent relaxation and contraction intervals, the activity changes of muscles under different activities can be quantitatively evaluated. By calculating the deviation contribution index, the characteristic dimension that contributes most to the change of muscle activity can be identified, so as to understand the characteristics of muscle activity more accurately. According to the difference of the cumulative deviation index between the electromyographic characteristics of each dimension of adjacent relaxation and contraction intervals, the deviation contribution index of the electromyographic characteristics of each dimension of each relaxation and contraction interval is obtained.

[0067] Preferably, in one embodiment of the present invention, the method for obtaining the deviation contribution index includes:

[0068] The difference in the electromyographic characteristics of each dimension of each relaxation-contraction interval between adjacent positions was calculated and normalized as the characteristic difference index between the corresponding adjacent positions.

[0069] In one embodiment of the present invention, the formula of the deviation contribution index is expressed as:

[0070] ;

[0071] in, Indicates The first position The first relaxation-contraction interval Deviation contribution index of electromyographic characteristics in each dimension; Performance The first position The first relaxation-contraction interval The cumulative deviation index of the electromyographic characteristics of each dimension; Indicates The first position The first relaxation-contraction interval The cumulative deviation index of the electromyographic characteristics in each dimension.

[0072] In the formula for preference contribution, The larger the value, the The first position The first relaxation-contraction interval The greater the cumulative deviation index of the electromyographic characteristics of each dimension, the greater the deviation contribution index.

[0073] Step S3: According to the distribution of deviation contribution index of each dimension of electromyographic feature in the relaxation-contraction interval between different positions, the weight of each dimension of electromyographic feature is obtained; according to the weight of different dimensional electromyographic features in each relaxation-contraction interval, and the difference fluctuation characteristics of each dimensional electromyographic feature in each relaxation-contraction interval between adjacent positions, the variation degree of propagation characteristics in each relaxation-contraction interval is obtained; according to the variation degree of propagation characteristics of different relaxation-contraction intervals within the neighborhood of each relaxation-contraction interval, and the fluctuation degree of the moment difference between adjacent positions, the muscle activity index of each relaxation-contraction interval is obtained.

[0074] In EMG signal analysis, different dimensions reflect different aspects of muscle activity. By calculating the deviation contribution index of each dimension of EMG features, we can quantify the degree of variation of these features between different positions, thereby evaluating their importance to the overall EMG signal analysis. The weight of each dimension of EMG features is obtained based on the distribution of the deviation contribution index of each dimension of EMG features in the relaxation-contraction interval between different positions.

[0075] Preferably, in one embodiment of the present invention, the method for obtaining the weight of each dimension of electromyographic feature includes:

[0076] The weight of each dimension of the electromyographic feature is obtained according to the formula for obtaining the weight of each dimension of the electromyographic feature. The formula for obtaining the weight of each dimension of the electromyographic feature is expressed as:

[0077] ;

[0078] in, Indicates The weight of the EMG feature of each dimension; Indicates The first position The first relaxation-contraction interval Deviation contribution index of electromyographic features in each dimension; Indicates Dimensional electromyographic characteristics The difference in time between a relaxation-contraction interval and the corresponding matching interval; Indicates The variance of the corresponding deviation contribution index of all matching intervals between different positions under the EMG characteristics of each dimension; represents an exponential function with a natural function as its base; Indicates the number of relaxation and contraction intervals.

[0079] In the formula of dimensional electromyographic characteristics, The larger the value, the more uneven the deviation contribution index is, the worse the dimension transfer effect is, and the smaller the weight is. Dimensional electromyographic characteristics The smaller the difference between the time of a relaxation and contraction interval and the corresponding matching interval, the greater the deviation contribution index, the better the transfer effect, and the greater the weight. Preferably, in one embodiment of the present invention, the method for obtaining the matching interval includes:

[0080] The DTW distance between the deviation contribution index of the electromyographic characteristics of different relaxation-contraction intervals in each dimension between each position and different other positions is obtained, and the relaxation-contraction interval with the smallest DTW distance in the corresponding other positions is selected as the matching interval.

[0081] It should be noted that the specific DTW distance is a technical means well known to those skilled in the art and will not be described in detail here.

[0082] The electromyographic signal is a direct reflection of muscle activity. At the same moment, the electromyographic signals of different muscles in the same movement are different. The electromyographic signals detected on muscle groups at different positions are also different. The weights and fluctuation characteristics of electromyographic features in different dimensions can reveal the activity patterns of muscles in different states. By calculating the degree of variation of propagation characteristics, the dynamic changes of muscle activity in time and space can be quantified, so as to gain a deeper understanding of the functional state of muscles. According to the weights of electromyographic features in different dimensions of each relaxation-contraction interval, and the differential fluctuation characteristics of electromyographic features in each dimension of each relaxation-contraction interval between adjacent positions, the degree of variation of propagation characteristics in each relaxation-contraction interval is obtained.

[0083] Preferably, in one embodiment of the present invention, the method for acquiring the propagation characteristic variation degree includes:

[0084] Obtain the matching interval of the electromyographic characteristics of each dimension between adjacent positions;

[0085] The difference variance of the electromyographic features of each dimension in the matching interval between different adjacent positions is obtained, and the product of the variance result and the weight of the electromyographic features of the corresponding dimension is calculated as the first product; the accumulation of the first products of the electromyographic features of all dimensions in each relaxation and contraction is obtained as the degree of change of the propagation characteristics in each relaxation and contraction interval.

[0086] In one embodiment of the present invention, the formula for the propagation characteristic variation is expressed as:

[0087] ;

[0088] in, Indicates The degree of change of the propagation characteristics of the relaxation and contraction interval; Indicates The weight of the EMG feature of each dimension; Represents the difference variance of the EMG characteristics of each dimension in the matching interval between different adjacent positions; Indicates The number of dimensional electromyographic features within the relaxation-contraction interval.

[0089] In the formula of the propagation feature variation, the greater the weight of the dimensional electromyographic feature, the greater the difference variance of each dimensional electromyographic feature in the matching interval between different adjacent positions, and the greater the propagation feature variation.

[0090] The propagation characteristic variation reflects the dynamic changes of electromyographic signals in time and space, and is closely related to the activity pattern of muscles. By calculating the propagation characteristic variation of different relaxation and contraction intervals, the difference and stability of muscle activity can be quantified, thereby more accurately evaluating the functional state of muscles. The muscle activity index of each relaxation and contraction interval is obtained based on the propagation characteristic variation of different relaxation and contraction intervals within the neighborhood of each relaxation and contraction interval, as well as the degree of fluctuation of the moment difference between adjacent positions.

[0091] Preferably, in one embodiment of the present invention, the method for obtaining the muscle activity index includes:

[0092] Obtain the variance of the time differences between all adjacent positions as the degree of time fluctuation;

[0093] The cumulative value of the propagation characteristic change degree of all relaxation and contraction intervals in the neighborhood of each relaxation and contraction interval is obtained as the first activity coefficient; the ratio of the first activity coefficient and the momentary fluctuation degree is obtained as the muscle activity index of each relaxation and contraction interval.

[0094] In one embodiment of the present invention, the formula of the muscle activity index is expressed as:

[0095] ;

[0096] in, Indicates The muscle activity index within the relaxation and contraction range is represents the variance of the time differences between all adjacent positions; Indicates the neighborhood The degree of change of propagation characteristics within a relaxation and contraction interval; Indicates The number of all relaxed shrinkage intervals in the neighborhood of a relaxed shrinkage interval.

[0097] In the formula for muscle activity index, The greater the change in the propagation characteristics within the relaxation and contraction interval, the The greater the variation of the propagation characteristics of a relaxation-contraction interval, the more active the muscle is; the greater the variance of the moment difference between adjacent positions, the greater the time difference, and the worse the activation effect.

[0098] Step S4: adjusting the electrical stimulation pulse according to the muscle activity index.

[0099] Obtain muscle activity index, and understand the individual's response to electrical stimulation by considering the stimulation response at different positions.

[0100] It should be noted that in another real-time example of the present invention, the electrical stimulation parameters that need to be adjusted are determined by comparing the deviation contribution index and the set threshold of each dimensional electromyographic characteristic of each relaxation and contraction interval at each position; wherein, the set threshold includes (0, 0.3) as a low level, (0.3, 0.7) as a medium level, and (0.7, 1) as a high level. When the electromyographic characteristic of each dimension is an integral electromyographic characteristic, it corresponds to a high level, and the stimulation intensity needs to be adjusted by parameters. If the electromyographic characteristic of the dimension is a frequency characteristic, it corresponds to a high level, and the frequency characteristic needs to be adjusted by parameters. In other cases, the pulse width needs to be adjusted by parameters. By comparing the muscle activity index with the preset active threshold, if the muscle activity index is greater than the preset active threshold, it is determined that the electrical parameters for treating the patient need to be adjusted, and the specific parameter adjustment is implemented using PID.

[0101] It should be noted that, in one embodiment of the present invention, the size of the preset activity threshold is 0.6; in other embodiments of the present invention, the size of the preset activity threshold is a technical means well known to those skilled in the art, which is not limited or elaborated herein.

[0102] In summary, the present invention obtains the cumulative deviation index of each dimensional electromyographic feature of each relaxation and contraction interval according to the change trend of each dimensional electromyographic feature of different relaxation and contraction intervals within the neighborhood range of each relaxation and contraction interval; obtains the deviation contribution index of each dimensional electromyographic feature of each relaxation and contraction interval according to the difference between the cumulative deviation indexes of each dimensional electromyographic feature of adjacent relaxation and contraction intervals; obtains the degree of change of the propagation characteristics in each relaxation and contraction interval according to the weights of the electromyographic features of different dimensions of each relaxation and contraction interval and the difference fluctuation characteristics of each dimensional electromyographic feature of each relaxation and contraction interval between adjacent positions; obtains the muscle activity index of each relaxation and contraction interval in combination with the degree of fluctuation of the moment difference between adjacent positions; and adjusts the electrical stimulation pulse. The present invention analyzes the activation effect of the muscle and improves the accuracy of regulation by considering the different stimulation responses at different positions.

[0103] The present invention also proposes an electrical stimulation pulse therapy device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any one of the steps of an electrical stimulation pulse adaptive control method.

[0104] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0105] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. An electrical stimulation pulse therapy device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When a processor executes a computer program, it achieves: Acquire the electromyographic signals of the patient's muscle stimulation site at different positions according to the time sequence; For any position, according to the change trend of the extreme point on the electromyographic signal, multiple relaxation and contraction intervals of the electromyographic signal are obtained, and the multi-dimensional electromyographic characteristics of the electromyographic signal in different relaxation and contraction intervals are obtained; In the neighborhood of each relaxation and contraction interval, according to the change trend of the electromyographic characteristics of each dimension in different relaxation and contraction intervals, the cumulative deviation index of the electromyographic characteristics of each dimension in each relaxation and contraction interval is obtained; according to the difference of the cumulative deviation indexes between the electromyographic characteristics of each dimension in adjacent relaxation and contraction intervals, the deviation contribution index of the electromyographic characteristics of each dimension in each relaxation and contraction interval is obtained; According to the distribution of the deviation contribution index of each dimension of the electromyographic feature in the relaxation and contraction interval between different positions, the weight of each dimension of the electromyographic feature is obtained; according to the weight of the electromyographic features of different dimensions in each relaxation and contraction interval, and the difference fluctuation characteristics of the electromyographic features of each dimension in each relaxation and contraction interval between adjacent positions, the variation degree of the propagation characteristics in each relaxation and contraction interval is obtained; according to the variation degree of the propagation characteristics of different relaxation and contraction intervals within the neighborhood of each relaxation and contraction interval, and the fluctuation degree of the moment difference between adjacent positions, the muscle activity index of each relaxation and contraction interval is obtained; Adjust electrical stimulation pulses based on muscle activity indicators; The numerical value of the extreme point is used as the horizontal axis of the histogram, and the frequency corresponding to the extreme point in the frequency domain is used as the vertical axis of the histogram; the histogram is segmented based on the maximum inter-class variance method to obtain the contraction numerical range and the relaxation numerical range; Traverse the electromyographic signal, mark the range corresponding to the data point based on the contraction value range and the relaxation value range, and if there are a continuous number of data points belonging to the same range, form a small interval with the corresponding data points; The mean values ​​of the amplitudes of the data points of the electromyographic signals in two consecutive small intervals are obtained in sequence and normalized as the electromyographic average value; if the electromyographic average value is less than the preset electromyographic threshold, the corresponding two small intervals constitute a relaxation-contraction interval; The difference between the maximum and minimum values ​​in each relaxation and contraction interval is obtained as the interval time range; The cumulative deviation index is obtained according to the formula of the cumulative deviation index. The formula for obtaining the cumulative deviation index is: ;in, Indicates The first position The first relaxation-contraction interval The cumulative deviation index of the electromyographic characteristics of each dimension; Indicates The number of relaxed shrinkage intervals in the neighborhood of a relaxed shrinkage interval; Indicates the neighborhood The first relaxation-contraction interval Dimensional electromyographic features; represents the first The mean of the EMG characteristics in each dimension; Indicates the neighborhood The first relaxation-contraction interval The ratio of the EMG characteristics of each dimension to the time range of the interval; represents the first of all relaxation and contraction intervals in the neighborhood. The mean value of the ratio between the EMG characteristics of each dimension and the time range of the interval; The difference of the cumulative deviation index of each dimension of the electromyographic feature between each relaxation-contraction interval and the previous relaxation-contraction interval is calculated and normalized as the deviation contribution index of each dimension of the electromyographic feature in each relaxation-contraction interval; Among them, the weight of the electromyographic feature of each dimension is obtained according to the formula for obtaining the weight of the electromyographic feature of each dimension, and the formula for obtaining the weight of the electromyographic feature of each dimension is expressed as: ;in, Indicates The weight of the EMG feature of each dimension; Indicates The first position The first relaxation-contraction interval Deviation contribution index of electromyographic features in each dimension; Indicates Dimensional electromyographic characteristics The difference in time between a relaxation-contraction interval and the corresponding matching interval; Indicates The variance of the corresponding deviation contribution index of all matching intervals between different positions under the EMG characteristics of each dimension; represents an exponential function with a natural function as its base; Indicates the number of relaxation and contraction intervals; Among them, the variance of the time differences between all adjacent positions is obtained as the degree of time fluctuation; The cumulative value of the propagation characteristic change degree of all relaxation and contraction intervals in the neighborhood of each relaxation and contraction interval is obtained as the first activity coefficient; the ratio of the first activity coefficient and the momentary fluctuation degree is obtained as the muscle activity index of each relaxation and contraction interval.

2. An electrical stimulation pulse therapy device according to claim 1, characterized in that: The methods for obtaining the matching interval include: The DTW distance between the deviation contribution index of the electromyographic characteristics of different relaxation-contraction intervals in each dimension between each position and different other positions is obtained, and the relaxation-contraction interval with the smallest DTW distance in the corresponding other positions is selected as the matching interval.

3. The electrical stimulation pulse therapy device according to claim 1, characterized in that: The method for obtaining the propagation characteristic variation degree includes: Obtain the matching interval of the electromyographic characteristics of each dimension between adjacent positions; The difference variance of the electromyographic features of each dimension in the matching interval between different adjacent positions is obtained, and the product of the variance result and the weight of the electromyographic features of the corresponding dimension is calculated as the first product; the accumulation of the first products of the electromyographic features of all dimensions in each relaxation and contraction is obtained as the degree of change of the propagation characteristics in each relaxation and contraction interval.

4. The electrical stimulation pulse therapy device according to claim 1, characterized in that: The default EMG threshold is 0.7.

Images