Multi-modal closed-loop control system and method based on electroencephalogram signal recording and analysis

Abstract

The invention discloses a multi-modal closed-loop control system and method based on electroencephalogram signal recording and analysis, and belongs to the technical field of biological signal processing. The multi-modal closed-loop control system comprises an electroencephalogram signal acquisition module, a multi-modal stimulation module, an electroencephalogram data transmission module and a closed-loop control module, and the electroencephalogram data transmission module and the closed-loop control module are arranged in a computer; wherein the electroencephalogram signal acquisition module is configured to be used for acquiring electroencephalogram signals in real time and preprocessing the electroencephalogram signals; the electroencephalogram data transmission module is configured to be used for processing, displaying and storing the collected electroencephalogram signals; the closed-loop control module is configured to monitor an electroencephalogram signal of an experimental animal in real time, adjust a stimulation parameter according to a preset target or feedback information and transmit the stimulation parameter to the multi-mode stimulation module for closed-loop regulation and control; the multi-modal stimulation module is configured to apply multi-modal stimulation to the experimental animal to excite the electroencephalogram signal of the experimental animal. The accuracy, the response speed and the interaction naturalness of the control system based on the electroencephalogram signal can be effectively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of biological signal processing, and specifically relates to a multimodal closed-loop control system and method based on electroencephalogram signal recording and analysis. Background Art

[0002] With the development of science and technology, human-computer interaction technology has become a hot topic in research and application. In particular, the brain-computer interface (BCI) technology based on EEG signals directly collects and interprets the brain's electrical activity signals, allowing people to interact with computer systems or other electronic devices in a new way. EEG signals (Electroencephalogram, EEG) are the electrophysiological manifestations of brain neuron activity, which can reflect the brain's cognitive state and intention, and provide an important physiological basis for human-computer interaction.

[0003] Chinese invention patent document CN118403284 discloses a functional electrical stimulation adjustment method and device combined with a brain-computer interface. By sampling and decoding the subject's EEG signal, the predicted value of the subject's EEG signal strength can be obtained, the subject's intention or need can be determined, and personalized electrical stimulation adjustment can be provided. However, the application of this single-modal EEG signal seems to be inadequate in the face of complex and changeable interaction requirements, and it is difficult to meet higher interaction requirements.

[0004] In order to solve the above problems, in the existing BCI technology research, multimodal closed-loop control system based on EEG signal recording and analysis is an important research direction. It can achieve precise control of brain activity by integrating multiple stimulation methods such as ultrasound stimulation, light stimulation and electrical stimulation. This system can use EEG signals as feedback and adjust stimulation parameters in real time to achieve the best effect. In addition, closed-loop control systems occupy a cutting-edge position in neuroscience research, and the integration of multimodal stimulation and detection technology is expected to cure difficult neurological diseases in clinical settings.

[0005] Therefore, there is a need for a multimodal closed-loop control system and method based on EEG signal recording and analysis that can improve the accuracy, response speed and interactive naturalness of the control system based on EEG signals. Summary of the invention

[0006] The purpose of the present invention is to provide a multimodal closed-loop control system and method based on EEG signal recording and analysis, which can improve the accuracy, response speed and interactive naturalness of the control system based on EEG signals.

[0007] To achieve the above purpose, the technical solution adopted by the present invention is:

[0008] A multimodal closed-loop control system based on EEG signal recording and analysis includes an EEG signal acquisition module, a multimodal stimulation module, and an EEG data transmission module and a closed-loop control module arranged in a computer; wherein:

[0009] The EEG signal acquisition module is configured to acquire EEG signals in real time and pre-process them, and the EEG signal acquisition module includes EEG electrodes implanted in a preset area of ​​the head of the experimental animal and a multi-channel EEG signal acquisition card connected to the EEG electrodes;

[0010] The EEG data transmission module is configured to process, display and store the collected EEG signals, and the EEG data transmission module includes a signal processing and analysis module for processing the EEG signals collected by the EEG signal collection module, an EEG data display module for displaying the EEG signal waveform in real time on the user interface, and a signal transmission and storage module for storing EEG data in a standard format and transmitting the EEG data to the closed-loop control module;

[0011] The closed-loop control module is configured to monitor the EEG signals of the experimental animals in real time, adjust the stimulation parameters according to the preset goals or feedback information, and transmit them to the multimodal stimulation module for closed-loop regulation;

[0012] The multimodal stimulation module is configured to apply multimodal stimulation to the experimental animal to stimulate the EEG signal of the experimental animal, including a light stimulation module, an ultrasound stimulation module, an electrical stimulation module and a software platform for adjusting various parameters of the three stimulations.

[0013] A further improvement of the technical solution of the present invention is that the multi-channel EEG signal acquisition card in the EEG signal acquisition module includes a pre-active filter for improving the quality of the acquired signal, an analog-to-digital converter for realizing analog-to-digital conversion of EEG acquisition, and a single-chip microcomputer as a circuit control main control chip.

[0014] A further improvement of the technical solution of the present invention is that the EEG signal acquisition module communicates with the computer through a high-speed data transmission interface, the EEG signals collected by the EEG electrodes are processed by a pre-active filter and then transmitted to the analog-to-digital converter for analog-to-digital conversion. Under the control of the single-chip microcomputer, the converted digital signals are transmitted in real time to the EEG data transmission module in the computer through a high-speed data transmission interface.

[0015] A further improvement of the technical solution of the present invention is that after the closed-loop control module receives the EEG signal transmitted by the EEG data transmission module, it performs detection according to the set stimulation mode, releases the stimulation signal when the target peak or trough is detected, and sends the stimulation signal to the multimodal stimulation module, so that the multimodal stimulation module stimulates the experimental animal according to the set stimulation parameters.

[0016] A further improvement of the technical solution of the present invention is that the light stimulation module in the multimodal stimulation module is configured to emit a light stimulation signal, and the light stimulation module includes a laser generator that can send light stimulation to a target area of ​​the head of an experimental animal according to light parameters.

[0017] A further improvement of the technical solution of the present invention is that the ultrasonic stimulation module in the multimodal stimulation module is configured to transmit an ultrasonic stimulation signal, and the ultrasonic stimulation module includes an ultrasonic generator and a collimator filled with coupling liquid connected to the ultrasonic generator, wherein the ultrasonic generator includes a driving power supply, an oscillator, a power amplifier and an ultrasonic transducer, and the collimator is fixedly connected to the output end of the ultrasonic transducer.

[0018] A further improvement of the technical solution of the present invention is that the center frequency of the ultrasonic wave generated by the ultrasonic transducer is set to 3 MHz.

[0019] A further improvement of the technical solution of the present invention is that the electrical stimulation module in the multimodal stimulation module is configured to emit electrical stimulation, and the electrical stimulation module includes a single-chip microcomputer, a voltage-to-current module and two electrode needles, wherein the single-chip microcomputer serves as a circuit control main control chip to control the voltage-to-current module to output current stimulation, one end of the two electrode needles is respectively connected to the output end of the electrical stimulation module through wires, and the other ends of the two electrode needles are respectively inserted into the left front paw and the right hind paw of the experimental animal.

[0020] A multimodal closed-loop control method based on EEG signal recording and analysis uses a multimodal closed-loop control system to perform multimodal closed-loop control, comprising the following steps:

[0021] Step S1: After receiving the control signal from the closed-loop control module, the multimodal stimulation module performs ultrasonic stimulation on the preset area of ​​the experimental animal, and selects light stimulation, ultrasonic stimulation or electrical stimulation according to the requirements of the experiment;

[0022] Step S2: The EEG signal acquisition module acquires the original EEG signals of the experimental animal through the EEG electrodes and the multi-channel EEG signal acquisition card implanted in the preset area of ​​the head of the experimental animal, and transmits the EEG signals to the EEG data transmission module through the high-speed data transmission interface;

[0023] Step S3: After receiving the original EEG signals of each channel in the multi-channel EEG signal acquisition card, the signal processing and analysis module in the EEG data transmission module first performs preliminary processing, and fuses the obtained EEG signal data to obtain an optimized first EEG signal, and then displays the first EEG signal in a waveform in the EEG data display module, and stores the EEG data in a standard format in the signal transmission and storage module, and finally transmits the EEG data to the closed-loop control module;

[0024] Step S4: After receiving the EEG signal, the closed-loop control module performs detection according to the set stimulation mode, releases the stimulation signal when the target peak or trough is detected, and sends the stimulation signal to the multimodal stimulation module, so that the multimodal stimulation module stimulates the experimental animal according to the set stimulation parameters.

[0025] A further improvement of the technical solution of the present invention is that in step S4, the closed-loop control module selects the channel of the received EEG signal and detects the peak or trough of the alpha wave or gamma wave in the received EEG signal, and sends a stimulation signal after detecting the target EEG, and controls the selected stimulation method to perform stimulation.

[0026] Due to the adoption of the above technical solution, the technical progress achieved by the present invention is:

[0027] The multimodal closed-loop control system and method based on EEG signal recording and analysis of the present invention solves the problem of lack of closed-loop control system, correction and optimization means in traditional stimulation methods, and through three stimulation methods of light stimulation, ultrasonic stimulation and electrical stimulation, it can not only more comprehensively regulate brain activity, but also enhance the overall efficiency and stability of the closed-loop control system, so that the system can complete more complex and sophisticated control tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the structure of a multi-modal closed-loop control system based on EEG signal recording and analysis of the present invention;

[0029] Figure 2 It is a flow chart of a multi-modal closed-loop control method based on EEG signal recording and analysis of the present invention;

[0030] Figure 3 It is an EEG waveform diagram of an experimental animal before and after being stimulated by closed-loop regulation, provided in an experimental example of a multimodal closed-loop control method based on EEG signal recording and analysis of the present invention. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below in conjunction with embodiments:

[0032] Example 1

[0033] like Figure 1 As shown, this embodiment provides a multimodal closed-loop control system based on EEG signal recording and analysis, including an EEG signal acquisition module, a multimodal stimulation module, and an EEG data transmission module and a closed-loop control module arranged in a computer.

[0034] Furthermore, the EEG signal acquisition module is configured to collect EEG signals in real time and pre-process them. The EEG signal acquisition module includes EEG electrodes implanted in a preset area of ​​the head of the experimental animal and a multi-channel EEG signal acquisition card connected to the EEG electrodes. Specifically, the EEG electrodes are connected to the head of the experimental animal through a unipolar lead method, screws are implanted in the nasal bone area of ​​the experimental animal as reference electrodes and ground electrodes, and then a hole is punched in the upper skull corresponding to the M1 primary motor cortex, and the EEG electrodes are inserted into the brain tissue through the hole, with an insertion depth of about 0.5 mm. The multi-channel EEG signal acquisition card includes a pre-active filter to improve the quality of the acquired signal, an analog-to-digital converter to realize analog-to-digital conversion and partial processing of EEG acquisition, and a single-chip microcomputer as the main control chip for circuit control. The EEG signal acquisition module communicates with the computer through a high-speed data transmission interface. The EEG signals collected by the EEG electrodes are processed by the pre-active filter and transmitted to the analog-to-digital converter for analog-to-digital conversion. Under the control of the single-chip microcomputer, the converted digital signals are transmitted to the EEG data transmission module in the computer in real time through the high-speed data transmission interface to ensure that the EEG data can be transmitted to the EEG data transmission module in real time and losslessly for further analysis. Among them, the analog-to-digital converter can use TI's ADS1299, and the high-speed data transmission interface can use USB, PCIe or Ethernet. The experimental animals are all male C57BL / 6 wild-type mice, weighing 20-25g and aged 4-5 weeks.

[0035] The EEG data transmission module is configured to process, display and store the collected EEG signals. The EEG data transmission module includes a signal processing and analysis module for processing the EEG signals collected by the EEG signal acquisition module, an EEG data display module for displaying the EEG signal waveform in real time on the user interface, and a signal transmission and storage module for storing EEG data in a standard format and transmitting the EEG data to the closed-loop control module. The signal processing and analysis module can filter, denoise, and perform spectrum analysis on the EEG signals to improve the quality and accuracy of the signals. Specifically, under the Microsoft Visual Studio platform, by using the Windows-based user interface framework WPF, the interface is designed using the C# programming language. First, the EEG data collected by the EEG signal after hardware processing is received, and further processed in the software, including filtering, denoising, etc., and then the EEG data is converted into a digital signal and displayed in the user interface in the form of a waveform. After the software is connected to the serial port corresponding to the multi-channel EEG signal acquisition card, click the start key to start receiving and displaying data, click the stop key to stop displaying, and automatically save the transmitted EEG data after each click of the stop key.

[0036] The closed-loop control module is configured to monitor the EEG signals of experimental animals in real time, adjust the stimulation parameters according to the preset target or feedback information, and transmit them to the multimodal stimulation module to achieve closed-loop control. The closed-loop control module is also designed using the C# programming language. When the closed-loop control module receives the EEG signal transmitted by the EEG data transmission module, it detects it according to the set stimulation mode, releases the stimulation signal when the target peak or trough is detected, and sends the stimulation signal to the multimodal stimulation module, so that the multimodal stimulation module stimulates the experimental animals according to the set stimulation parameters.

[0037] In closed-loop control, dual threshold detection was used as an algorithm for closed-loop ultrasound stimulation based on theta or gamma rhythm (when it was set as peak stimulation), and the algorithm was programmed in Matlab. In order to ensure the real-time nature of the stimulation, the LFP signal collected by the EEG was downsampled to 500Hz, and the data was updated using a sliding window, retaining the data updated with a 2ms sliding. Theta or gamma rhythm signal was filtered by a zero-phase 6th-order iir filter. In order to ensure the reliability of zero-phase filtering in the closed-loop system, we tested and verified the amplitude and phase characteristics of the system's online signal processing. Then, the phase and amplitude of the theta or gamma rhythm signal were determined to detect the peak or valley. The phase information of the theta or gamma rhythm was extracted using the Hilbert transform. When the theta or gamma amplitude was greater than or less than the threshold and the algorithm simultaneously detected the phase value near the peak and valley, the computer sent a signal to the generator to emit the stimulation signal. To avoid repeated judgments, the next judgment was delayed by 100 milliseconds.

[0038] Specifically, when the software is started, all modules are initialized, and a communication connection is established between the EEG data transmission module and the closed-loop control module. The closed-loop control module monitors the EEG signal data stream transmitted by the EEG data transmission module in real time. The conditions for the target peak are set, including the peaks and troughs of the Theta wave and the Gamma wave, and the received EEG signal is detected in real time to see if it meets the set target conditions. Once a peak or trough that meets the conditions is detected, the logic control unit will trigger the release of the stimulation signal and pass the stimulation signal to the multimodal stimulation module. The parameters of the multimodal stimulation, such as intensity, frequency, duration, etc., are preset in the software. The multimodal stimulation module stimulates the experimental animals according to the received stimulation signal and the preset parameters.

[0039] The multimodal stimulation module is configured to apply multimodal stimulation to the experimental animal to stimulate the EEG signal of the experimental animal, including a light stimulation module, an ultrasound stimulation module, an electrical stimulation module and a software platform for adjusting various parameters of the three stimulations.

[0040] Among them, the light stimulation module is configured to emit light stimulation signals, generate corresponding light stimulation signals according to light parameters, and perform light stimulation on the EEG electrodes of the experimental animals. The light stimulation module includes a laser generator, and the laser generator can send light stimulation to the target area of ​​the head of the experimental animal according to the set light parameters. The laser generator can use Thorlabs' M470F4 laser generator.

[0041] The ultrasonic stimulation module is configured to emit ultrasonic stimulation signals, generate corresponding ultrasonic stimulation signals according to ultrasonic parameters, and perform ultrasonic stimulation on the user's EEG electrodes. The ultrasonic stimulation module includes an ultrasonic generator and a collimator filled with coupling fluid connected to the ultrasonic generator, wherein the ultrasonic generator can generate ultrasonic signals of specific frequency and intensity according to the configured ultrasonic parameters, and the collimator can reduce the attenuation of ultrasound during propagation, and is limited to the set spatial range to be emitted to the experimental animal. The ultrasonic generator can use GE Healthcare's ultrasonic generator, which is a device for generating ultrasonic waves, including a driving power supply, an oscillator, a power amplifier and an ultrasonic transducer, and the collimator is fixedly connected to the output end of the ultrasonic transducer, wherein the center frequency of the ultrasonic wave generated by the ultrasonic transducer is set to 3MHz, and preferably, the ultrasonic transducer uses a Mantoux phased array transducer with an appearance size of 8×8×23mm, and the model is 3L16-0.31×5.

[0042] The electrical stimulation module is configured to emit electrical stimulation, generate corresponding electrical stimulation signals according to electrical stimulation parameters, and perform electrical stimulation on the experimental animals. The electrical stimulation module includes a single-chip microcomputer, a voltage-to-current module, and two electrode needles, wherein the single-chip microcomputer serves as a circuit control main control chip to control the voltage-to-current module to output current stimulation, one end of the two electrode needles is respectively connected to the output end of the electrical stimulation module through a wire, and the other ends of the two electrode needles are respectively inserted into the left front paw and the right hind paw of the experimental animal.

[0043] The software platform is configured to adjust various parameters of each stimulus, including key parameters such as duty cycle, intensity, and stimulation time.

[0044] The software platform for controlling stimulation is designed using the C# programming language and communicates with the hardware device through the serial port. It provides a choice of internal triggering and external triggering modes. Internal triggering is for manual control of stimulation, and external triggering is selected for closed-loop control. It can receive signals from the closed-loop control module and is equipped with a selection box to select which stimulation to use. The stimulation parameters can also be adjusted on the interface.

[0045] Example 2

[0046] like Figure 2As shown, this embodiment provides a multimodal closed-loop control method based on EEG signal recording and analysis, using the multimodal closed-loop control system of embodiment 1 to perform multimodal closed-loop control, including the following steps:

[0047] Step S1: After receiving the control signal from the closed-loop control module, the multimodal stimulation module performs ultrasonic stimulation on the preset area of ​​the experimental animal, and selects light stimulation, ultrasonic stimulation or electrical stimulation according to the requirements of the experiment;

[0048] Step S2: The EEG signal acquisition module acquires the original EEG signals of the experimental animal through the EEG electrodes and the multi-channel EEG signal acquisition card implanted in the preset area of ​​the head of the experimental animal, and transmits the EEG signals to the EEG data transmission module through the high-speed data transmission interface;

[0049] Step S3: After receiving the original EEG signals of each channel in the multi-channel EEG signal acquisition card, the signal processing and analysis module in the EEG data transmission module first performs preliminary processing, and fuses the obtained EEG signal data to obtain an optimized first EEG signal, and then displays the first EEG signal in a waveform in the EEG data display module, and stores the EEG data in a standard format in the signal transmission and storage module, and finally transmits the EEG data to the closed-loop control module;

[0050] Step S4: After receiving the EEG signal, the closed-loop control module detects it according to the set stimulation mode, releases the stimulation signal when the target peak or trough is detected, and sends the stimulation signal to the multimodal stimulation module, so that the multimodal stimulation module stimulates the experimental animal according to the set stimulation parameters; wherein, the closed-loop control module selects the channel of the received EEG signal, detects the peak or trough of the alpha wave or gamma wave in the received EEG signal, sends out the stimulation signal after detecting the target EEG, and controls the selected stimulation mode to stimulate.

[0051] The present invention can realize reliable integration of various components to form a closed-loop system, and its working process is as follows: the software configures EEG and multimodal stimulation hardware equipment parameters, the EEG equipment collects EEG and transmits it to the computer, the software platform processes the EEG signal and calls the deep learning trained in the early stage to detect the state of the experimental animal in real time, and when the target signal is detected, a stimulation instruction is sent to the multimodal stimulation module, the stimulation module responds and stimulates the target area of ​​the experimental animal, and the relevant information in the process is visualized in real time on the software platform.

[0052] Experimental example

[0053] In this experimental example, a set number of experimental animals were used to create an epilepsy animal model, which was divided into an experimental group and a control group, and stimulating electrodes and recording electrodes were implanted in the animal model.

[0054] Eight-week-old male mice were anesthetized (2% isoflurane) and fixed on a stereotaxic machine. Tungsten wire electrodes (80 μm in diameter, CFW2054557, California FineWire, USA) were implanted in the motor cortex (AP: 1.54 mm, ML: -1.6 mm, DV: -1 mm) for EEG signal acquisition. Ground and reference electrodes were implanted in the cerebellum. Plastic sleeves were placed in the hippocampus for ultrasound transmission. Dental cement was used to fix the electrodes and plastic sleeves. The awake mice were returned to the animal room and waited for one week for recovery before the experiment. The epilepsy model was induced by intraperitoneal injection of penicillin (5×106U / kg, North China Pharmaceutical Co., Ltd., H13020655); the recording electrode was connected to the multimodal closed-loop control system to collect EEG signals in real time; the stimulation electrode (or ultrasonic generator, or laser generator) was used to stimulate the animal model in a set time period, and the potential data was obtained using the recording electrode, and the state of the animal model when stimulated was determined, and the potential data and the corresponding state information were saved and preprocessed; when the system recognized the epilepsy signal, it triggered a specific or combined stimulation mode in the multimodal stimulation module according to the setting, and intervened in the epileptic mice, and the cycle was repeated, so as to achieve closed-loop control of epilepsy during the entire experimental process. The sham stimulation group did not trigger the stimulation module, and the other steps remained unchanged.

[0055] like Figure 3 As shown, the experimental results showed that compared with the sham stimulation group, which had prolonged epileptic seizures after the successful establishment of the epilepsy model, the various stimulation modules of the multimodal closed-loop control system were able to significantly reduce the onset of epilepsy, and after the intervention, the EEG of the epileptic mice returned to normal. The results showed that the multimodal closed-loop control system can effectively suppress epilepsy.

[0056] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A multimodal closed-loop control system based on EEG signal recording and analysis, characterized in that: It includes an EEG signal acquisition module, a multimodal stimulation module, and an EEG data transmission module and a closed-loop control module arranged in a computer; wherein, The EEG signal acquisition module is configured to acquire EEG signals in real time and pre-process them, and the EEG signal acquisition module includes EEG electrodes implanted in a preset area of ​​the head of the experimental animal and a multi-channel EEG signal acquisition card connected to the EEG electrodes; The EEG data transmission module is configured to process, display and store the collected EEG signals, and the EEG data transmission module includes a signal processing and analysis module for processing the EEG signals collected by the EEG signal collection module, an EEG data display module for displaying the EEG signal waveform in real time on the user interface, and a signal transmission and storage module for storing EEG data in a standard format and transmitting the EEG data to the closed-loop control module; The closed-loop control module is configured to monitor the EEG signals of the experimental animals in real time, adjust the stimulation parameters according to the preset goals or feedback information, and transmit them to the multimodal stimulation module for closed-loop regulation; The multimodal stimulation module is configured to apply multimodal stimulation to the experimental animal to stimulate the EEG signal of the experimental animal, including a light stimulation module, an ultrasound stimulation module, an electrical stimulation module and a software platform for adjusting various parameters of the three stimulations.

2. The multimodal closed-loop control system based on EEG signal recording and analysis according to claim 1, characterized in that: The multi-channel EEG signal acquisition card in the EEG signal acquisition module includes a pre-active filter for improving the quality of the acquired signal, an analog-to-digital converter for realizing analog-to-digital conversion of EEG acquisition, and a single-chip microcomputer as a circuit control main control chip.

3. The multimodal closed-loop control system based on EEG signal recording and analysis according to claim 2, characterized in that: The EEG signal acquisition module communicates with the computer through a high-speed data transmission interface. The EEG signals collected by the EEG electrodes are processed by the pre-active filter and then transmitted to the analog-to-digital converter for analog-to-digital conversion. Under the control of the single-chip microcomputer, the converted digital signals are transmitted to the EEG data transmission module in the computer in real time through the high-speed data transmission interface.

4. The multimodal closed-loop control system based on EEG signal recording and analysis according to claim 3, characterized in that: After receiving the EEG signal transmitted by the EEG data transmission module, the closed-loop control module performs detection according to the set stimulation mode, releases the stimulation signal when the target peak or trough is detected, and sends the stimulation signal to the multimodal stimulation module, so that the multimodal stimulation module stimulates the experimental animal according to the set stimulation parameters.

5. The multimodal closed-loop control system based on EEG signal recording and analysis according to claim 4, characterized in that: The light stimulation module in the multimodal stimulation module is configured to emit a light stimulation signal, and the light stimulation module includes a laser generator that can send light stimulation to a target area of ​​the head of the experimental animal according to light parameters.

6. The multimodal closed-loop control system based on EEG signal recording and analysis according to claim 5, characterized in that: The ultrasonic stimulation module in the multimodal stimulation module is configured to emit an ultrasonic stimulation signal, and the ultrasonic stimulation module includes an ultrasonic generator and a collimator filled with coupling fluid connected to the ultrasonic generator, wherein the ultrasonic generator includes a driving power supply, an oscillator, a power amplifier and an ultrasonic transducer, and the collimator is fixedly connected to the output end of the ultrasonic transducer.

7. The multimodal closed-loop control system based on EEG signal recording and analysis according to claim 6, characterized in that: The center frequency of the ultrasonic wave generated by the ultrasonic transducer is set to 3 MHz.

8. The multimodal closed-loop control system based on EEG signal recording and analysis according to claim 7, characterized in that: The electrical stimulation module in the multimodal stimulation module is configured to emit electrical stimulation, and the electrical stimulation module includes a single-chip microcomputer, a voltage-to-current module, and two electrode needles, wherein the single-chip microcomputer serves as a circuit control main control chip to control the voltage-to-current module to output current stimulation, one end of the two electrode needles is respectively connected to the output end of the electrical stimulation module through wires, and the other ends of the two electrode needles are respectively inserted into the left front paw and the right hind paw of the experimental animal.

9. A multimodal closed-loop control method based on EEG signal recording and analysis, characterized in that: Using the multi-modal closed-loop control system of any one of claims 1 to 8 to perform multi-modal closed-loop control comprises the following steps: Step S1: After receiving the control signal from the closed-loop control module, the multimodal stimulation module performs ultrasonic stimulation on the preset area of ​​the experimental animal, and selects light stimulation, ultrasonic stimulation or electrical stimulation according to the requirements of the experiment; Step S2: The EEG signal acquisition module acquires the original EEG signals of the experimental animal through the EEG electrodes and the multi-channel EEG signal acquisition card implanted in the preset area of ​​the head of the experimental animal, and transmits the EEG signals to the EEG data transmission module through the high-speed data transmission interface; Step S3: After receiving the original EEG signals of each channel in the multi-channel EEG signal acquisition card, the signal processing and analysis module in the EEG data transmission module first performs preliminary processing, and fuses the obtained EEG signal data to obtain an optimized first EEG signal, and then displays the first EEG signal in a waveform in the EEG data display module, and stores the EEG data in a standard format in the signal transmission and storage module, and finally transmits the EEG data to the closed-loop control module; Step S4: After receiving the EEG signal, the closed-loop control module performs detection according to the set stimulation mode, releases the stimulation signal when the target peak or trough is detected, and sends the stimulation signal to the multimodal stimulation module, so that the multimodal stimulation module stimulates the experimental animal according to the set stimulation parameters.

10. The multimodal closed-loop control method based on EEG signal recording and analysis according to claim 9, characterized in that: In step S4, the closed-loop control module selects the channel of the received EEG signal and detects the peak or trough of the alpha wave or gamma wave in the received EEG signal. After detecting the target EEG, the module sends a stimulation signal and controls the selected stimulation method to perform stimulation.

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