Multi-channel stimulation abnormal gait intervention correction system and electronic equipment

Abstract

The invention discloses a multichannel stimulation abnormal gait intervention correction system and electronic equipment, and relates to the technical field of intelligent medical treatment. According to the system, a sensor collects gait data of a target object in real time in the abnormal gait intervention treatment process; the control end calculates the current gait cycle information of the target object in real time according to the gait data according to a preset time interval, predicts the step starting moment of the target object and determines a rhythmic audio shot together with the current gait cycle information; the audio rhythm intervention end plays rhythmic audio to the target object; the pressure and muscle electrical stimulation intervention end exerts pressure and electrical stimulation on the thighs, corresponding to the steps, of the target object at the step starting moment of the target object; the virtual reality glasses display the virtual model of one medical worker in the right front of the virtual view, and step-taking guidance information including voice and / or action forms is output to the target object at the step-taking starting moment of the target object through the virtual model of the medical worker. According to the scheme, the intervention effect of abnormal gaits is improved.

Description

Technical Field

[0001] This application relates to the field of computer technology, specifically to the field of intelligent medical technology, and particularly to a multi-channel stimulation abnormal gait intervention and correction system and an electronic device. Background Art

[0002] In the field of medical rehabilitation, there are a large number of patients with gait disorders, and their quality of life is severely affected due to walking difficulties. Existing gait intervention systems mostly rely on single-stimulation intervention models, exposing many drawbacks. First, the intervention effect has limitations, and single stimulation leads to poor rehabilitation results. Second, when using single stimulation for a long time, patients are extremely likely to develop adaptability. Not only does the stimulation effect continuously decline, but it also completely fails to fit the complex and variable gait differences of individuals, making it difficult to achieve significant improvement in gait. Third, therapists have limited energy. In their busy work, they simply cannot monitor every subtle aspect of the patient's gait in real time and accurately, and cannot provide effective emotional value to patients, resulting in limited intervention effects. Currently, there is a lack of a system that combines multiple effective stimulation methods and can perform precise intervention according to the patient's real-time gait conditions.

[0003] Currently, some gait intervention systems use simple sensors to collect gait data and analyze basic parameters such as walking speed and step length. For example, some systems detect body movements through accelerometers worn on the waist and calculate the number of steps and walking speed. In terms of stimulation intervention, there is a single music-assisted intervention, playing music with a fixed rhythm, expecting patients to walk following the rhythm; there are also separate electrical stimulation devices for stimulating leg muscles, but the stimulation timing and intensity are mostly fixed settings and not adjusted according to the patient's real-time gait. In terms of visual assistance, some rehabilitation institutions use simple videos to guide patients in gait intervention, lacking real-time interaction and personalized feedback.

[0004] Therefore, the existing technology has the following disadvantages: a. Limited intervention effect: Existing systems cannot accurately provide personalized intervention plans for each patient's unique gait problems. For example, music with a fixed rhythm and fixed electrical stimulation parameters cannot adapt to the gait rhythm differences and left-right foot asymmetries of different patients.

[0005] b. Insufficient multi-modal collaboration: The music beat mainly regulates the patient's walking rhythm, pressure stimulation and electrical stimulation are expected to assist leg muscle movement, and visual assistance aims to provide intuitive guidance. However, these intervention methods are isolated from each other. The music plays a fixed rhythm on its own, completely ignoring the triggering timing of pressure stimulation and electrical stimulation, and not echoing the action demonstrations presented by visual assistance. In this way, various intervention methods cannot complement each other, making it difficult to converge their forces and give full play to their comprehensive advantages to effectively improve the patient's gait. Summary of the Invention

[0006] A multi-channel stimulation-based abnormal gait intervention and correction system and an electronic device are provided to solve the technical problems of poor intervention effect and single intervention method existing in the existing gait intervention.

[0007] According to the first aspect, a multi-channel stimulation-based abnormal gait intervention and correction system is provided, including: A sensor, worn on the lower limbs of the target object, is used to collect the gait data of the target object in real time during the abnormal gait intervention treatment process; A control terminal, which is used to calculate the current gait cycle information of the target object in real time, predict the starting moment of the target object's step, and determine the rhythmic audio synchronized with the current gait cycle information at a preset time interval according to the gait data in real time; An audio rhythm intervention terminal, which is used to play the rhythmic audio to the target object to prompt the target object's step rhythm in the form of rhythmic auditory stimulation; A pressure and muscle electrical stimulation intervention terminal, worn on the left and right thighs of the target object, is used to apply pressure and electrical stimulation to the corresponding thigh of the target object at the starting moment of the target object's step to activate motor nerves to generate nerve impulses, so as to cause muscle contraction to assist stepping; A virtual reality glasses, worn on the eyes of the target object, is used to display a virtual model of a medical staff in the right front of the virtual field of view, and output step guidance information including auditory and / or visual forms to the target object through the virtual model of the medical staff at the starting moment of the target object's step.

[0008] According to the second aspect, an electronic device is provided, including: the above-mentioned multi-channel stimulation-based abnormal gait intervention and correction system.

[0009] According to the solution of the present application, it is proposed to dynamically and real-time calculate the current gait cycle information of the target object, predict the starting moment of the target object's step, and determine the rhythmic audio that matches the current gait cycle information based on the gait data of the target object collected in real time during the abnormal gait intervention treatment process. This enables the dynamic and real-time calculation of the current gait cycle information according to the current gait data of each target object, prediction of the starting moment of the target object's step, and determination of the rhythmic audio that matches the current gait cycle information, realizing the accurate and personalized determination of the dynamic rhythmic audio for gait intervention for each target object. The rhythm of the rhythmic audio is dynamically and real-time in sync with the current gait cycle information to accurately prompt the target object's stepping rhythm through the way of rhythmic auditory stimulation. At the same time, the audio rhythm intervention terminal plays the rhythmic audio, the pressure and muscle electrical stimulation intervention terminal applies pressure and electrical stimulation to the thigh corresponding to the target object's step at the starting moment of the target object's step, and the virtual reality glasses output step guidance information to the target object through the medical staff virtual model at the starting moment of the target object's step. That is, the audio rhythm stimulation, pressure and electrical stimulation, and medical staff virtual model stimulation are all implemented based on the real-time gait situation dynamically confirmed at the same moment. The multi-modal intervention means such as the auditory stimulation of the audio beat, pressure stimulation, muscle electrical stimulation, and augmented reality virtual medical staff are deeply integrated to build a closely collaborative linkage mechanism, realizing the efficient coordination of the auditory stimulation of the audio rhythm, pressure and electrical stimulation, and medical staff virtual model stimulation, and the multi-modal and multi-sensory rhythm guidance from multiple dimensions such as psychology, audition, vision, touch, and movement guidance, which is beneficial to giving full play to the comprehensive advantages to comprehensively and accurately improve the abnormal gait situation of the target object and improve the rehabilitation treatment and intervention effect of the abnormal gait. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Other features, objects, and advantages of the present application will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings: Figure 1 FIG. is a schematic structural diagram of an embodiment of an abnormal gait intervention and correction system with multi-channel stimulation according to the present application; Figure 2 FIG. is a schematic structural diagram of another embodiment of an abnormal gait intervention and correction system with multi-channel stimulation according to the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0011] The following describes exemplary embodiments of the present application in conjunction with the accompanying drawings. Various details of the embodiments of the present application are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, descriptions of well-known functions and structures are omitted in the following description for clarity and conciseness.

[0012] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0013] Reference Figure 1 , a schematic structural diagram of an embodiment of an abnormal gait intervention correction system 100 for multi-channel stimulation according to the present application is shown. The abnormal gait intervention correction system for multi-channel stimulation includes: A sensor 101, worn on the lower limbs of a target object, for real-time collecting gait data of the target object during the abnormal gait intervention treatment process; A control terminal 102, for calculating in real time the current gait cycle information of the target object, predicting the stepping start moment of the target object, and determining a rhythmic audio synchronized with the current gait cycle information at a preset time interval, and prompting the stepping rhythm to the target object in the form of rhythmic auditory stimulation; An audio rhythm intervention terminal 103, for playing the rhythmic audio to the target object; A pressure and muscle electrical stimulation intervention terminal 104, worn on the left and right thighs of the target object, for applying pressure and electrical stimulation to the corresponding stepping thigh of the target object at the stepping start moment of the target object, so as to generate nerve impulses after activating the motor nerves and cause muscle contraction to assist stepping; A virtual reality glasses 105, worn at the eyes of the target object, for displaying a virtual model of a medical staff in the right front of the virtual field of view, and outputting stepping guidance information in the form of auditory and / or visual to the target object through the virtual model of the medical staff at the stepping start moment of the target object.

[0014] In some optional implementation manners of this embodiment, data interaction and collaborative work are realized among the sensor 101, the control terminal 102, the audio rhythm intervention terminal 103, the pressure and muscle electrical stimulation intervention terminal 104, and the virtual reality glasses 105 through communication devices such as data transmission lines or wireless communication technologies.

[0015] In some optional implementation manners of this embodiment, the sensor 101 may be Figure 2The IMU sensor (inertial sensor) shown can be worn on key parts of the target object such as shoes and thighs, and its function is to collect gait data such as acceleration, angular velocity, step length, step frequency, and foot lift height of the target object in real time when walking. Sensor 101 can be used as a collection end, and the collected gait data can be transmitted to the control end 102 (the control end 102 can be Figure 2 the mobile device shown) through Bluetooth communication and stored in the storage module of the mobile device.

[0016] In some alternative implementation manners of this embodiment, the control end 102 can be any device with data storage and data operation capabilities, such as a computer, a server, etc. For example, the control end 102 can be Figure 2 the mobile device shown. The mobile device calls the gait data (or gait feature data) in the storage module through the operation module for analysis and processing. For example, by comparing the real-time collected gait data with a large amount of normal gait data stored in the system preset normal gait database, it can quickly and accurately analyze the abnormal points (such as the foot lift height is lower than the normal foot lift height, the step is slow, etc.) and the deviation degree (such as how much slower the step frequency is than the normal step frequency, how much slower the gait cycle is than the normal gait cycle, etc.) of the target object's current gait relative to the normal gait. Furthermore, the rhythmic audio can be screened in the audio library according to the deviation degree and the current gait cycle information. For example, the audio library (the audio library can store rhythmic audio such as beats and music) can store the corresponding relationships between different rhythmic audio and information such as deviation degree and compatible gait cycles. Based on this corresponding relationship, the rhythmic audio compatible with the current gait cycle information can be screened out in the audio library, and then the screened rhythmic audio can be sent to the audio rhythm intervention end for playback through the Bluetooth module.

[0017] In some alternative implementation manners of this embodiment, the audio rhythm intervention end 103 can be any terminal device with audio playback function, such as a mobile phone, a player, an earphone, etc.

[0018] Rhythmic Auditory Stimulation (RAS) is a neurorehabilitation technique based on music therapy. By providing rhythmic stimuli (such as music and beats) to the motor center, it prompts patients with impaired nerve function to adjust their movement patterns to match the external rhythm, thereby achieving the goal of improving motor ability. RAS is widely used in the field of neurorehabilitation to improve gait and motor function, and has shown significant effects especially in patients with Parkinson's disease, stroke sequelae, and cerebral palsy. The core principle of RAS lies in its ability to activate the auditory center and motor area of the brain, control the movement of lower limb muscles through rhythmic stimulation, and adjust the gait pattern, thus improving gait ability. This technique utilizes the brain's natural response to rhythm, namely the rhythmic entrainment mechanism, enabling the patient's motor system to synchronize with the externally provided rhythm, thereby enhancing the coordination and efficiency of movement.

[0019] In some alternative implementation manners of this embodiment, during the process of the target object following the beats of the rhythmic audio for abnormal gait intervention treatment, the control end 102 is further configured to monitor in real time the gait differentiation between the left and right feet of the target object, and then control the audio rhythm intervention end 103 to play the audio differentially. For example, when the control end 102 detects that the gait cycle rhythm of one foot lags behind the rhythm of the rhythmic audio, that foot is regarded as the lagging foot, and the volume of the sound channel corresponding to the lagging foot side in the audio rhythm intervention end 103 is increased to change the auditory stimulus, strengthening the step rhythm prompt for the corresponding side lagging foot. At this time, the audio rhythm intervention end 103 can be an earphone (for example, the audio rhythm intervention end 103 can be the earphone or player integrated in the AR device shown in Figure 2 ), so as to form an auditory prompt to urge the target object to adjust the step rhythm of the lagging foot in time.

[0020] Specifically in implementation, the control end 102 is configured to increase the volume of the sound channel corresponding to the lagging foot side in the audio rhythm intervention end through the following formula: = (1 + k), where is the increased volume of the sound channel, is the basic volume for playing the rhythmic audio, and k is the volume enhancement coefficient.

[0021] In some alternative implementation manners of this embodiment, the control end can calculate the current gait cycle information according to speed data such as angular velocity and acceleration in the gait data. For example, the left and right foot gait cycle (such as a left foot movement cycle and a right foot movement cycle form a left and right foot gait cycle), the left foot gait cycle (that is, a left foot movement cycle, starting from the right foot landing and lasting until the left foot lands after stepping), the right foot gait cycle (that is, a right foot movement cycle, starting from the left foot landing and lasting until the right foot lands after stepping), and so on.

[0022] During specific implementation, for example, the rhythm cycle of the rhythmic audio recommended or filtered by the control end 102 according to the current left and right foot gait cycles is , and the current step (gait) cycles of the left and right feet of the target object are respectively , the base volume is , and the volume enhancement coefficient is k (0 < k < 1).

[0023] Judging the lagging foot: If > , then the left foot is the lagging foot; If > , then the right foot is the lagging foot; Volume adjustment: If the left foot is the lagging foot, the left channel volume = (1 + k), and the right channel volume = ; If the right foot is the lagging foot, the left channel volume = , and the right channel volume = (1 + k); Music rhythm (rhythm frequency of the rhythmic audio) (unit: Hz).

[0024] In some alternative implementation manners of this embodiment, in order to enable multi-channel and multi-sensory stimulations such as audio rhythm, pressure, electrical stimulation, and virtual model stimulation to be deeply coordinated and closely linked, it is proposed that the control end 102 calculates and predicts the starting moment of the target object's step according to real-time gait data, and uses the starting moment of the target object's step as the trigger signal for multi-channel and multi-sensory stimulations to trigger the implementation of multi-channel and multi-sensory stimulations. Furthermore, the implementation timing of multi-channel and multi-sensory stimulations is consistent with the current gait situation and in sync, which can achieve the efficient coordination of various intervention means, and thus comprehensively and accurately improve the gait intervention effect. For example, the control end 102 is used to predict the starting moment of the target object's step through the following formula: When t satisfies t mod T ≈ aT, determine the current timing time t (which can be the current timing time starting from the moment of gait intervention) as the starting moment of the left or right foot's step. Here, T is the duration of the left and right foot gait cycles in the current gait cycle information, a is the stepping advance trigger time ratio, which is the ratio of the duration from the stepping advance trigger time point within the left and right foot gait cycles to the start moment of the left and right foot gait cycles to the duration of the left and right foot gait cycles, t mod T is the relative time point of the current time t within the left and right foot gait cycles, mod is the remainder (modulo) function, and aT is the time point corresponding to the stepping advance trigger time ratio a within one left and right foot gait cycle.

[0025] For example, assume the left and right foot gait cycle T of the target object is 2 seconds (i.e., the time interval from the left foot landing to the next left foot landing is 2 seconds). To guide the target object to step, a mechanism for triggering the stepping action in advance can be set, and the stepping advance trigger time ratio is set as a, which is the ratio of the duration from the stepping advance trigger time point within the left and right foot gait cycles to the start moment of the left and right foot gait cycles to the duration of the left and right foot gait cycles. For example, a is 0.2 (i.e., 20%). According to the above formula, aT = 0.2 × 2 = 0.4 seconds, which means that within a 2 - second left and right foot gait cycle, the stepping action will be triggered in advance at the time point of 0.4 seconds.

[0026] After starting the timing, if the current timing time t = 0.4 seconds (i.e., within the first left and right foot gait cycle), t mod T = 0.4 mod 2 = 0.4 seconds (because 0.4 < 2, the modulo result is 0.4). At this time, 0.4 ≈ 0.4, satisfying t mod T ≈ aT, so it is determined that the moment t = 0.4 seconds is the starting moment of the left or right foot's step.

[0027] If the current timing time t = 2.4 seconds, t mod T = 2.4 mod 2 = 0.4 seconds (2.4 divided by 2, the quotient is 1, and the remainder is 0.4). Similarly, it satisfies t mod T ≈ aT, so t = 2.4 seconds is also the starting moment of the left or right foot's step, except that this is the starting moment of the step after entering the second left and right foot gait cycle.

[0028] In some alternative implementation manners of this embodiment, the pressure and muscle electrical stimulation intervention terminal 104 can be a device including a neuromuscular electrical stimulation device (for example, it can be a percutaneous nerve electrical stimulator, a functional electrical stimulator, etc.) and a pneumatic pressure device (for example, it can be an air - wave pressure therapeutic apparatus, etc.).

[0029] In some alternative implementation manners of this embodiment, the working principle of the pressure and muscle electrical stimulation intervention terminal 104 is to utilize neuromuscular electrical stimulation technology, that is, to apply low-frequency pulsed current to stimulate motor nerves. When the motor nerves are activated, nerve impulses are generated, and then muscle contractions are caused to assist in taking steps. During the abnormal gait intervention treatment process, the control terminal 102 detects the corresponding left or right foot's required step-taking moment (i.e., the step-starting moment) according to the real-time gait data and sends it to the pressure and muscle electrical stimulation intervention terminal 104 through the Bluetooth module (i.e., it can be a pneumatic pressure and muscle electrical stimulation device as shown in Figure 2 ). After receiving the information of the step-taking moment, the pressure and muscle electrical stimulation intervention terminal 104 will instantaneously apply a pressure to the leg according to the set pressure value, and at the same time give low-frequency pulsed muscle electrical stimulation to the wearing part, and prompt the target object to take steps through this physical tactile stimulation method.

[0030] For example, the set pressure value is , the current electrical stimulation intensity is , and the early trigger time ratio is a (0 < a < 1).

[0031] When the current time t is the required step-taking moment of the left or right foot (i.e., the step-starting moment), the applied pressure P = , and the electrical stimulation intensity I = .

[0032] In some alternative implementation manners of this embodiment, after the virtual reality glasses are started, a virtual model of a medical staff image will be virtualized in the virtual field of view in the right front of the target object. When the control terminal 102 detects the corresponding left or right foot's required step-taking moment (i.e., the step-starting moment of the left or right foot), it sends the required step-taking moment and the step reminder audio to the virtual reality glasses through the Bluetooth module (i.e., the AR device in Figure 2 ) to control the medical staff virtual model to clearly say "Please step left / right foot" to the target object, and can also indicate and demonstrate the actions of stepping left and right feet through action behaviors. The control terminal 102 can also send the video of the actions of indicating and demonstrating stepping left and right feet to the virtual reality glasses and display it through the medical staff virtual model.

[0033] In some alternative implementation manners of this embodiment, in order to further guide the correction of abnormal gait intervention and improve the intervention effect, the control terminal 102 is used to control the medical staff virtual model to output prompt information for increasing the step-lifting height in the form of voice and / or actions in real time to the target object when it is detected during the abnormal gait intervention treatment process that the current step-lifting height of the target object is lower than the preset height, such as voice reminder "Please lift the left / right foot higher next time", or indicating and demonstrating the degree of lifting the left / right foot.

[0034] For example, let the normal step-lifting height be (i.e., the preset height), the currently detected left foot lift height is , and the right foot lift height is ; Stride reminder: When it is detected that the corresponding foot takes a step, a reminder of "Please step with your left / right foot" is issued.

[0035] Height reminder: If < , then a reminder of "Please lift your left foot higher next time" is given; If < , then a reminder of "Please lift your right foot higher next time" is given.

[0036] In some alternative implementation manners of this embodiment, in order to stimulate and encourage the enthusiasm of the target object for gait intervention and improve the real-time interactivity of the intervention, the control end 102 is configured to, when it is detected during the abnormal gait intervention and correction process that the gait characteristics of the target object reach the preset characteristics (such as the target step frequency, the target foot lift height, etc.), control the medical staff virtual model to output encouragement information in the form of voice and / or actions to the target object in real time.

[0037] For example, encouragement condition: It is detected that the current step frequency is , the target step frequency , when > , the medical staff virtual model gives encouragement to the target object, such as saying encouraging words, clapping and other encouraging actions.

[0038] Specifically in implementation, in order to understand and feedback the intervention effect in real time, an evaluation of the multi-sensory stimulation effect is proposed. For example, the control end 102 is configured to evaluate the audio stimulation effect, the pressure and electrical stimulation effect, and the medical staff virtual model stimulation effect, and perform a weighted sum of the evaluated audio stimulation effect, the pressure and electrical stimulation effect, and the medical staff virtual model stimulation effect to obtain the improvement degree of the current gait.

[0039] During specific implementation, the control terminal 102 is configured to evaluate the audio stimulation effect according to the adjustment of the left and right foot gait cycle rhythms of the target object by the rhythmic audio (such as whether the left and right foot gait cycles reach the target gait cycle, whether the step frequency of the lagging foot reaches the target step frequency, etc.), evaluate the pressure and electrical stimulation effects according to the triggering pressure and the timeliness of the target object's stepping after electrical stimulation (such as the time difference between the starting moment of stepping and the actual stepping moment, the smaller the difference, the higher the timeliness), and evaluate the stimulation effect of the virtual medical staff model according to the response of the target object to the output information of the virtual medical staff model (such as whether the corresponding foot is stepped after being prompted to step, whether the height of the corresponding foot is lifted after being prompted to lift the foot height) and the improvement of the step frequency (whether the current step frequency reaches the target step frequency, or how much it exceeds the target step frequency).

[0040] For example, the comprehensive improvement index (i.e., the improvement degree of the current gait) = + + , where the weight of the audio stimulation is , the weight of the pressure and electrical stimulation is , the weight of the AR virtual medical staff model stimulation is , and + + = 1, the audio stimulation effect is , the pressure and electrical stimulation effect is , and the stimulation effect of the virtual medical staff model is .

[0041] In some alternative implementation manners of this embodiment, before starting the abnormal gait intervention, the system is deployed, such as accurately wearing the IMU sensor on key parts of the patient's feet, thighs, etc., wearing the AR head-mounted device, the pressure and muscle electrical stimulation intervention device, opening the corresponding software system of the control terminal, and confirming that the connection with each device is normal. The target object opens the software system on the control terminal and clicks the start button to start a monitoring process. At this time, the IMU sensor starts to work to collect gait data, and the abnormal gait intervention correction system that performs the above multi-channel stimulation performs abnormal gait intervention.

[0042] In some alternative implementation manners of this embodiment, after the stop button of the control terminal software of the multi-channel stimulation is clicked and the abnormal gait intervention correction system stops monitoring, it can also output a monitoring report. For example, as Figure 2 shown, after the monitoring process is ended, clicking the view report button on the mobile device can obtain the monitoring report of this abnormal gait intervention. The report content can include the time, intensity, and heart rate-related data of this intervention, and give intervention suggestions according to the medical reference values.

[0043] In some alternative implementation manners of this embodiment, the abnormal gait intervention and correction system with multi-channel stimulation calculates the current gait cycle information of the target object in real time according to the current gait data dynamically after each preset time interval according to the preset time interval, predicts the starting moment of the target object's step, and determines the rhythmic audio that matches the current gait cycle information, so as to realize the information such as the current gait cycle information, predicting the starting moment of the target object's step, and determining the rhythmic audio that matches the current gait cycle information after each preset time interval, and deeply integrates and guides and urges the intervention of abnormal gait through multiple intervention means such as auditory stimulation of music beats, pressure stimulation, muscle electrical stimulation, and augmented reality virtual medical staff models, which is beneficial to improving the rehabilitation treatment effect of abnormal gait.

[0044] The above abnormal gait intervention and correction system with multi-channel stimulation has the following beneficial effects: High degree of personalization: It realizes the accurate recommendation of the rhythm of personalized rhythmic audio for gait intervention according to the real-time gait data of the target object, and urges the target object to step through the differential music of the left and right channel volumes.

[0045] Multi-modal collaborative advantage: Deeply integrates multiple intervention means such as music beats, pressure stimulation, muscle electrical stimulation, and augmented reality virtual medical staff models to build a closely coordinated linkage mechanism. Let the music beats dynamically adjust the melody and beats according to the real-time step frequency and rhythm changes of the patient, and accurately guide the walking rhythm of the target object; the pressure stimulation and muscle electrical stimulation cooperate with each other, and apply appropriate pressure and accurate electrical stimulation at the appropriate moment according to the leg muscle force situation and gait cycle of the target object to help the leg muscles complete standard actions; the augmented reality virtual medical staff is fully integrated, and with its real-time voice guidance, action demonstration and encouragement feedback, it cooperates with the rhythm of music, pressure and electrical stimulation, and exerts force from multiple dimensions such as psychology, audition, vision, physical touch, and movement guidance to achieve the efficient coordination of multiple intervention means, and then comprehensively and accurately improve the patient's gait.

[0046] Real-time feedback and optimization: Establish a real-time monitoring and feedback mechanism, and optimize and adjust the intervention plan according to the dynamic performance of the target object during the abnormal gait intervention treatment process to improve the rehabilitation treatment effect of abnormal gait.

[0047] In some alternative implementation manners of this embodiment, an electronic device is further provided, and this electronic device includes the above-mentioned abnormal gait intervention and correction system with multi-channel stimulation.

[0048] The above description is only a preferred embodiment of the present application and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the technical solution formed by mutually replacing the above features with the technical features (but not limited to) disclosed in the present application that have similar functions.

Claims

1. A multi-channel stimulation abnormal gait intervention and correction system, the system comprising: A sensor, worn on the lower limbs of the target subject, for collecting gait data of the target subject in real time during the abnormal gait intervention treatment process; A control terminal, for calculating the current gait cycle information of the target object in real time according to the gait data at a preset time interval, predicting the starting time of the step of the target object, and determining the rhythmic audio that is in sync with the current gait cycle information; An audio rhythm intervention terminal is used to play the rhythmic audio to the target object, and prompt the target object with a stepping rhythm in the form of rhythmic auditory stimulation; The pressure and muscle electrical stimulation intervention end is worn on the left and right thighs of the target object, and is used to apply pressure and electrical stimulation to the thigh corresponding to the step of the target object at the start of the step of the target object, so as to activate the motor nerves to generate nerve impulses, thereby causing muscle contraction to assist the step; Virtual reality glasses are worn on the eyes of the target object and are used to display a virtual model of a medical staff in the front right of the virtual field of view. The virtual model of the medical staff outputs step guidance information including auditory and / or visual forms to the target object at the start moment of the target object's stepping.

2. The system according to claim 1, wherein: The control end is used to compare the gait data with the gait data in the normal gait database to determine the deviation degree of the current gait of the target object; and to filter the rhythmic audio in the audio library according to the deviation degree and the current gait cycle information.

3. The system according to claim 1, wherein: The control end is used to, when it is detected that the gait cycle rhythm of one foot lags behind the rhythm of the rhythmic audio, regard the foot as the lagging foot, and increase the channel volume of the audio rhythm intervention end corresponding to the lagging foot to change the auditory stimulation. The audio rhythm intervention end is a headphone.

4. The system according to claim 3, wherein: The control end is used to increase the volume of the channel on the side corresponding to the lagging foot in the audio rhythm intervention end by the following formula: = (1+k), where To increase the channel volume, is the basic volume for playing the rhythmic audio, and k is the volume enhancement coefficient.

5. The system according to claim 1, wherein: The control end is used to predict the step start time of the target object by the following formula: When t satisfies t modT≈aT, the current timing time t is determined to be the starting time of the left or right foot stepping, wherein T is the duration of the left and right foot gait cycles in the current gait cycle information, a is the stepping advance trigger time ratio, which is the ratio of the duration from the stepping advance trigger time point in the left and right foot gait cycle to the start time of the left and right foot gait cycle to the duration of the left and right foot gait cycle, t mod T is the relative time point of the current timing time t in the left and right foot gait cycle, and aT is the time point corresponding to the stepping advance trigger time ratio a in a left and right foot gait cycle.

6. The system according to any one of claims 1 to 5, wherein: The control end is used to control the virtual model of the medical staff to output prompt information including voice and / or action form to increase the foot lifting height to the target object in real time when it is detected that the current foot lifting height of the target object is lower than the preset height during the abnormal gait intervention treatment.

7. The system according to any one of claims 1 to 5, wherein: The control end is used to control the virtual model of the medical staff to output encouraging information in the form of voice and / or action to the target object in real time when it is detected that the gait characteristics of the target object reach preset characteristics during the abnormal gait intervention treatment process.

8. The system according to any one of claims 1 to 5, wherein: The control end is used to evaluate the audio stimulation effect, the pressure and electrical stimulation effect and the medical staff virtual model stimulation effect, and perform weighted summation on the evaluated audio stimulation effect, the pressure and electrical stimulation effect and the medical staff virtual model stimulation effect to obtain the degree of improvement of the current gait.

9. The system according to claim 8, wherein: The control end is used to evaluate the audio stimulation effect based on the adjustment of the left and right foot cyclic rhythm of the target object's steps by the rhythmic audio, evaluate the pressure and electrical stimulation effect based on the timeliness of the target object's steps after triggering the pressure and electrical stimulation, and evaluate the stimulation effect of the virtual model of the medical staff based on the target object's response to the output information of the virtual model of the medical staff and the improvement of the step frequency.

10. An electronic device comprising the system according to any one of claims 1 to 9.

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