Abnormal gait intervention and correction system and electronic equipment using multi-channel stimulation

Abstract

This application discloses a multi-channel stimulation abnormal gait intervention and correction system and electronic equipment, relating to the field of smart medical technology. The system includes: a sensor that collects the target subject's gait data in real time during the abnormal gait intervention treatment process; a control terminal that calculates the target subject's current gait cycle information in real time based on the gait data at preset time intervals, predicts the target subject's step start time, and determines rhythmic audio that is in sync with the current gait cycle information; an audio rhythm intervention terminal that plays rhythmic audio to the target subject; a pressure and muscle electrical stimulation intervention terminal that applies pressure and electrical stimulation to the target subject's thigh corresponding to the step at the target subject's step start time; and virtual reality glasses that display a virtual model of a medical staff member in the front right of the virtual field of view, and through the virtual model of the medical staff member, outputs step guidance information in the form of voice and / or action to the target subject at the target subject's step start time. This solution improves the intervention effect of abnormal gait.

Description

Technical Field

[0001] The present application relates to the field of computer technology, specifically to the field of smart medical technology, and in particular to an abnormal gait intervention and correction system and electronic equipment with multi-channel stimulation. 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 seriously affected by walking difficulties. Existing gait intervention systems mostly rely on a single stimulation intervention model, which exposes many drawbacks. First, there are limitations to the intervention effect, and a single stimulation leads to poor rehabilitation results. Second, with long-term use of a single stimulus, patients are very likely to adapt. Not only does the stimulation effectiveness continue to decay, but it is also completely unable to adapt to the complex and varied gait differences of individuals, making it difficult to achieve significant improvement in gait. Third, therapists have limited energy, and in their busy work, they simply cannot monitor every subtle detail 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 integrates multiple effective stimulation methods and can perform precise intervention based on the patient's real-time gait conditions.

[0003] At present, some gait intervention systems use simple sensors to collect gait data and analyze basic parameters such as cadence and stride length. For example, some systems detect body movement through accelerometers worn on the waist to calculate the number of steps and walking speed. In terms of stimulation intervention, there is a single music-assisted intervention that plays music with a fixed rhythm and expects the patient to walk to the rhythm; there are also separate electrical stimulation devices for stimulating leg muscles, but the timing and intensity of stimulation are mostly fixed settings and are 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, which lacks real-time interaction and personalized feedback.

[0004] Therefore, the prior art has the following shortcomings:

[0005] a. Limited intervention effectiveness: Existing systems cannot accurately provide personalized intervention solutions for each patient's unique gait problems. For example, fixed-tempo music and fixed electrical stimulation parameters cannot adapt to the differences in gait rhythm and left-foot asymmetry between different patients.

[0006] b. Inadequate multimodal coordination: The music rhythm primarily regulates the patient's walking rhythm, pressure and electrical stimulation are intended to assist leg muscle movement, and visual aids are intended to provide intuitive guidance. However, these interventions are isolated from each other. The music plays its own fixed rhythm, completely ignoring the timing of pressure and electrical stimulation, and failing to coordinate with the movement demonstrations presented by the visual aids. As a result, the various interventions fail to complement each other, making it difficult to fully leverage their combined strengths to effectively improve the patient's gait. Summary of the Invention

[0007] Aiming at the technical problems of poor intervention effect and single intervention method in existing gait intervention, a multi-channel stimulation abnormal gait intervention correction system and electronic equipment are provided.

[0008] According to a first aspect, a multi-channel stimulation abnormal gait intervention and correction system is provided, comprising:

[0009] A sensor, worn on the lower limbs of a target subject, for collecting gait data of the target subject in real time during abnormal gait intervention treatment;

[0010] A control terminal is configured to calculate, in real time and at a preset time interval, the current gait cycle information of the target subject based on the gait data, predict the starting moment of the step of the target subject, and determine a rhythmic audio that is in sync with the current gait cycle information;

[0011] An audio rhythm intervention terminal is used to play the rhythmic audio to the target subject, prompting the target subject with a stepping rhythm in the form of rhythmic auditory stimulation;

[0012] The pressure and muscle electrical stimulation intervention end is worn on the left and right thighs of the target subject, and is used to apply pressure and electrical stimulation to the thigh corresponding to the target subject's step at the start of the target subject's step, so as to activate the motor nerves and generate nerve impulses to cause muscle contraction to assist the step;

[0013] Virtual reality glasses are worn on the eyes of the target subject and are used to display a virtual model of a medical staff member in the right front of the virtual field of view. At the moment when the target subject starts to take a step, the virtual model of the medical staff member outputs step guidance information in auditory and / or visual form to the target subject.

[0014] According to a second aspect, an electronic device is provided, comprising: any of the above-mentioned multi-channel stimulation abnormal gait intervention and correction systems.

[0015] According to the solution of the present application, it is proposed to dynamically and in real time calculate the current gait cycle information of the target object, predict the starting moment of the step of the target object, and determine the rhythmic audio that is in rhythm with the current gait cycle information based on the gait data of the target object collected in real time during the abnormal gait intervention treatment, so that the current gait cycle information can be dynamically and in real time calculated, the starting moment of the step of the target object can be predicted, and the rhythmic audio that is in rhythm with the current gait cycle information can be determined based on the current gait data of each target object, thereby realizing that dynamic rhythmic audio for gait intervention can be accurately and personalized determined for each target object, and the rhythm of the rhythmic audio is dynamic and in real time in rhythm with the current gait cycle information, so as to accurately prompt the target object of the walking rhythm through rhythmic auditory stimulation; at the same time, the audio rhythm intervention end plays the rhythmic audio, and the pressure and muscle electrical stimulation intervention end plays the rhythmic audio at the target object. At the moment when the subject starts to step, pressure and electrical stimulation are applied to the thigh corresponding to the step of the target subject. At the moment when the target subject starts to step, the virtual reality glasses output step guidance information to the target subject through the virtual model of the medical staff. That is, audio rhythm stimulation, pressure and electrical stimulation, and stimulation of the virtual model of the medical staff are all implemented based on the real-time gait situation dynamically confirmed at the same moment. The auditory stimulation of audio beats, pressure stimulation, muscle electrical stimulation, and augmented reality virtual medical staff and other multiple intervention means are deeply integrated to build a closely coordinated linkage mechanism to achieve efficient coordination of auditory stimulation of audio rhythms, pressure and electrical stimulation, and stimulation of the virtual model of medical staff. The multimodal and multi-sensory rhythm guidance from multiple dimensions such as psychology, hearing, vision, touch, and movement guidance is conducive to giving full play to the comprehensive advantages to comprehensively and accurately improve the abnormal gait of the target subject and improve the rehabilitation treatment and intervention effect of abnormal gait. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0017] Figure 1 is a structural schematic diagram of an embodiment of the abnormal gait intervention and correction system with multi-channel stimulation according to the present application;

[0018] Figure 2 It is a structural diagram of another embodiment of the abnormal gait intervention and correction system with multi-channel stimulation according to the present application. DETAILED DESCRIPTION

[0019] The following description of exemplary embodiments of the present application is made in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0020] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0021] refer to Figure 1 , shows a schematic structural diagram of an embodiment of a multi-channel stimulation abnormal gait intervention and correction system 100 according to the present application. The multi-channel stimulation abnormal gait intervention and correction system includes:

[0022] Sensor 101, worn on the lower limbs of the target subject, is used to collect gait data of the target subject in real time during the abnormal gait intervention treatment process;

[0023] The control terminal 102 is configured to calculate, in real time at preset time intervals, the current gait cycle information of the target subject based on the gait data, predict the starting time of the target subject's step, and determine a rhythmic audio that is in sync with the current gait cycle information, thereby prompting the target subject with a step rhythm in the form of rhythmic auditory stimulation;

[0024] The audio rhythm intervention terminal 103 is used to play the rhythmic audio to the target object;

[0025] The pressure and muscle electrical stimulation intervention terminal 104 is worn on the left and right thighs of the target subject and is used to apply pressure and electrical stimulation to the thigh corresponding to the target subject's stepping moment, so as to activate the motor nerves and generate nerve impulses to cause muscle contraction to assist the stepping;

[0026] The virtual reality glasses 105 are worn on the eyes of the target subject and are used to display a virtual model of a medical staff in the right front 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 subject at the moment when the target subject starts to step.

[0027] In some optional implementations of this embodiment, data interaction and collaborative work are achieved between 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 equipment such as data transmission lines or wireless communication technology.

[0028] In some optional implementations of this embodiment, the sensor 101 may be Figure 2 The IMU sensor (inertial sensor) shown can be worn on the target object's shoes, thighs and other key parts. Its function is to collect the target object's gait data such as acceleration, angular velocity, stride length, stride frequency, and foot lift height in real time while walking. The sensor 101 can be used as a collection terminal, and the collected gait data can be transmitted to the control terminal 102 (the control terminal 102 can be a Bluetooth communication terminal) via Bluetooth communication. Figure 2 The mobile device is shown) and stored in a storage module of the mobile device.

[0029] In some optional implementations of this embodiment, the control terminal 102 may be any device with data storage and data computing capabilities, such as a computer, a server, etc. Figure 2 In the mobile device shown, the computing module retrieves gait data (or gait feature data) from the storage module for analysis and processing. For example, the mobile device compares the real-time collected gait data with a large amount of normal gait data stored in a system-preset normal gait database. This allows for rapid and accurate analysis of abnormalities in the target subject's current gait relative to the normal gait (e.g., foot lift height lower than normal, slow stride, etc.) and the degree of deviation (e.g., how much slower the cadence is than the normal cadence, how much slower the gait cycle is than the normal gait cycle, etc.). Rhythmic audio can then be filtered from an audio library based on the degree of deviation and the current gait cycle information. For example, an audio library (which can store rhythmic audio such as beats and music) can store correspondences between different rhythmic audio and information such as the degree of deviation and the gait cycle that matches the rhythm. Based on this correspondence, rhythmic audio that matches the current gait cycle information can be filtered from the audio library. The filtered rhythmic audio can then be sent to the audio rhythm intervention terminal via the Bluetooth module for playback.

[0030] In some optional implementations of this embodiment, the audio rhythm intervention terminal 103 may be any terminal device with an audio playback function, such as a mobile phone, a player, headphones, etc.

[0031] Rhythmic Auditory Stimulation (RAS) is a neurorehabilitation technique based on music therapy. By providing rhythmic stimulation (such as music and beats) to the motor center, RAS encourages patients with impaired neurological function to align their movement patterns with an external rhythm, thereby improving motor function. RAS is widely used in neurorehabilitation to improve gait and motor function, particularly in patients with Parkinson's disease, stroke sequelae, and cerebral palsy. The core principle of RAS lies in its ability to activate the auditory and motor centers of the brain. Through rhythmic stimulation, RAS controls lower limb muscle movement, adjusts gait patterns, and thus improves gait ability. This technique utilizes the brain's natural response to rhythm, known as the rhythmic entrainment mechanism, to synchronize the patient's motor system with the externally supplied rhythm, thereby improving movement coordination and efficiency.

[0032] In some optional implementations of this embodiment, during the process of the target subject following the beat of the rhythmic audio for abnormal gait intervention treatment, the control terminal 102 is further used to monitor the gait differences of the left and right feet of the target subject in real time, and then control the audio rhythm intervention terminal 103 to play audio differently. For example, when the control terminal 102 detects that the gait cycle rhythm of one foot lags behind the rhythm of the rhythmic audio, the foot is regarded as the lagging foot, and the volume of the channel corresponding to the lagging foot in the audio rhythm intervention terminal 103 is increased to change the auditory stimulation and strengthen the step rhythm prompt of the lagging foot on the corresponding side. At this time, the audio rhythm intervention terminal 103 can be a headset (for example, the audio rhythm intervention terminal 103 can be Figure 2 The headset or player integrated in the AR device shown in the figure) is used to form an auditory prompt to urge the target object to adjust the step rhythm of the lagging foot in time.

[0033] In a specific implementation, the control terminal 102 is used to increase the volume of the channel corresponding to the lagging foot in the audio rhythm intervention terminal using the following formula: = (1+k), where For the increased channel volume, is the basic volume for playing the rhythmic audio, and k is the volume enhancement coefficient.

[0034] In some optional implementations of this embodiment, the control end can calculate the current gait cycle information based on the angular velocity, acceleration and other speed data in the gait data, for example, the left and right foot gait cycles (such as a left foot movement cycle and a right foot movement cycle constitute a left and right foot gait cycle), the left foot gait cycle (that is, a left foot movement cycle, starting from the landing of the right foot to the landing of the left foot after taking a step), the right foot gait cycle (that is, a right foot movement cycle, starting from the landing of the left foot to the landing of the right foot after taking a step), and so on.

[0035] In specific implementation, for example, the rhythmic period of the rhythmic audio recommended or filtered by the control terminal 102 according to the current left and right footstep cycles is , the current step (gait) cycles of the left and right feet of the target object are , the basic volume is , the volume enhancement coefficient is k (0 <k<1)。

[0036] Determine the trailing foot:

[0037] like > , then the left foot is the trailing foot;

[0038] like > , then the right foot is the trailing foot;

[0039] Volume adjustment:

[0040] If the left foot is behind, the left channel volume = (1+k), right channel volume = ;

[0041] If the right foot is the lagging foot, the left channel volume = , right channel volume = (1+k);

[0042] Musical rhythm (the rhythmic frequency of rhythmic audio) (Unit: Hz).

[0043] In some optional implementations of this embodiment, in order to achieve deep coordination and close linkage of multi-channel, multi-sensory stimulation such as audio rhythm, pressure, electrical stimulation, and virtual model stimulation, it is proposed that the control terminal 102 calculates and predicts the starting moment of the target object's step based on real-time gait data, and uses the starting moment of the target object's step as the trigger signal of the multi-channel, multi-sensory stimulation to trigger the implementation of the multi-channel, multi-sensory stimulation, thereby making the timing of the implementation of the multi-channel, multi-sensory stimulation consistent and in sync with the current gait situation, and thus achieving efficient coordination of multiple intervention methods, thereby comprehensively and accurately improving the gait intervention effect. For example, the control terminal 102 is used to predict the starting moment of the target object's step through the following formula:

[0044] When t satisfies t mod T ≈ aT, the current timing time t (which can be the current timing time measured from the start of the gait intervention) is determined to be the start time of the left or right foot step, where T is the duration of the left and right foot gait cycles in the current gait cycle information, a is the step advance trigger time ratio, which is the ratio of the duration from the step advance trigger time point to the start time 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 step advance trigger time ratio a within a left and right foot gait cycle.

[0045] For example, suppose the target object's left and right footstep cycle T = 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 take a step, a mechanism for triggering the step action in advance can be set, and the proportion of the step triggering time in advance can be set to a, which is the ratio of the time from the step triggering time point to the start time of the left and right footstep cycle to the time length of the left and right footstep cycle. For example, a is 0.2 (i.e., 20%). According to the above formula, aT=0.2 2=0.4 seconds, which means that in a 2-second left and right footstep cycle, the step action will be triggered in advance at the time point of 0.4 seconds.

[0046] When the timing starts, if the current timing time t = 0.4 seconds (that is, within the first left or right foot step cycle), tmod T = 0.4 mod 2 = 0.4 seconds (because 0.4 < 2, the modulo result is 0.4), then 0.4 ≈ 0.4, satisfying tmod T ≈ aT, so t = 0.4 seconds is determined as the starting time of the left or right foot step.

[0047] If the current timing time t=2.4 seconds, tmod T=2.4 mod 2=0.4 seconds (2.4 divided by 2, the quotient is 1, and the remainder is 0.4), it also satisfies tmod T≈aT, so t=2.4 seconds is also the starting time of the left or right foot step, except that this is the starting time of the step after entering the second left or right foot gait cycle.

[0048] In some optional implementations of this embodiment, the pressure and muscle electrical stimulation intervention end 104 can be a device including a neuromuscular electrical stimulation device (for example, a cutaneous nerve electrical stimulator, a functional electrical stimulator, etc.) and a pneumatic pressure device (for example, an air wave pressure therapy device, etc.).

[0049] In some optional implementations of this embodiment, the working principle of the pressure and muscle electrical stimulation intervention terminal 104 is to use neuromuscular electrical stimulation technology, that is, to apply low-frequency pulse current to stimulate the motor nerves. When the motor nerves are activated, nerve impulses are generated, which in turn cause muscle contraction to assist in walking. During the abnormal gait intervention treatment process, the control terminal 102 detects the corresponding left or right foot stepping time (i.e., the step starting time) based on the real-time gait data and sends it to the pressure and muscle electrical stimulation intervention terminal 104 (i.e., it can be such as Figure 2 The pneumatic pressure and muscle electrical stimulation device shown in the figure) will instantly apply pressure to the leg according to the set pressure value after receiving the information of the stepping moment, and at the same time give low-frequency pulse muscle electrical stimulation to the wearing part, prompting the target object to take a step through this physical tactile stimulation.

[0050] For example, set the pressure to , the current electrical stimulation intensity is , the advance trigger time ratio is a (0 <a<1)。

[0051] When the current time t is the moment when the left or right foot needs to take a step (i.e. the starting moment of taking a step), the pressure P= , electrical stimulation intensity I= .

[0052] In some optional implementations of this embodiment, after the virtual reality glasses are turned on, a virtual model of a medical staff member is displayed in the right front of the target object's virtual field of view. When the control terminal 102 detects the time when the corresponding left or right foot needs to take a step (i.e., the starting time of the left or right foot taking a step), the control terminal 102 sends the time when the left or right foot needs to take a step and the step prompt audio to the virtual reality glasses (i.e., the starting time of the left or right foot taking a step) via the Bluetooth module. Figure 2 The control terminal 102 can also send a video of the instruction and demonstration of the left and right foot movement to the virtual reality glasses, which is displayed through the virtual model of the medical staff.

[0053] In some optional implementations of this embodiment, in order to further guide the intervention and correction of abnormal gait and improve the intervention effect, the control end 102 is used to control the virtual model of the medical staff to output prompt information including voice and / or action form to the target object in real time to increase the foot lifting height when it is detected that the current stepping foot lifting height of the target object is lower than the preset height during the abnormal gait intervention treatment, such as a voice reminder "Please lift your left / right foot a little higher next time", or to gesture and demonstrate the degree of left / right foot lifting.

[0054] For example, suppose the normal foot lift height is (i.e. preset height), the currently detected left foot lift height is , the height of the right foot is ;

[0055] Step prompt: When the corresponding foot is detected taking a step, a prompt of "Please take the left / right foot" will be issued.

[0056] Highly Tips:

[0057] like < , then it will prompt "Please lift your left foot a little higher next time";

[0058] like < , the prompt will say "Please lift your right foot a little higher next time."

[0059] In some optional implementations of this embodiment, in order to motivate and encourage the target subject to actively perform gait intervention and improve the real-time interactivity of the intervention, the control terminal 102 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 subject in real time when it is detected that the gait characteristics of the target subject reach preset characteristics (such as target step frequency, target foot lift height, etc.) during the abnormal gait intervention correction process.

[0060] For example, the encouraging condition is: the current step frequency is detected to be , target cadence ,when > When the target object is touched, the virtual model of the medical staff encourages the target object, such as speaking encouraging words, clapping and other encouraging actions.

[0061] During specific implementation, in order to understand and feedback the intervention effect in real time, it is proposed to evaluate the effect of multi-sensory stimulation. For example, the control terminal 102 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 of 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.

[0062] During specific implementation, the control terminal 102 is used to evaluate the audio stimulation effect based on the adjustment of the left and right foot gait cycle rhythm of the target object by the rhythmic audio (such as whether the left and right foot gait cycle reaches the target gait cycle, whether the step frequency of the trailing foot reaches the target step frequency, etc.), evaluate the pressure and electrical stimulation effect based on the timeliness of the target object's step after triggering pressure and electrical stimulation (such as the time difference between the start time of stepping and the actual step time, the smaller the difference, the higher the timeliness), and evaluate the stimulation effect of the medical staff virtual model based on the target object's response to the output information of the medical staff virtual model (such as whether the corresponding foot is stepped out after being prompted to step out, whether the corresponding foot is raised after being prompted to raise the foot) 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).

[0063] For example, the overall improvement index (i.e., the degree of improvement of the current gait) = + + , where the weight of the audio stimulus is , the weights of pressure and electrical stimulation are , the weight of the AR virtual medical staff model stimulus is ,and + + =1, the audio stimulation effect is , the effects of pressure and electrical stimulation are , the stimulation effect of the virtual model of medical staff is .

[0064] In some optional implementations of this embodiment, before initiating abnormal gait intervention, the system is deployed, such as accurately attaching IMU sensors to key areas of the patient's feet and thighs, wearing an AR headset and pressure and muscle electrical stimulation intervention equipment, and opening the corresponding software system on the control end to confirm that all devices are properly connected. The target subject opens the software system on the control end and clicks the start button to initiate a monitoring process. At this point, the IMU sensor begins to collect gait data, and the abnormal gait intervention correction system with multi-channel stimulation is executed to perform abnormal gait intervention.

[0065] In some optional implementations of this embodiment, after the stop button of the multi-channel stimulation control software is clicked and the abnormal gait intervention correction system stops monitoring, a monitoring report may be output, for example, Figure 2 As shown, after the monitoring process ends, click the View Report button on the mobile device to 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 provide intervention recommendations based on medical reference values.

[0066] In some optional implementations of this embodiment, the multi-channel stimulation abnormal gait intervention and correction system calculates the current gait cycle information of the target object in real time according to the current gait data after each preset time interval, predicts the starting moment of the target object's step, and determines the rhythmic audio that is in rhythm with the current gait cycle information, so as to realize the information such as the current gait cycle information, the prediction of the starting moment of the target object's step, and the determination of the rhythmic audio that is in rhythm with the current gait cycle information after each preset time interval, and deeply integrates and guides and supervises the intervention of abnormal gait through multiple intervention means such as auditory stimulation of music beat, pressure stimulation, muscle electrical stimulation, and augmented reality virtual medical staff model, which is conducive to improving the rehabilitation treatment effect of abnormal gait.

[0067] The above-mentioned multi-channel stimulation abnormal gait intervention and correction system has the following beneficial effects:

[0068] High degree of personalization: Based on the real-time gait data of the target subject, the system accurately recommends the rhythm of personalized rhythmic audio for gait intervention, and encourages the target subject to take steps through music with differentiated volume levels on the left and right channels.

[0069] Multimodal synergy advantage: Deeply integrate multiple intervention methods such as music rhythm, pressure stimulation, muscle electrical stimulation, and augmented reality virtual medical staff models to build a closely coordinated linkage mechanism. The music rhythm dynamically adjusts the melody and rhythm according to the patient's real-time gait frequency and rhythm changes, accurately guiding the target person's walking rhythm; pressure stimulation and muscle electrical stimulation work together to apply appropriate pressure and precise electrical stimulation at the right moment according to the target person's leg muscle strength and gait cycle, helping the leg muscles to complete standard movements; augmented reality virtual medical staff are fully integrated, relying on their real-time voice guidance, movement demonstration and encouraging feedback, combined with the rhythm of music, pressure and electrical stimulation, from multiple dimensions such as psychology, hearing, vision, physical touch, and exercise guidance, to achieve efficient synergy of multiple intervention methods, thereby comprehensively and accurately improving the patient's gait.

[0070] Real-time feedback and optimization: Establish a real-time monitoring and feedback mechanism to optimize and adjust the intervention plan based on the dynamic performance of the target subject during the abnormal gait intervention treatment process, thereby improving the rehabilitation treatment effect of abnormal gait.

[0071] In some optional implementations of this embodiment, an electronic device is further provided, which includes any of the above-mentioned multi-channel stimulation abnormal gait intervention and correction systems.

[0072] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention herein is not limited to technical solutions formed by a specific combination of the aforementioned technical features. It also encompasses other technical solutions formed by any combination of the aforementioned technical features or their equivalents, without departing from the aforementioned inventive concept. For example, a technical solution formed by replacing the aforementioned features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A multi-channel stimulation abnormal gait intervention and correction system, the system comprising: A sensor, worn on the lower limbs of a target subject, for collecting gait data of the target subject in real time during abnormal gait intervention treatment; A control terminal is configured to calculate, in real time and at preset time intervals, the current gait cycle information of the target subject based on the gait data, predict the starting moment of the step of the target subject, and determine a 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 subject, prompting the target subject 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 subject, and is used to apply pressure and electrical stimulation to the thigh corresponding to the target subject's step at the start of the target subject's step, so as to activate the motor nerves and generate nerve impulses to cause muscle contraction to assist the step; Virtual reality glasses, worn over the eyes of the target subject, are used to display a virtual model of a medical staff member in the right front of the virtual field of view, and the virtual model of the medical staff member outputs walking guidance information including auditory and / or visual forms to the target subject at the time when the target subject starts to take a step, wherein the time when the target subject starts to take a step is used as a trigger signal to trigger the implementation of multi-channel, multi-sensory stimulation including audio rhythm, pressure, electrical stimulation, and virtual model stimulation; The control terminal is used to predict the starting moment of the step of the target object using the following formula: When t satisfies t mod T ≈ aT, the current timing time t is determined to be the starting time of the left or right step, where T is the duration of the left or right foot gait cycle in the current gait cycle information, a is the step advance trigger time ratio, which is the ratio of the duration from the step advance trigger time point to the start time of the left or right foot gait cycle to the duration of the left or right foot gait cycle, t mod T is the relative time point of the current timing time t within the left or right foot gait cycle, and aT is the time point corresponding to the step advance trigger time ratio a within a left or right foot gait cycle; The control end is used to control the virtual model of the medical staff to output prompt information in the form of voice and / or action to the target subject to increase the foot lift height in real time when it is detected that the current foot lift height of the target subject is lower than the preset height during the abnormal gait intervention treatment.

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 degree of deviation of the current gait of the target object; and to filter the rhythmic audio in the audio library according to the degree of deviation 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 volume of the channel corresponding to the lagging foot in the audio rhythm intervention end to change the auditory stimulation. The audio rhythm intervention end is an earphone.

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

5. The system according to any one of claims 1 to 4, wherein: The control end is used to control the virtual model of the medical staff to output encouragement information in the form of voice and / or action to the target subject in real time when it is detected that the gait characteristics of the target subject reach preset characteristics during the abnormal gait intervention treatment process.

6. The system according to any one of claims 1 to 4, 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 of the evaluated audio stimulation effect, the pressure and electrical stimulation effect, and the medical staff virtual model stimulation effect to obtain the current gait improvement degree.

7. The system according to claim 6, wherein: The control end is used to evaluate the audio stimulation effect based on the adjustment of the left and right foot cyclical rhythms of the target object by the rhythmic audio, evaluate the pressure and electrical stimulation effects 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.

8. An electronic device comprising the system according to any one of claims 1 to 7.

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