Lower limb ultrasonic stimulation method and device based on low-intensity focused ultrasound

Abstract

The invention discloses a lower limb ultrasonic stimulation method and device based on low-intensity focused ultrasound, and the method comprises the steps: obtaining the multi-channel pressure signal data of the sole of a patient in the movement process, and carrying out the real-time sampling and preprocessing, and obtaining the target multi-channel pressure signal data; calculating motion state parameters of the patient according to the target multi-channel pressure signal data by using a data processing algorithm, identifying an abnormal posture according to the motion state parameters, and marking a target area needing to be corrected; generating an initial parameter of a focused ultrasonic stimulation signal according to the motion state parameter analysis result, and generating focused ultrasonic waves according to the initial parameter; adjusting focused ultrasonic waves to accurately stimulate a target area which is marked on the lower limb and needs to be corrected, so as to activate or inhibit related muscles and correct the motion posture of the patient; and collecting rehabilitation progress data of the patient, and generating a personalized training scheme for rehabilitation of the patient according to the rehabilitation progress data. The efficiency and safety of rehabilitation training are improved.

Description

Technical Field

[0001] The present invention relates to the field of focused ultrasound technology, and in particular to a lower limb ultrasound stimulation method and device based on low-intensity focused ultrasound. Background Art

[0002] At present, lower limb rehabilitation training is of great significance in the field of medical rehabilitation, especially in the rehabilitation process after nerve injury, orthopedic surgery, and sports injury. Traditional rehabilitation methods mainly rely on the manual operation of physical therapists and the active participation of patients. This method has problems such as low rehabilitation efficiency, dependence on the subjective experience of therapists, and inaccurate correction of postures. Patients are prone to incorrect postures (such as foot drop and excessive force) during the rehabilitation exercise process, resulting in unsatisfactory rehabilitation effects or even secondary injuries. In order to improve the effectiveness and safety of rehabilitation training, existing studies have tried to use different biofeedback methods to assist rehabilitation, such as rehabilitation training programs based on electrical stimulation, electromyogram signal monitoring, or acceleration sensors. However, these methods generally have problems such as large data delays, untimely feedback, poor comfort, or single training intervention means, and it is difficult to meet the real-time and comfort requirements of patients during the rehabilitation process.

[0003] Focused ultrasound technology (FUS), as an emerging non-invasive treatment method, has been widely studied and applied in the medical field. This technology can utilize the ultrasonic focusing effect to concentrate energy on deep tissues and achieve precise nerve and muscle stimulation. In focused ultrasound technology, low-intensity focused ultrasound (LIFU) has been widely applied in the fields of neuromodulation and motor function recovery due to its advantages such as controllable energy, high safety, and appropriate action depth. Compared with traditional electrical stimulation or magnetic stimulation technologies, the LIFU technology has characteristics such as non-invasiveness, no trauma, precise targeting, and strong adjustability, and can effectively reduce interference with non-target areas. However, most existing focused ultrasound applications focus on static stimulation scenarios, such as nerve activation or muscle relaxation in specific parts, and have not been effectively combined with the real-time monitoring and feedback mechanism in the dynamic rehabilitation training process, and cannot adjust the stimulation parameters according to the actual movement state of the patient. This limits the wide application and actual effect of focused ultrasound technology in dynamic rehabilitation training.

[0004] In addition, most of the devices for rehabilitation training on the market at present are large-sized and expensive medical systems, which not only have poor portability but also are complex to operate, making it difficult to meet the usage needs of patients in home rehabilitation or daily training. Although some wearable devices have certain monitoring functions, they lack effective intervention mechanisms and cannot correct the abnormal postures of patients in a timely manner, resulting in insufficient initiative and effectiveness of rehabilitation training; there is still much room for improvement in the existing technology in terms of realizing real-time posture monitoring, precise stimulation, and personalized rehabilitation training.

[0005] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0006] The main objective of the present invention is to provide a lower limb ultrasound stimulation method and device based on low-intensity focused ultrasound, aiming to solve the problems in the existing technology that when performing lower limb rehabilitation training, there is a lack of effective intervention mechanism, insufficient real-time posture monitoring, low accuracy of the focused ultrasound stimulation target point, and the inability to correct the abnormal postures of patients in a timely manner, resulting in insufficient initiative and effectiveness of rehabilitation training.

[0007] To achieve the above objective, the present invention provides a lower limb ultrasound stimulation method based on low-intensity focused ultrasound. The lower limb ultrasound stimulation method based on low-intensity focused ultrasound includes the following steps:

[0008] Obtain multi-channel pressure signal data of the sole of the patient during movement, perform real-time sampling and preprocessing on the multi-channel pressure signal data to obtain target multi-channel pressure signal data;

[0009] Use a data processing algorithm to calculate the motion state parameters of the patient according to the target multi-channel pressure signal data, identify the abnormal postures of the patient according to the motion state parameters, and mark the target areas of the patient's lower limbs that need to be corrected;

[0010] Analyze the motion state parameters to obtain the analysis result of the motion state parameters, generate the initial parameters of the focused ultrasound stimulation signal according to the analysis result of the motion state parameters, and generate focused ultrasonic waves according to the initial parameters of the focused ultrasound stimulation signal;

[0011] Adjust the focused ultrasonic waves to precisely stimulate the target areas of the lower limbs marked for correction, so as to activate or inhibit relevant muscles and correct the patient's motion postures;

[0012] Collect the rehabilitation progress data of the patient, and generate a personalized training plan for the patient's rehabilitation according to the rehabilitation progress data.

[0013] Optionally, in the lower limb ultrasound stimulation method based on low-intensity focused ultrasound, wherein the analysis of the motion state parameters is performed to obtain the analysis result of the motion state parameters, the initial parameters of the focused ultrasound stimulation signal are generated according to the analysis result of the motion state parameters, and the focused ultrasound wave is generated according to the initial parameters of the focused ultrasound stimulation signal. After that, it further includes:

[0014] Construct a closed-loop control system, use the multi-channel pressure signal data as feedback input, and adjust the output parameters of the focused ultrasound wave in real time through the closed-loop control system.

[0015] Optionally, in the lower limb ultrasound stimulation method based on low-intensity focused ultrasound, wherein the construction of the closed-loop control system, using the multi-channel pressure signal data as feedback input, and adjusting the output parameters of the focused ultrasound wave in real time through the closed-loop control system specifically includes:

[0016] Construct a closed-loop control system and input the multi-channel pressure signal data into the closed-loop control system;

[0017] The closed-loop control system dynamically corrects the focusing position of the focused ultrasound wave based on the multi-channel pressure signal data;

[0018] The closed-loop control system adjusts the intensity and frequency of the focused ultrasound wave to adapt to the change of the patient's motion state;

[0019] The closed-loop control system continuously monitors the plantar pressure distribution during the process of correcting the posture, verifies the correction effect and optimizes the stimulation parameters.

[0020] Optionally, in the lower limb ultrasound stimulation method based on low-intensity focused ultrasound, wherein the multi-channel pressure signal data is collected by a pressure sensor array distributed in a wearable device;

[0021] The multi-channel pressure signal data includes the plantar pressure magnitude, distribution area and change trend;

[0022] The preprocessing includes signal screening, denoising and normalization.

[0023] Optionally, in the lower limb ultrasound stimulation method based on low-intensity focused ultrasound, wherein the motion state parameters include walking frequency, step length, gait cycle and gait balance;

[0024] The calculation of the gait cycle T is as follows:

[0025] T = t HSn+1 - t Hsn ;

[0026] wherein, t Hsn is the heel strike time of the nth time, tHSn+1 is the heel strike time of the (n + 1)-th step;

[0027] The calculation of the walking frequency f is as follows:

[0028]

[0029] The calculation of the step length SL is as follows:

[0030] SL = v × T;

[0031] where v represents the walking speed.

[0032] Optionally, in the lower limb ultrasound stimulation method based on low-intensity focused ultrasound, the initial parameters include ultrasound intensity, focus depth, and focus range;

[0033] Generating the focused ultrasound according to the initial parameters of the focused ultrasound stimulation signal specifically includes:

[0034] Obtaining the mapping relationship between the target subjective sensation and the ultrasound stimulation electrical parameters, and setting the signal amplitude, signal phase, and signal waveform of the initial electrical signal according to the required stimulation sensation intensity of the target;

[0035] Obtaining the signal gain multiple, amplifying the initial electrical signal according to the signal gain multiple to obtain a focused excitation electrical signal, and performing a conversion process on the focused excitation electrical signal through the piezoelectric effect to obtain the focused ultrasound.

[0036] Optionally, in the lower limb ultrasound stimulation method based on low-intensity focused ultrasound, the personalized training plan includes training objectives, key stimulation sites, and parameter optimization suggestions.

[0037] In addition, to achieve the above object, the present invention also provides a lower limb ultrasound stimulation device based on low-intensity focused ultrasound, wherein the lower limb ultrasound stimulation device based on low-intensity focused ultrasound includes:

[0038] A multi-channel plantar pressure sensor for collecting multi-channel pressure signal data of the patient's plantar during movement;

[0039] A plantar pressure signal data communication module for transmitting the multi-channel pressure signal data to a data processing and feedback module;

[0040] A data processing and feedback module for calculating the patient's motion state parameters according to the multi-channel pressure signal data by using a data processing algorithm, identifying the patient's abnormal postures according to the motion state parameters, and marking the target areas of the patient's lower limbs that need to be corrected;

[0041] The LIFU focusing probe is used to generate focused ultrasonic waves according to the ultrasonic control parameters generated by the data processing and feedback module;

[0042] The ultrasonic signal processing module is used to adjust the focused ultrasonic waves to precisely stimulate the target area of the lower limb marker that needs to be corrected, so as to activate or inhibit relevant muscles and correct the patient's movement posture.

[0043] Optionally, in the lower limb ultrasonic stimulation device based on low-intensity focused ultrasound, the lower limb ultrasonic stimulation device based on low-intensity focused ultrasound further includes:

[0044] The closed-loop control system is used to take the multi-channel pressure signal data as feedback input and adjust the output parameters of the focused ultrasonic waves in real time.

[0045] Optionally, in the lower limb ultrasonic stimulation device based on low-intensity focused ultrasound, the lower limb ultrasonic stimulation device based on low-intensity focused ultrasound further includes:

[0046] The training plan generation module is used to collect the patient's rehabilitation progress data and generate a personalized training plan for the patient's rehabilitation according to the rehabilitation progress data.

[0047] In the present invention, multi-channel pressure signal data of the sole of the foot during the patient's movement is obtained, the multi-channel pressure signal data is sampled and preprocessed in real time to obtain target multi-channel pressure signal data; a data processing algorithm is used to calculate the patient's movement state parameters according to the target multi-channel pressure signal data, the patient's abnormal posture is identified according to the movement state parameters, and the target area of the patient's lower limb that needs to be corrected is marked; an analysis result of the movement state parameters is obtained according to the analysis of the movement state parameters, an initial parameter of the focused ultrasound stimulation signal is generated according to the analysis result of the movement state parameters, and focused ultrasonic waves are generated according to the initial parameter of the focused ultrasound stimulation signal; the focused ultrasonic waves are adjusted to precisely stimulate the target area of the lower limb marker that needs to be corrected, so as to activate or inhibit relevant muscles and correct the patient's movement posture; the patient's rehabilitation progress data is collected, and a personalized training plan for the patient's rehabilitation is generated according to the rehabilitation progress data. By combining sole pressure sensing and low-intensity focused ultrasound technology, the present invention constructs a closed-loop control system to realize real-time monitoring and correction of the patient's lower limb movement state, and can dynamically adjust the intensity and focusing position of the ultrasonic signal according to real-time sole pressure data, improving the efficiency and safety of rehabilitation training. Description of the Drawings

[0048] Figure 1 is a flowchart of a preferred embodiment of the lower limb ultrasonic stimulation method based on low-intensity focused ultrasound of the present invention;

[0049] Figure 2It is a schematic diagram showing the realization of the lower limb movement assistance process in a preferred embodiment of the lower limb ultrasonic stimulation method based on low-intensity focused ultrasound according to the present invention;

[0050] Figure 3 It is a schematic structural diagram of a preferred embodiment of the lower limb ultrasonic stimulation device based on low-intensity focused ultrasound according to the present invention. Detailed implementation manners

[0051] To make the objectives, technical solutions and advantages of the present invention clearer and more definite, the following further describes the present invention in detail with reference to the accompanying drawings and by way of examples. It should be understood that the specific examples described herein are only used to explain the present invention and are not used to limit the present invention.

[0052] By combining plantar pressure monitoring technology, low-intensity focused ultrasound (LIFU) technology and a closed-loop control system, the present invention realizes real-time monitoring, precise stimulation and dynamic adjustment in the process of lower limb rehabilitation training. When a patient is performing rehabilitation exercises, it can obtain real-time data on the plantar force distribution, promptly identify abnormal movement postures, and use focused ultrasound technology to target and stimulate relevant muscles or nerves, thereby effectively correcting the patient's movement posture and improving the rehabilitation effect. Through the closed-loop control mechanism, it can dynamically adjust ultrasonic signal parameters such as intensity, frequency and focusing position according to real-time feedback to ensure the accuracy and adaptability of the stimulation process. In addition, it can automatically generate personalized training programs according to the patient's rehabilitation progress, improve the pertinence and effectiveness of training, significantly enhance the patient's compliance and rehabilitation experience, and comprehensively improve the efficiency and safety of rehabilitation training.

[0053] The lower limb ultrasonic stimulation method based on low-intensity focused ultrasound according to a preferred embodiment of the present invention, as Figure 1 and Figure 2 shown, the lower limb ultrasonic stimulation method based on low-intensity focused ultrasound includes the following steps:

[0054] Step S10: Obtain multi-channel pressure signal data of the patient's sole during movement, perform real-time sampling and preprocessing on the multi-channel pressure signal data, and obtain target multi-channel pressure signal data.

[0055] Specifically, the multi-channel pressure signal data is collected by a pressure sensor array distributed in the wearable device. These sensors can capture the plantar force distribution characteristics of the patient in real time during walking, stepping, or standing. The multi-channel pressure signal data includes the plantar pressure magnitude, distribution area, and change trend. The multi-channel pressure signal data is sampled and preprocessed in real time (the preprocessing includes signal screening, denoising, and normalization). For example, first, observe the pressure data signal, screen out stable and effective pressure channels, and avoid interference from signals triggered by accidental touches or occasional situations. Second, use low-pass filtering to remove the interference of high-frequency noise. Finally, use normalization (i.e., normalize the pressure data to a unified range for subsequent processing) to reduce the influence of individual differences. Finally, the target multi-channel pressure signal data is obtained. Missing data can also be interpolated to ensure data integrity.

[0056] Step S20: Use a data processing algorithm to calculate the patient's motion state parameters based on the target multi-channel pressure signal data, identify the patient's abnormal postures according to the motion state parameters, and mark the target areas on the patient's lower limbs that need to be corrected.

[0057] Specifically, based on the target multi-channel pressure signal data, using a data processing algorithm to calculate the patient's motion state parameters can effectively utilize the plantar pressure signal data to calculate the patient's motion state parameters and provide support for rehabilitation training. The motion state parameters include walking speed, step length, gait cycle, and gait balance. The calculation of the motion state parameters is as follows:

[0058] The calculation of the gait cycle T is:

[0059] T = t HSn+1 - t Hsn ;

[0060] where t Hsn is the time of the nth heel strike, and t HSn+1 is the time of the (n + 1)th heel strike (i.e., the next heel strike time).

[0061] The calculation of the walking speed f is:

[0062]

[0063] The calculation of the step length SL is:

[0064] SL = v × T;

[0065] where v represents the walking speed, which is measured by a camera device.

[0066] While calculating the motion state parameters, by analyzing the force on the sole of the foot and observing the patient's specific motion posture, the abnormal posture caused by uneven motion force, such as foot drop or overexertion, is obtained. Foot drop refers to the patient's inability to lift the front of the foot normally (i.e., the instep is tilted upward) when walking or lifting the foot, resulting in foot drooping and dragging on the ground. Overexertion refers to the muscles or joints being subjected to pressure that exceeds their normal load during exercise or activity, leading to fatigue, injury or pain. When the patient's abnormal posture is detected, the target area that needs correction is marked.

[0067] Step S30, analyzing the motion state parameters to obtain motion state parameter analysis results, generating initial parameters of a focused ultrasound stimulation signal according to the motion state parameter analysis results, and generating focused ultrasound waves according to the initial parameters of the focused ultrasound stimulation signal.

[0068] Specifically, the motion state parameter analysis result is obtained by analyzing the motion state parameter, and the initial parameters of the focused ultrasound stimulation signal (including ultrasound intensity, focus depth and focus range) are generated according to the motion state parameter analysis result, and the focused ultrasound wave is generated according to the initial parameters of the focused ultrasound stimulation signal. The focused ultrasound wave is realized by LIFU technology (LIFU focused ultrasound generally refers to a focused ultrasound signal with a frequency lower than 1 MHz), ensuring that the stimulation of the target tissue is both accurate and safe, and avoiding the influence on the surrounding normal tissue.

[0069] The specific process of generating focused ultrasound waves is as follows: obtaining the mapping relationship between the target's subjective feeling and the ultrasonic stimulation electrical parameters through a subjective perception experiment, setting the signal amplitude, signal phase and signal waveform of the initial electrical signal, i.e., the initial electrical signal, according to the stimulation sensation intensity required by the target; obtaining the signal gain multiple, amplifying the initial electrical signal according to the signal gain multiple to obtain a focused excitation electrical signal; and converting the focused excitation electrical signal through the piezoelectric effect to obtain a focused ultrasound wave.

[0070] The initial parameters are the parameters of the initial electrical signal, which are used to make the target produce an initial sensation intensity, which is set by the target. The initial electrical signal is the input signal that excites the ultrasonic transducer. Therefore, the parameters of the initial electrical signal (including phase, amplitude, waveform, etc.) will directly affect the duty cycle and sound intensity of the focused ultrasound stimulation signal.

[0071] In addition, the present invention also constructs a closed-loop control system, takes the multi-channel pressure signal data as feedback input, and adjusts the output parameters of the focused ultrasound in real time through the closed-loop control system. Specifically, it includes: constructing a closed-loop control system and inputting the multi-channel pressure signal data into the closed-loop control system; the closed-loop control system dynamically corrects the focusing position of the focused ultrasound based on the multi-channel pressure signal data; the closed-loop control system adjusts the intensity and frequency of the focused ultrasound to adapt to the change of the patient's movement state; the closed-loop control system continuously monitors the plantar pressure distribution during the process of correcting the posture, verifies the correction effect and further optimizes the stimulation parameters.

[0072] The closed-loop feedback mechanism can dynamically adjust the intensity and focusing position of the ultrasonic signal according to the real-time plantar pressure data, improving the efficiency and safety of rehabilitation training.

[0073] Step S40: Adjust the focused ultrasound to precisely stimulate the target area to be corrected of the lower limb mark, so as to activate or inhibit relevant muscles and correct the patient's movement posture.

[0074] Specifically, precisely stimulate the target area to be corrected of the lower limb mark by adjusting the focused ultrasound (drive the ultrasonic module for targeted stimulation according to the focused ultrasound), so as to activate or inhibit relevant muscles, thereby correcting the patient's movement posture. For example, when it is detected that the patient has a problem of excessive force in foot drop during gait, the system will dynamically adjust the intensity of the focused ultrasound (such as adjusting the duty cycle and sound intensity), stimulate and adjust the relevant muscle groups to help the patient adjust the correct movement posture, and then restore the normal plantar force distribution. The treatment effect can also be verified through gait analysis, electromyogram and patient feedback.

[0075] Step S50: Collect the patient's rehabilitation progress data and generate a personalized training plan for the patient's rehabilitation according to the rehabilitation progress data.

[0076] Specifically, automatically generate a personalized training plan according to the patient's rehabilitation progress (such as formulating targeted strength, balance, gait, flexibility and functional training plans according to the evaluation results, dynamically adjusting the training plan according to the rehabilitation progress and patient feedback to ensure the maximization of the rehabilitation effect, which can significantly improve the accuracy and effectiveness of rehabilitation treatment), including training objectives, key stimulation sites and parameter optimization suggestions, and automatically apply these adjustments in subsequent training.

[0077] The present invention uses a multi-channel plantar pressure sensor array to achieve real-time data acquisition and processing, and can accurately capture the characteristics of plantar force distribution during a patient's walking, stepping, or standing. Through high-frequency sampling and effective data preprocessing, it can quickly obtain the patient's motion state parameters, such as gait cycle, center of gravity transfer, and gait balance, and promptly identify abnormal postures such as foot drop or excessive exertion. On this basis, initial parameters of focused ultrasound signals, including the frequency, intensity, and focusing depth of ultrasonic waves, are generated according to the analysis results of the motion state, and ultrasonic signal conversion is achieved through the piezoelectric effect, thereby precisely stimulating the target tissues of the lower limbs, activating or inhibiting specific muscles and nerves, and helping the patient restore the normal motion pattern. The closed-loop control mechanism enables the system to continuously monitor the plantar pressure data during the stimulation process and dynamically adjust the output parameters of the ultrasonic signals, effectively preventing over-stimulation or under-stimulation, and ensuring the stability and safety of the rehabilitation training process. In addition, it supports generating personalized rehabilitation training plans based on the patient's training history data and rehabilitation progress, including training goals, stimulation sites, and parameter optimization suggestions, making the training more in line with the actual needs of the patient and improving the effectiveness and pertinence of the rehabilitation training. Through the comprehensive application of these technical features, the present invention realizes the organic combination of real-time performance, accuracy, applicability, and safety, and provides an efficient, intelligent, and personalized rehabilitation assistance solution for lower limb rehabilitation training.

[0078] Most existing rehabilitation training systems rely on preset fixed parameters and cannot be precisely adjusted according to the patient's real-time motion state, resulting in limited stimulation effects. The closed-loop control mechanism of the present invention enables the rehabilitation training to have a higher level of intelligence and pertinence by real-time monitoring of the pressure distribution data and dynamically adjusting the ultrasonic stimulation strategy, can adapt to the state changes of the patient during the training process, and improve the rehabilitation efficiency and the accuracy of posture correction. The technology of dynamic generation and adjustment of focused ultrasound signals.

[0079] The present invention combines the closed-loop control mechanism of plantar pressure sensing and low-intensity focused ultrasound (LIFU) to achieve real-time monitoring and dynamic intervention of the patient's motion posture. The plantar pressure sensor array can collect gait data in real time, calculate the patient's motion state, and combine information such as gait cycle, center of gravity transfer, and abnormal force distribution to determine whether there are abnormal postures (such as foot drop, gait instability, etc.); dynamically adjust the focused ultrasound stimulation parameters, including the frequency and intensity of ultrasonic waves, according to these data to precisely regulate the targeted muscles or nerves. Through closed-loop feedback, the stimulation plan can be adjusted in real time when the patient's motion state changes, making the correction process more precise and efficient, and ensuring the personalization and adaptability of the rehabilitation training.

[0080] Furthermore, as Figure 3As shown in the figure, based on the above-mentioned lower limb ultrasound stimulation method based on low-intensity focused ultrasound, the present invention also correspondingly provides a lower limb ultrasound stimulation device based on low-intensity focused ultrasound. Among them, the lower limb ultrasound stimulation device based on low-intensity focused ultrasound includes: 4 LIFU focusing probes 1, a plantar multi-channel pressure sensor 2, a data processing and feedback module 3, an ultrasound signal processing module 4, two groups of ultrasound probe support straps 5, and a plantar pressure signal data communication module 6.

[0081] Wear the lower limb ultrasound stimulation device (i.e., a wearable device) of the present invention on the lower limb of a patient (the plantar multi-channel pressure sensor 2 is arranged on the sole of the patient), activate the plantar pressure signal data communication module 6, and collect the pressure signals on the sole during the patient's movement in real time through a distributed multi-channel pressure sensor (i.e., the plantar multi-channel pressure sensor 2) (i.e., collect the multi-channel pressure signal data on the sole during the patient's movement). The signals generated by the plantar multi-channel pressure sensor 2 (pressure sensor array) are sampled in real time through a sampling circuit, and noise is removed through a preprocessing module to obtain clear plantar force distribution data (i.e., target multi-channel pressure signal data), including the magnitude of pressure, the distribution area, and the change trend.

[0082] Through the algorithm unit in the data processing and feedback module 3, analyze the plantar pressure data (i.e., target multi-channel pressure signal data), calculate the patient's movement state parameters, including walking frequency, step length, gait cycle, and gait balance; identify the patient's abnormal postures (such as excessive force in foot drop, uneven plantar force, etc.), and mark the target areas on the patient's lower limbs that need to be corrected, that is, if an abnormal gait or posture is detected, mark the target tissue areas that need to be intervened, and generate the stimulation target areas and initial ultrasound stimulation parameters.

[0083] According to the ultrasound control parameters (focusing excitation electrical signals) generated by the data processing and feedback module 3, generate low-intensity focused ultrasound signals (LIFU) through the LIFU focusing probes 1. The ultrasound signal processing module 4 can dynamically adjust the frequency, intensity, action depth, and focusing range of the focused ultrasonic waves generated by the LIFU focusing probes 1 to meet the rehabilitation needs of different patients. Apply the generated focused ultrasonic waves to the target tissue areas of the patient's lower limbs, and correct the patient's incorrect postures by precisely stimulating the relevant nerves or muscles.

[0084] During the ultrasonic stimulation process, the multi-channel plantar pressure sensor 2 continuously monitors the changes in plantar pressure signals and feeds the data back to the data processing and feedback module 3 through the plantar pressure signal data communication module 6. The ultrasonic signal processing module 4 receives relevant information and dynamically adjusts the parameters of the focused ultrasound (such as intensity, frequency, and action position) according to the real-time feedback data to ensure the accuracy and effectiveness of the stimulation. The lower limb ultrasonic stimulation device based on low-intensity focused ultrasound further includes: a closed-loop control system for taking the multi-channel pressure signal data as feedback input and real-time adjusting the output parameters of the focused ultrasound. The closed-loop control system can optimize the patient's rehabilitation status in real time and avoid excessive or insufficient stimulation.

[0085] The lower limb ultrasonic stimulation device based on low-intensity focused ultrasound further includes: a training plan generation module for collecting the patient's rehabilitation progress data and automatically generating a personalized rehabilitation training plan according to the patient's rehabilitation progress data, including the target area, training objectives, and parameter optimization suggestions. The patient can view the training plan and feedback results through an external terminal (such as a smartphone APP) and adjust the training objectives or stimulation parameters through the interaction interface.

[0086] The device (equipment) of the present invention is portable and compact, suitable for multi-scenario rehabilitation training applications, and can generate a personalized rehabilitation training plan according to the patient's rehabilitation progress to meet diverse rehabilitation needs. That is, the device adopts a wearable design, which is portable and compact, applicable to various scenarios such as home rehabilitation, clinics, and medical institutions, greatly improving the flexibility and applicability of rehabilitation training. The wearable support structure of the device is designed with lightweight flexible materials to ensure comfortable wearing, strong adaptability, and is convenient for long-term wearing and multi-scenario applications.

[0087] Most existing rehabilitation equipment is large-scale fixed instruments with poor portability, making it difficult to meet the rehabilitation needs of patients in their daily lives. The wearable design of the present invention significantly reduces the volume and weight of the equipment while retaining the high-precision plantar pressure monitoring and focused ultrasound stimulation functions, enabling patients to safely and effectively perform rehabilitation training in a non-medical environment, realizing the diversification of rehabilitation scenarios and enhancing the user experience.

[0088] The present invention adopts a lightweight portable wearable design, enabling the rehabilitation training equipment to be used in various scenarios, including home rehabilitation, outpatient follow-up, and hospital rehabilitation centers. The equipment consists of a flexible support structure, a high-sensitivity plantar pressure sensing unit, and an ultrasonic stimulation module, with a light overall weight and comfortable wearing, and can be used for a long time without affecting the patient's normal activities. At the same time, the system supports wireless data transmission and remote monitoring, allowing patients to perform personalized rehabilitation training under the remote guidance of rehabilitation therapists, improving the convenience of training and the patient's compliance.

[0089] In summary, the present invention provides a lower limb ultrasound stimulation method and device based on low-intensity focused ultrasound. The method includes: acquiring multi-channel pressure signal data of the sole of a patient during exercise, performing real-time sampling and preprocessing on the multi-channel pressure signal data to obtain target multi-channel pressure signal data; using a data processing algorithm to calculate the motion state parameters of the patient based on the target multi-channel pressure signal data, identifying abnormal postures of the patient according to the motion state parameters, and marking the target areas of the patient's lower limbs that need to be corrected; analyzing the motion state parameters to obtain an analysis result of the motion state parameters, generating initial parameters of a focused ultrasound stimulation signal according to the analysis result of the motion state parameters, and generating focused ultrasound waves according to the initial parameters of the focused ultrasound stimulation signal; adjusting the focused ultrasound waves to precisely stimulate the marked target areas of the lower limbs that need to be corrected, so as to activate or inhibit relevant muscles and correct the patient's motion posture; collecting the patient's rehabilitation progress data, and generating a personalized training plan for the patient's rehabilitation according to the rehabilitation progress data. By combining sole pressure sensing and low-intensity focused ultrasound technology, the present invention constructs a closed-loop control system to realize real-time monitoring and correction of the motion state of the patient's lower limbs, and can dynamically adjust the intensity and focusing position of the ultrasound signal according to real-time sole pressure data, improving the efficiency and safety of rehabilitation training.

[0090] It should be noted that in this article, the terms "including", "comprising" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or terminal. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or terminal including that element.

[0091] Certainly, those of ordinary skill in the art can understand that all or part of the processes of implementing the above method embodiments can be completed by instructing relevant hardware (such as a processor, a controller, etc.) through a computer program. The program can be stored in a computer-readable storage medium readable by a computer. When the program is executed, it can include the processes of the above method embodiments. The computer-readable storage medium can be a memory, a magnetic disk, an optical disk, etc.

[0092] It should be understood that the application of the present invention is not limited to the above examples. For those of ordinary skill in the art, improvements or transformations can be made according to the above description. All such improvements and transformations should fall within the protection scope of the appended claims of the present invention.

Claims

1. A lower limb ultrasound stimulation method based on low-intensity focused ultrasound, characterized in that, The lower limb ultrasound stimulation method based on low-intensity focused ultrasound includes: Obtaining multi-channel pressure signal data of the sole of the foot during the patient's movement, performing real-time sampling and preprocessing on the multi-channel pressure signal data to obtain target multi-channel pressure signal data; Using a data processing algorithm to calculate the patient's motion state parameters based on the target multi-channel pressure signal data, identifying the patient's abnormal postures according to the motion state parameters, and marking the target areas of the patient's lower limbs that need to be corrected; Analyzing the motion state parameters to obtain an analysis result of the motion state parameters, generating initial parameters of the focused ultrasound stimulation signal according to the analysis result of the motion state parameters, and generating focused ultrasound waves according to the initial parameters of the focused ultrasound stimulation signal; Adjusting the focused ultrasound waves to precisely stimulate the marked target areas of the lower limbs that need to be corrected, so as to activate or inhibit relevant muscles and correct the patient's motion posture; Collecting the patient's rehabilitation progress data and generating a personalized training plan for the patient's rehabilitation according to the rehabilitation progress data.

2. The method for lower limb ultrasound stimulation based on low-intensity focused ultrasound according to claim 1, characterized in that, After analyzing the motion state parameters to obtain an analysis result of the motion state parameters, generating initial parameters of the focused ultrasound stimulation signal according to the analysis result of the motion state parameters, and generating focused ultrasound waves according to the initial parameters of the focused ultrasound stimulation signal, it further includes: Constructing a closed-loop control system, using the multi-channel pressure signal data as a feedback input, and adjusting the output parameters of the focused ultrasound waves in real time through the closed-loop control system.

3. The lower limb ultrasound stimulation method based on low-intensity focused ultrasound according to claim 2, characterized in that The constructing of the closed-loop control system, using the multi-channel pressure signal data as a feedback input, and adjusting the output parameters of the focused ultrasound waves in real time through the closed-loop control system specifically includes: Constructing a closed-loop control system and inputting the multi-channel pressure signal data into the closed-loop control system; The closed-loop control system dynamically corrects the focusing position of the focused ultrasound waves based on the multi-channel pressure signal data; The closed-loop control system adjusts the intensity and frequency of the focused ultrasound waves to adapt to the changes in the patient's motion state; The closed-loop control system continuously monitors the plantar pressure distribution during the process of correcting the posture, verifies the correction effect and optimizes the stimulation parameters.

4. The method for lower limb ultrasound stimulation based on low-intensity focused ultrasound according to claim 1, wherein The multi-channel pressure signal data is collected through a pressure sensor array distributed in a wearable device; The multi-channel pressure signal data includes the plantar pressure magnitude, distribution area and change trend; The preprocessing includes signal screening, denoising and normalization.

5. The method for lower limb ultrasound stimulation based on low-intensity focused ultrasound according to claim 1, characterized in that The motion state parameters include step frequency, step length, gait cycle and gait balance; The calculation of the gait cycle T is: T = t HSn+1 -t Hsn ; where t Hsn is the time of the nth heel strike, and t HSn+1 is the time of the (n + 1)th heel strike; The calculation of the step frequency f is: The calculation of the step length SL is: SL = v × T; where v represents the walking speed.

6. The method for lower limb ultrasound stimulation based on low-intensity focused ultrasound according to claim 1, wherein The initial parameters include ultrasonic intensity, focusing depth and focusing range; The generating of the focused ultrasound waves according to the initial parameters of the focused ultrasound stimulation signal specifically includes: Obtaining the mapping relationship between the target subjective sensation and the electro-parameters of the ultrasound stimulation, and setting the signal amplitude, signal phase and signal waveform of the initial electric signal according to the required stimulation sensation intensity of the target; Obtain the signal gain multiple, amplify the initial electrical signal according to the signal gain multiple to obtain a focused excitation electrical signal, and perform a conversion process on the focused excitation electrical signal through the piezoelectric effect to obtain focused ultrasound waves.

7. The method for lower limb ultrasound stimulation based on low-intensity focused ultrasound according to claim 1, wherein The personalized training plan includes training objectives, key stimulation sites, and parameter optimization suggestions.

8. A lower limb ultrasonic stimulation device based on low-intensity focused ultrasound, characterized in that, The lower limb ultrasound stimulation device based on low-intensity focused ultrasound includes: A multi-channel plantar pressure sensor for collecting multi-channel plantar pressure signal data of a patient during exercise; A plantar pressure signal data communication module for transmitting the multi-channel pressure signal data to the data processing and feedback module; A data processing and feedback module for calculating the patient's motion state parameters according to the multi-channel pressure signal data using a data processing algorithm, identifying the patient's abnormal postures according to the motion state parameters, and marking the target areas of the patient's lower limbs that need to be corrected; A LIFU focused probe for generating focused ultrasound waves according to the ultrasound control parameters generated by the data processing and feedback module; An ultrasound signal processing module for precisely stimulating the target areas of the lower limbs marked as needing correction by the focused ultrasound waves to activate or inhibit relevant muscles and correct the patient's motion postures.

9. The low-intensity focused ultrasound-based lower limb ultrasound stimulation device according to claim 8, wherein, The lower limb ultrasound stimulation device based on low-intensity focused ultrasound further includes: A closed-loop control system for using the multi-channel pressure signal data as a feedback input to adjust the output parameters of the focused ultrasound waves in real time.

10. The lower limb ultrasound stimulation device based on low-intensity focused ultrasound according to claim 8, wherein The lower limb ultrasound stimulation device based on low-intensity focused ultrasound further includes: A training plan generation module for collecting the patient's rehabilitation progress data and generating a personalized training plan for the patient's rehabilitation according to the rehabilitation progress data.

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