Electromyographic pressure pelvic floor electrode inflation and deflation monitoring and protection system

Abstract

The application discloses a myoelectricity pressure pelvic floor electrode inflation and deflation monitoring and protection system and relates to the technical field of data analysis.The system comprises a target pressure preset module,an inflation control module,a deflation control module,a pressure signal conditioning module and a pump valve operation state regulating module.The target pressure preset module sets a target inflation value by collecting current and baseline myoelectricity pressure values,adjusts the target pressure dynamically according to myoelectricity signals and sets three adjustable pressure grades to adapt to individual differences.The inflation control module receives the preset pressure value,initiates an inflation pump valve circuit to control inflation start and stop.The deflation control module is used for receiving a pressure drop value to control deflation start and stop.The pressure signal conditioning module is used for collecting and processing pressure signals.The pump valve operation state regulating module is used for comparing real-time pressure with a preset threshold value to control the working state of the pump valve.The application realizes myoelectricity pressure pelvic floor electrode inflation and deflation monitoring and protection.

Description

Technical Field

[0001] This invention relates to the field of data analysis technology, specifically a myoelectric pressure pelvic floor electrode inflation and deflation monitoring and protection system. Background Technology

[0002] With the increasing demand for pelvic floor dysfunction rehabilitation, the electromyographic pressure pelvic floor electrode inflation and deflation monitoring and protection system is being used more and more widely in pelvic floor muscle strength training and functional recovery. As a core part of rehabilitation treatment, the control of inflation and deflation pressure, real-time monitoring of electromyographic signals, and timely protection of abnormal conditions affect the treatment effect.

[0003] However, traditional pelvic floor electrode inflation / deflation control methods often face the following problems when dealing with individual differences in muscle strength, dynamic changes in muscle state, and safety monitoring: First, pressure control lacks personalized adaptation. Traditional devices often use fixed pressure parameters, ignoring individual differences such as the patient's pelvic floor muscle strength sensitivity and the degree of pelvic organ prolapse, making it difficult to match the rehabilitation needs of different patients. This may lead to insufficient treatment or overstimulation, affecting rehabilitation effects or even causing discomfort. Second, there is a lack of dynamic linkage between electromyographic signals and pressure. Traditional systems cannot adjust inflation / deflation pressure according to real-time changes in electromyographic signals. When patients experience muscle fatigue or overactivation, the pressure parameters cannot be adjusted in time, easily leading to decreased treatment efficiency or the risk of muscle damage. In addition, monitoring of abnormal inflation / deflation is lagging. Relying on manual observation or simple pressure threshold judgment makes it difficult to identify abnormal situations such as sudden pressure changes in time. In the face of complex rehabilitation scenarios, the safety protection response is not timely. Summary of the Invention

[0004] The purpose of this invention is to provide a myoelectric pressure pelvic floor electrode inflation and deflation monitoring and protection system to solve the problems raised in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a pelvic floor electrode inflation / deflation monitoring and protection system based on electromyography (EMG) signals, comprising: an airbag target pressure preset module, an inflation control module, a deflation control module, a pressure signal conditioning module, and a pump valve operation status control module; the airbag target pressure preset module sets a target inflation value by collecting current and baseline EMG stress values, dynamically adjusts the target pressure based on EMG signals, and provides three adjustable pressure levels to adapt to individual differences; the inflation control module receives the preset pressure value, activates the inflation pump valve circuit to control inflation start and stop, collects airbag pressure in real time, and calculates... The deviation between the current pressure and the target pressure is controlled via PID. When a pressure surge is detected, inflation is paused and a self-check is performed. A pressure surge indicates that during inflation or deflation, the change in airbag pressure between adjacent time points exceeds the pressure surge threshold. The deflation control module receives the pressure drop value to control the start and stop of deflation, calculates the pressure deviation from the target pressure drop, and adjusts the deflation rate through PID and feedforward control. The pressure signal conditioning module collects and processes pressure signals. The pump and valve operation status control module controls the pump and valve operation status based on a comparison between the real-time pressure and a preset threshold.

[0006] The airbag target pressure preset module includes a myocardial pressure mapping unit, an adaptive adjustment unit, and a graded pressure preset unit;

[0007] The electrical muscle pressure mapping unit is used to determine the target inflation value of the airbag. By recording the maximum electrical muscle pressure value during the user's maximum voluntary contraction and the baseline electrical muscle pressure value during complete relaxation, the target inflation value range is linearly mapped to the electrical muscle pressure range, as defined below: P target =(EMG current -EMG base ) / (EMG max -EMG base )*(P max -P min )+P min Among them, P target Indicates the target inflation value, EMG current Indicates the current electrical nerve force value, EMG. base Indicates baseline electrical nerve force value, EMG max P represents the maximum electrical impulse value. max and P min These represent the target maximum inflation value and minimum inflation value, respectively. The baseline myoelectric pressure value represents the baseline myoelectric pressure value when the user is completely relaxed, and the maximum myoelectric pressure value represents the maximum myoelectric pressure value when the user has the maximum voluntary contraction.

[0008] The adaptive adjustment unit is used to dynamically adjust the target pressure based on electromyography (EMG) signals. When the EMG signal amplitude continuously decreases by a1 for a duration of t1 seconds, it is determined to be muscle fatigue, and the target pressure is automatically reduced by 10%. When the EMG signal continuously increases by a2 for a duration of t2 seconds, it is determined to be muscle overactivation, and the target pressure is increased by 5-10 mmHg. Here, a1 and a2 represent the proportional thresholds for the decrease and increase of the EMG signal amplitude, respectively, t1 represents the duration threshold for the decrease of the EMG signal amplitude by a1, and t2 represents the duration threshold for the increase of the EMG signal amplitude by a2.

[0009] The graded pressure preset unit is used to provide pressure levels adapted to different rehabilitation stages. The preset pressure is divided into three levels: low, medium, and high. The preset pressure can be adjusted according to individual differences in the patient's pelvic floor muscle strength sensitivity and the degree of pelvic organ prolapse. The low level represents a pressure of 80 mmHg, the medium level represents a pressure of 160 mmHg, and the high level represents a pressure of 240 mmHg.

[0010] The inflation control module includes an inflation pump valve control unit, a pressure deviation calculation unit, a PID control unit, and an inflation anomaly self-check unit.

[0011] The air pump valve control unit is used to receive a preset pressure value, start the air pump valve circuit, and control the start and stop of inflation.

[0012] The pressure deviation calculation unit is used to collect airbag pressure in real time and calculate the deviation between the current pressure and the target pressure.

[0013] The PID control unit includes a PID control subunit, a feedforward compensation subunit, and a PWM speed regulation subunit.

[0014] The inflation anomaly self-check unit is used to pause inflation and perform an inflation self-check when a pressure surge is detected, and the pressure change exceeds a certain value (c). It then determines whether the self-check was successful. If successful, inflation resumes; otherwise, inflation ends. It checks if the deviation between the current pressure and the target pressure is zero. If the deviation is zero, the inflation cycle ends and the pressure holding mode is activated, concluding the current inflation process. If the deviation is not zero, the deviation is recalculated. A pressure surge occurs when the pressure change in the airbag exceeds a certain value between adjacent time points during inflation or deflation. In the case of threshold values, 'c' represents the threshold value for the change in airbag pressure between adjacent time points. The inflation self-test indicates that if the pressure change rate drops by 0.5 mmHg within 1 second after inflation is paused, it indicates a fault in the airbag's airtightness, requiring adjustment of the airbag's state. Second, it reads the reference voltage value of the pressure sensor. If the reference voltage drifts above 0.05V, resulting in low accuracy of air pressure acquisition, the fault is reported, and the air pressure sensor is calibrated. Third, it triggers the inflation self-test circuit to detect whether the self-test was successful. By conducting self-tests for inflation anomalies, the number of faults occurring during inflation is significantly reduced, and corresponding protective actions can be taken in a timely manner when an anomaly occurs.

[0015] The PID control unit includes a PID control subunit, a feedforward compensation subunit, and a PWM speed control unit.

[0016] The PID control subunit is used to adjust the proportional control coefficient K. p Integral term K i and differential term K d To control, K p K i and K d The details are as follows:

[0017] ;

[0018] Among them, K p EMG represents the proportional control coefficient. normalized This represents the normalized electromyographic signal, with values ​​ranging from [0, 1], K. i K represents the integral term, ΔP represents the deviation between the airbag pressure collected at the current moment and the target pressure, and K represents the integral term. d T represents the differential term. resp This represents the respiratory cycle, and e represents the natural constant.

[0019] Through the above proportional control coefficient K p Integral term K i and differential term K d The following formula is obtained:

[0020] ;

[0021] Among them, PWM PID The pulse width represents the output speed, e(k) represents the difference between the current pressure and the target pressure, and Σ represents the pulse width. n=0 k e(n) represents the cumulative sum of errors between the pressure collected from historical time 0 to k and the target pressure, and e(k)-e(k-1) represents the difference between the pressure at the current time and the pressure at the previous time.

[0022] The feedforward compensation subunit is used to derive the feedforward compensation formula based on the airbag's system elasticity and leakage coefficient, as defined below: PWM ff =C compliance *dP / dt+R leak *P; where PWM ff Represents the pulse width modulation signal, C compliance Indicates the ease of pressure-to-volume conversion; this parameter is provided by the airbag manufacturer. R leak dP / dt represents the leakage coefficient, reflecting the rate of pressure loss caused by leakage in the system. dP / dt represents the rate of change of the target pressure, and P represents the current target pressure value.

[0023] The PWM speed control subunit is used to calculate the PWM output, as shown in the following formula: PWM total =PWM PID +PWM ff Among them, PWM total This indicates the total pulse width that adjusts the inflation speed.

[0024] The venting control module includes a venting pump valve control unit, a pressure deviation calculation unit, a PWM speed regulation unit, and a venting abnormality self-checking unit.

[0025] The venting pump valve control unit is used to receive the pressure drop value, start the venting pump valve circuit, and control the start and stop of venting.

[0026] The pressure deviation calculation unit is used to collect airbag pressure in real time and calculate the deviation between the current pressure and the target pressure drop;

[0027] The PWM speed control unit is used to adjust the deflation speed by means of PWM pulse width through the same PID control and feedforward control logic as the inflation module.

[0028] The deflation anomaly self-check unit is used to pause deflation and perform a deflation self-check when a pressure change is detected and the pressure change amplitude exceeds c. It then determines whether the self-check is successful. If the self-check is successful, deflation resumes. If the self-check fails, inflation ends. Otherwise, it checks whether the deviation between the current pressure and the target pressure is equal to zero. If the deviation between the current pressure and the target pressure is zero, it means that this deflation cycle has ended and the pressure holding mode has ended, thus ending this round of deflation. If the deviation between the current pressure and the target pressure is not zero, the deviation between the current pressure and the target pressure is recalculated. Here, a pressure change refers to the situation where the change amplitude of the airbag pressure in adjacent moments exceeds the pressure change threshold during inflation or deflation. c represents the set threshold for the change amplitude of the airbag pressure in adjacent moments.

[0029] The pressure signal conditioning module includes a signal acquisition unit, a multi-stage filtering unit, a pressure calculation unit, and a sampling anomaly self-checking unit;

[0030] The signal acquisition unit is used to acquire the raw pressure signal at a sampling rate of 128Hz using a 12-bit Σ-Δ ADC.

[0031] The multi-stage filtering unit is used to eliminate high-frequency signal interference by configuring a second-order Butterworth low-pass filter at the front end of the sampling, and to perform median filtering on data from 5 sampling points each time.

[0032] The pressure calculation unit is used to convert electrical signals into actual pressure values ​​based on ADC sampling values ​​using a formula.

[0033] The sampling anomaly self-test unit is used to pause sampling and perform a self-test on the sampling circuit when five consecutive points sample abnormal values. If abnormal data is sampled after three consecutive self-tests or the self-test fails, a fault is reported to notify the outside world for maintenance. The self-test includes reading the reference value of the ADC, performing software calibration on the ADC, and resuming sampling only after the self-test is successful.

[0034] The pressure calculation unit is used to convert the electrical signal into an actual pressure value based on the ADC sampling value using a formula defined as follows: pressmmhg=(adc*4096 / 3.0f-0.2f) / 0.0625f*7.50061682704f; where pressmmhg represents the actual pressure value of the airbag in millimeters of mercury, adc represents the raw digital signal value acquired by the analog-to-digital converter (ADC), 3.0f represents the reference voltage of the ADC, used to convert the digital signal into an actual voltage value, 0.2f represents the zero-point offset compensation value, used to calibrate the signal deviation when the pressure is zero, 0.0625f represents the sensitivity coefficient of the pressure sensor, i.e., the voltage change corresponding to a unit pressure, and 7.50061682704f represents the pressure unit conversion coefficient, used to convert the calculated Pascals into millimeters of mercury.

[0035] The pump and valve operation status control module includes a pressure threshold judgment unit, a protection unit, a pump and valve self-test unit, and an operation status control unit.

[0036] The pressure threshold judgment unit is used to compare the collected pressure with the target pressure in real time to determine whether overpressure or underpressure is triggered. Overpressure means that the real-time pressure is greater than the target pressure, and underpressure means that the real-time pressure is greater than the target pressure and the pressure drop is greater than 20%.

[0037] The protection unit is used to trigger the protection mode and suspend the operation of the pump valve when the overpressure or underpressure state lasts for 100ms.

[0038] The pump and valve self-test unit is used to start self-test in protection mode, including detecting pressure gauge reference voltage, pump and valve circuit faults, and determining whether normal operation can be restored.

[0039] The operating status control unit is used to restart the pump valve to adjust the pressure according to the PWM pulse width if the self-test is successful; if the self-test fails, it reports an overpressure or underpressure fault and stops the pump valve from working.

[0040] Compared with the prior art, the beneficial effects of the present invention are:

[0041] 1. Achieve personalized pressure control by determining the target pressure through electromyography and setting multiple adjustable pressure levels to adapt to individual differences in pelvic floor muscle strength, sensitivity, etc. among different patients, thus avoiding insufficient treatment or overstimulation.

[0042] 2. Traditional equipment uses fixed pressure parameters, which cannot adapt to individual patient differences. Electromyography (EMG) signals reflect the muscle activation state, and the inflation pressure is dynamically adjusted. When the EMG signal is weak, the pressure is increased to enhance stimulation, and when the EMG signal is too strong, the pressure is reduced to avoid excessive contraction. Attached Figure Description

[0043] Figure 1This is a flowchart illustrating the inflation control module in a myoelectric pressure pelvic floor electrode inflation and deflation monitoring and protection system of the present invention.

[0044] Figure 2 This is a flowchart illustrating the degassing control module in a myoelectric pressure pelvic floor electrode inflation and deflation monitoring and protection system of the present invention.

[0045] Figure 3 This is a flowchart illustrating the pressure signal conditioning module in a myoelectric pressure pelvic floor electrode inflation and deflation monitoring and protection system of the present invention.

[0046] Figure 4 This is a flowchart illustrating the pump valve operation status control module in a myoelectric pressure pelvic floor electrode inflation / deflation monitoring and protection system of the present invention. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] In the embodiment: such as Figures 1-4 As shown, this invention provides a technical solution: a pelvic floor electrode inflation / deflation monitoring and protection system based on electromyography (EMG) signals. The system includes: an airbag target pressure preset module, an inflation control module, a deflation control module, a pressure signal conditioning module, and a pump valve operation status control module. The airbag target pressure preset module sets a target inflation value by collecting current and baseline EMG stress values, dynamically adjusts the target pressure based on EMG signals, and provides three adjustable pressure levels to adapt to individual differences. The inflation control module receives the preset pressure value, activates the inflation pump valve circuit to control inflation start and stop, collects airbag pressure in real time, and calculates the current and baseline EMG signals. The deviation from the target pressure is controlled via PID control; when a pressure surge is detected, inflation is paused and a self-check is performed. A pressure surge indicates that during inflation or deflation, the change in airbag pressure between adjacent time points exceeds a pressure surge threshold. The deflation control module receives pressure drop values ​​to control deflation start and stop, calculates the pressure deviation from the target pressure drop, and adjusts the deflation rate through PID and feedforward control. The pressure signal conditioning module collects and processes pressure signals. The pump and valve operation status control module controls the pump and valve operating status based on a comparison of real-time pressure and a preset threshold.

[0049] The airbag target pressure preset module includes a myocardial pressure mapping unit, an adaptive adjustment unit, and a graded pressure preset unit;

[0050] The electrical muscle pressure mapping unit is used to determine the target inflation value of the airbag. By recording the maximum electrical muscle pressure value during the user's maximum voluntary contraction and the baseline electrical muscle pressure value during complete relaxation, the target inflation value range is linearly mapped to the electrical muscle pressure range, as defined below: P target =(EMG current -EMG base ) / (EMG max -EMG base )*(P max -P min )+P min Among them, P target Indicates the target inflation value, EMG current Indicates the current electrical nerve force value, EMG. base Indicates baseline electrical nerve force value, EMG max P represents the maximum electrical impulse value. max and P min These represent the target maximum inflation value and minimum inflation value, respectively. The baseline myoelectric pressure value represents the baseline myoelectric pressure value when the user is completely relaxed, and the maximum myoelectric pressure value represents the maximum myoelectric pressure value when the user has the maximum voluntary contraction.

[0051] The adaptive adjustment unit is used to dynamically adjust the target pressure based on electromyography (EMG) signals. When the EMG signal amplitude continuously decreases by a1 for a duration of t1 seconds, it is determined to be muscle fatigue, and the target pressure is automatically reduced by 10%. When the EMG signal continuously increases by a2 for a duration of t2 seconds, it is determined to be muscle overactivation, and the target pressure is increased by 5-10 mmHg. Here, a1 and a2 represent the proportional thresholds for the decrease and increase of the EMG signal amplitude, respectively, t1 represents the duration threshold for the decrease of the EMG signal amplitude by a1, and t2 represents the duration threshold for the increase of the EMG signal amplitude by a2.

[0052] The graded pressure preset unit is used to provide pressure levels adapted to different rehabilitation stages. The preset pressure is divided into three levels: low, medium, and high. The preset pressure can be adjusted according to individual differences in the patient's pelvic floor muscle strength sensitivity and the degree of pelvic organ prolapse. The low level represents a pressure of 80 mmHg, the medium level represents a pressure of 160 mmHg, and the high level represents a pressure of 240 mmHg.

[0053] Specifically, if the EMG signal indicates muscle fatigue (amplitude decreases by 30% for 5 seconds), the target pressure is automatically reduced by 10%. If the EMG signal increases (amplitude increases by 50% for 3 seconds), the pressure is appropriately increased by 5-10 mmHg to enhance the training effect.

[0054] The inflation control module includes an inflation pump valve control unit, a pressure deviation calculation unit, a PID control unit, and an inflation anomaly self-check unit.

[0055] The air pump valve control unit is used to receive a preset pressure value, start the air pump valve circuit, and control the start and stop of inflation.

[0056] The pressure deviation calculation unit is used to collect airbag pressure in real time and calculate the deviation between the current pressure and the target pressure.

[0057] The PID control unit includes a PID control subunit, a feedforward compensation subunit, and a PWM speed regulation subunit.

[0058] The inflation anomaly self-check unit is used to pause inflation and perform an inflation self-check when a pressure surge is detected, and the pressure change exceeds a certain value (c). It then determines whether the self-check was successful. If successful, inflation resumes; otherwise, inflation ends. It checks if the deviation between the current pressure and the target pressure is zero. If the deviation is zero, the inflation cycle ends and the pressure holding mode is activated, concluding the current inflation process. If the deviation is not zero, the deviation is recalculated. A pressure surge occurs when the pressure change in the airbag exceeds a certain value between adjacent time points during inflation or deflation. In the case of threshold values, 'c' represents the threshold value for the change in airbag pressure between adjacent time points. The inflation self-test indicates that if the pressure change rate drops by 0.5 mmHg within 1 second after inflation is paused, it indicates a fault in the airbag's airtightness, requiring adjustment of the airbag's state. Second, it reads the reference voltage value of the pressure sensor. If the reference voltage drifts above 0.05V, resulting in low accuracy of air pressure acquisition, the fault is reported, and the air pressure sensor is calibrated. Third, it triggers the inflation self-test circuit to detect whether the self-test was successful. By conducting self-tests for inflation anomalies, the number of faults occurring during inflation is significantly reduced, and corresponding protective actions can be taken in a timely manner when an anomaly occurs.

[0059] The PID control unit includes a PID control subunit, a feedforward compensation subunit, and a PWM speed control unit.

[0060] The PID control subunit is used to adjust the proportional control coefficient K. p Integral term K i and differential term K d To control, K p K i and K d The details are as follows:

[0061] ;

[0062] Among them, K p EMG represents the proportional control coefficient. normalizedThis represents the normalized electromyographic signal, with values ​​ranging from [0, 1], K. i K represents the integral term, ΔP represents the deviation between the airbag pressure collected at the current moment and the target pressure, and K represents the integral term. d T represents the differential term. resp This represents the respiratory cycle, and e represents the natural constant.

[0063] Through the above proportional control coefficient K p Integral term K i and differential term K d The following formula is obtained:

[0064] ;

[0065] Among them, PWM PID The pulse width represents the output speed, e(k) represents the difference between the current pressure and the target pressure, and Σ represents the pulse width. n=0 k e(n) represents the cumulative sum of errors between the pressure collected from historical time 0 to k and the target pressure, and e(k)-e(k-1) represents the difference between the pressure at the current time and the pressure at the previous time.

[0066] Specifically, when the target pressure value P target When the value increases, the denominator increases, causing the fraction to decrease. This is obtained from the phase of the electrical force mapping of the muscle. target The relationship between EMG and EMG is positive. normalized This represents the normalized electromyographic signal, typically ranging from [0, 1], with the denominator being 1 + e. −0.5(Ptarget−80) K is always ≥1, therefore the fractional part is [0, 1]. When the fractional part is 0, K p =0.5 + 1.5 × 0 = 0.5, EMG normalized When K = 1 p =0.5 + 1.5 × 1 = 2, K P The range of values ​​for is the closed interval [0.5, 2].

[0067] The integral term is processed by tanh, and the change in EMG decreases by K. i The value of tanh is used to suppress the integral effect and prevent integral saturation or overshoot from affecting the output pressure value. If the pressure integral ∫ΔP ≥ 0, then the output range of tanh is [0, 1]. When the integral value is large (e.g., ∫ΔP > 10), tanh approaches 1; when the integral value is small, it approaches 0. When ∫ΔP = 0 or dEMG / dt ≥ 3.33, K i =0, when ∫ΔP is sufficiently large (tanh≈1) and dEMG / dt is negative, K i A relatively large value can be reached. If dEMG / dt = −5, then K i=0.2*1*(1+1.5)=0.5; If dEMG / dt=0, then K i The maximum value is 0.2, k i The extreme values ​​are [0, 0.5];

[0068] T resp This refers to the respiratory cycle. During respiration, the air bladder experiences a certain amount of impact. The differential gain is dynamically adjusted during respiration to adapt to the pressure changes caused by breathing. The amplitude of the sine function is 0.1, so the value within the parentheses fluctuates between 0.3 and 0.5. Therefore, K... d Will be in K p The value varies between 0.3 and 0.5 times, oscillating with the respiratory cycle, k d The extreme values ​​are [0.15, 1].

[0069] The feedforward compensation subunit is used to derive the feedforward compensation formula based on the airbag's system elasticity and leakage coefficient, as defined below: PWM ff =C compliance *dP / dt+R leak *P; where PWM ff Represents the pulse width modulation signal, C compliance Indicates the ease of pressure-to-volume conversion; this parameter is provided by the airbag manufacturer. R leak dP / dt represents the leakage coefficient, reflecting the rate of pressure loss caused by leakage in the system. dP / dt represents the rate of change of the target pressure, and P represents the current target pressure value.

[0070] The PWM speed control subunit is used to calculate the PWM output, as shown in the following formula: PWM total =PWM PID +PWM ff Among them, PWM total This indicates the total pulse width that adjusts the inflation speed.

[0071] Specifically, when the target pressure increases from 50 mmgh to 60 mmgh, and the respiratory cycle is T=4S, the speed adjustment process is as follows:

[0072] k p Take 1, k i Take 0.5, k d Take 0.5, C compliance Take 0.05, R leak Take 0.005,

[0073] Feedforward term calculation: dP / dt = (60-50) / 4 = 2.5 mmHg / s; P(t) = 50 + 2.5 * t mmHg; Therefore, at t = 1 second, P = 52.5 mmHg: PWM ff =0.3875;

[0074] Feedback calculation: Assuming the current pressure is 55 mmHg (currently rising), the error e = 60 - 55 = 5 mmHg.

[0075] Term: k p *e(k) = 1 * 5 = 5;

[0076] Integral term: Assume the accumulated error over Δt = 1 second is ∫edt = (10 + 5) / 2 = 7.5; k i *∫edt=0, 5*7.5=3.75;

[0077] Differential term: Assuming the error at the previous moment was 10 mmHg (Δt = 1 second ago), and the current error is 5 mmHg, the result is -2.5;

[0078] PWM PID =5 + 3.75 - 2.5 = 6.25, Total output: PWM total =6.25+0.3875=6.6375.

[0079] The venting control module includes a venting pump valve control unit, a pressure deviation calculation unit, a PWM speed regulation unit, and a venting abnormality self-checking unit.

[0080] The venting pump valve control unit is used to receive the pressure drop value, start the venting pump valve circuit, and control the start and stop of venting.

[0081] The pressure deviation calculation unit is used to collect airbag pressure in real time and calculate the deviation between the current pressure and the target pressure drop;

[0082] The PWM speed control unit is used to adjust the deflation speed by means of PWM pulse width through the same PID control and feedforward control logic as the inflation module.

[0083] The deflation anomaly self-check unit is used to pause deflation and perform a deflation self-check when a pressure change is detected and the pressure change amplitude exceeds c. It then determines whether the self-check is successful. If the self-check is successful, deflation resumes. If the self-check fails, inflation ends. Otherwise, it checks whether the deviation between the current pressure and the target pressure is equal to zero. If the deviation between the current pressure and the target pressure is zero, it means that this deflation cycle has ended and the pressure holding mode has ended, thus ending this round of deflation. If the deviation between the current pressure and the target pressure is not zero, the deviation between the current pressure and the target pressure is recalculated. Here, a pressure change refers to the situation where the change amplitude of the airbag pressure in adjacent moments exceeds the pressure change threshold during inflation or deflation. c represents the set threshold for the change amplitude of the airbag pressure in adjacent moments.

[0084] The pressure signal conditioning module includes a signal acquisition unit, a multi-stage filtering unit, a pressure calculation unit, and a sampling anomaly self-checking unit;

[0085] The signal acquisition unit is used to acquire the raw pressure signal at a sampling rate of 128Hz using a 12-bit Σ-Δ ADC.

[0086] The multi-stage filtering unit is used to eliminate high-frequency signal interference by configuring a second-order Butterworth low-pass filter at the front end of the sampling, and to perform median filtering on data from 5 sampling points each time.

[0087] The pressure calculation unit is used to convert electrical signals into actual pressure values ​​based on ADC sampling values ​​using a formula.

[0088] The sampling anomaly self-test unit is used to pause sampling and perform a self-test on the sampling circuit when five consecutive points sample abnormal values. If abnormal data is sampled after three consecutive self-tests or the self-test fails, a fault is reported to notify the outside world for maintenance. The self-test includes reading the reference value of the ADC, performing software calibration on the ADC, and resuming sampling only after the self-test is successful.

[0089] The pressure calculation unit is used to convert the electrical signal into an actual pressure value based on the ADC sampling value using a formula defined as follows: pressmmhg=(adc*4096 / 3.0f-0.2f) / 0.0625f*7.50061682704f; where pressmmhg represents the actual pressure value of the airbag in millimeters of mercury, adc represents the raw digital signal value acquired by the analog-to-digital converter (ADC), 3.0f represents the reference voltage of the ADC, used to convert the digital signal into an actual voltage value, 0.2f represents the zero-point offset compensation value, used to calibrate the signal deviation when the pressure is zero, 0.0625f represents the sensitivity coefficient of the pressure sensor, i.e., the voltage change corresponding to a unit pressure, and 7.50061682704f represents the pressure unit conversion coefficient, used to convert the calculated Pascals into millimeters of mercury.

[0090] The pump and valve operation status control module includes a pressure threshold judgment unit, a protection unit, a pump and valve self-test unit, and an operation status control unit.

[0091] The pressure threshold judgment unit is used to compare the collected pressure with the target pressure in real time to determine whether overpressure or underpressure is triggered. Overpressure means that the real-time pressure is greater than the target pressure, and underpressure means that the real-time pressure is greater than the target pressure and the pressure drop is greater than 20%.

[0092] The protection unit is used to trigger the protection mode and suspend the operation of the pump valve when the overpressure or underpressure state lasts for 100ms.

[0093] The pump and valve self-test unit is used to start self-test in protection mode, including detecting pressure gauge reference voltage, pump and valve circuit faults, and determining whether normal operation can be restored.

[0094] The operating status control unit is used to restart the pump valve to adjust the pressure according to the PWM pulse width if the self-test is successful; if the self-test fails, it reports an overpressure or underpressure fault and stops the pump valve from working.

[0095] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A monitoring and protection system for the inflation and deflation of pelvic floor electrodes using electromyography, characterized in that: The system includes: an airbag target pressure preset module, an inflation control module, a deflation control module, a pressure signal conditioning module, and a pump valve operation status control module. The airbag target pressure preset module sets the target inflation value by collecting current and baseline electromyographic pressure values, dynamically adjusts the target pressure based on electromyographic signals, and provides three adjustable pressure levels to adapt to individual differences. The inflation control module receives the preset pressure value, activates the inflation pump valve circuit to control inflation start and stop, collects airbag pressure in real time, calculates the deviation between the current and target pressure, and uses PID control. When a pressure mutation is detected, inflation is paused and a self-check is performed. A pressure mutation indicates that during inflation or deflation, the change in airbag pressure between adjacent moments exceeds a pressure mutation threshold. The deflation control module receives pressure drop values ​​to control deflation start and stop, calculates the pressure deviation from the target pressure drop, and adjusts the deflation rate through PID and feedforward control. The pressure signal conditioning module collects and processes pressure signals. The pump valve operation status control module controls the pump valve operation status based on a comparison between real-time pressure and a preset threshold.

2. A myoelectric pressure pelvic floor electrode inflation and deflation monitoring and protection system according to claim 1, wherein: The airbag target pressure preset module includes a myocardial pressure mapping unit, an adaptive adjustment unit, and a graded pressure preset unit; The electrical muscle pressure mapping unit is used to determine the target inflation value of the airbag. By recording the maximum electrical muscle pressure value during the user's maximum voluntary contraction and the baseline electrical muscle pressure value during complete relaxation, the target inflation value range is linearly mapped to the electrical muscle pressure range, as defined below: P target =(EMG current -EMG base ) / (EMG max -EMG base )*(P max -P min )+P min ; Among them, P target Indicates the target inflation value, EMG current Indicates the current electrical nerve impulse (EMG) value. base Indicates baseline electrical nerve force value, EMG max P represents the maximum electrical impulse value. max and P min These represent the target maximum inflation value and minimum inflation value, respectively. The baseline myoelectric pressure value represents the baseline myoelectric pressure value when the user is completely relaxed, and the maximum myoelectric pressure value represents the maximum myoelectric pressure value when the user has the maximum voluntary contraction.

3. The electromyographic pressure pelvic floor electrode inflation / deflation monitoring and protection system according to claim 2, characterized in that: The adaptive adjustment unit is used to dynamically adjust the target pressure based on electromyography (EMG) signals. When the EMG signal amplitude continuously decreases by a1 for a duration of t1 seconds, it is determined to be muscle fatigue, and the target pressure is automatically reduced by 10%. When the EMG signal continuously increases by a2 for a duration of t2 seconds, it is determined to be muscle overactivation, and the target pressure is increased. Here, a1 and a2 represent the proportional thresholds for the decrease and increase of the EMG signal amplitude, respectively, t1 represents the duration threshold for the decrease of the EMG signal amplitude by a1, and t2 represents the duration threshold for the increase of the EMG signal amplitude by a2. The graded pressure preset unit is used to provide pressure levels that are adapted to different stages of rehabilitation, and the preset pressure is divided into three levels: low, medium and high.

4. The electromyographic pressure pelvic floor electrode inflation / deflation monitoring and protection system according to claim 2, characterized in that: The inflation control module includes an inflation pump valve control unit, a pressure deviation calculation unit, a PID control unit, and an inflation anomaly self-check unit. The air pump valve control unit is used to receive a preset pressure value, start the air pump valve circuit, and control the start and stop of inflation. The pressure deviation calculation unit is used to collect airbag pressure in real time and calculate the deviation between the current pressure and the target pressure. The PID control unit includes a PID control subunit, a feedforward compensation subunit, and a PWM speed regulation subunit. The inflation anomaly self-check unit is used to pause inflation and perform an inflation self-check when a pressure mutation is detected and the pressure change exceeds c. It then determines whether the self-check is successful. If the self-check is successful, inflation resumes; if the self-check fails, inflation ends. Otherwise, it checks whether the deviation between the current pressure and the target pressure is zero. If the deviation is zero, the inflation cycle ends and the pressure holds, completing the current inflation process. If the deviation is not zero, the deviation is recalculated. Here, a pressure mutation refers to a situation where the airbag pressure changes beyond a pressure mutation threshold during inflation or deflation. c represents the set threshold for the change in airbag pressure between adjacent time points.

5. A myoelectric pressure pelvic floor electrode inflation monitoring and protection system according to claim 4, wherein: The PID control unit includes a PID control subunit, a feedforward compensation subunit, and a PWM speed control unit. The PID control subunit is used to control by adjusting the proportional control coefficient K p , the integral term K i and the differential term K d , K p , K i and K d The specific content is as follows: ； Among them, K p EMG represents the proportional control coefficient. normalized This represents the normalized electromyographic signal, with values ​​ranging from [0, 1], K. i K represents the integral term, ΔP represents the deviation between the airbag pressure collected at the current moment and the target pressure, and K represents the integral term. d T represents the differential term. resp This represents the respiratory cycle, and e represents the natural constant. By the above proportionality control coefficient K p , the integral term K i and the differential term K d the following equation is obtained: ； Among them, PWM PID The pulse width represents the output speed, e(k) represents the difference between the current pressure and the target pressure, and Σ represents the pulse width. n=0 k e(n) represents the cumulative sum of errors between the pressure collected from historical time 0 to k and the target pressure, and e(k)-e(k-1) represents the difference between the pressure at the current time and the pressure at the previous time.

6. The electromyographic pressure pelvic floor electrode inflation / deflation monitoring and protection system according to claim 5, characterized in that: The feedforward compensation subunit is used to derive the feedforward compensation formula based on the airbag's system elasticity and leakage coefficient, as defined below: PWM ff =C compliance *dP / dt+R leak *P; where PWM ff Represents the pulse width modulation signal, C compliance Indicates the ease of pressure-to-volume conversion; this parameter is provided by the airbag manufacturer. R leak dP / dt represents the leakage coefficient, reflecting the rate of pressure loss caused by leakage in the system. dP / dt represents the rate of change of the target pressure, and P represents the current target pressure value. The PWM speed regulation subunit is used to calculate the PWM output, and the formula is as follows: PWM total = PWM PID + PWM ff ; wherein, PWM total represents the total pulse width of the adjustment of the inflation speed.

7. The myoelectric pressure pelvic floor electrode inflation monitoring and protection system of claim 4, wherein: The venting control module includes a venting pump valve control unit, a pressure deviation calculation unit, a PWM speed regulation unit, and a venting abnormality self-checking unit. The venting pump valve control unit is used to receive the pressure drop value, start the venting pump valve circuit, and control the start and stop of venting. The pressure deviation calculation unit is used to collect airbag pressure in real time and calculate the deviation between the current pressure and the target pressure drop; The PWM speed control unit is used to adjust the deflation speed by means of PWM pulse width through the same PID control and feedforward control logic as the inflation module. The deflation anomaly self-check unit is used to pause deflation and perform a deflation self-check when a pressure change is detected and the pressure change amplitude exceeds c. It then determines whether the self-check is successful. If the self-check is successful, deflation resumes. If the self-check fails, inflation ends. Otherwise, it checks whether the deviation between the current pressure and the target pressure is equal to zero. If the deviation between the current pressure and the target pressure is zero, it means that this deflation cycle has ended and the pressure holding mode has ended, thus ending this round of deflation. If the deviation between the current pressure and the target pressure is not zero, the deviation between the current pressure and the target pressure is recalculated. Here, a pressure change refers to the situation where the change amplitude of the airbag pressure in adjacent moments exceeds the pressure change threshold during inflation or deflation. c represents the set threshold for the change amplitude of the airbag pressure in adjacent moments.

8. A myoelectric pressure pelvic floor electrode inflation monitoring and protection system according to claim 7, wherein: The pressure signal conditioning module includes a signal acquisition unit, a multi-stage filtering unit, a pressure calculation unit, and a sampling anomaly self-checking unit; The signal acquisition unit is used to acquire the raw pressure signal at a sampling rate of 128Hz using a 12-bit Σ-Δ ADC. The multi-stage filtering unit is used to eliminate high-frequency signal interference by configuring a second-order Butterworth low-pass filter at the front end of the sampling, and to perform median filtering on data from 5 sampling points each time. The pressure calculation unit is used to convert the electrical signal into an actual pressure value based on the ADC sampling value using a formula. The sampling anomaly self-test unit is used to pause sampling and perform a self-test on the sampling circuit when five consecutive points sample abnormal values. If abnormal data is sampled after three consecutive self-tests or the self-test fails, a fault is reported to notify the outside world for maintenance. The self-test includes reading the reference value of the ADC, performing software calibration on the ADC, and resuming sampling only after the self-test is successful.

9. The electromyographic pressure pelvic floor electrode inflation / deflation monitoring and protection system according to claim 8, characterized in that: The pressure calculation unit is used to convert the electrical signal into an actual pressure value based on the ADC sampling value using a formula defined as follows: pressmmhg=(adc*4096 / 3.0f-0.2f) / 0.0625f*7.50061682704f; where pressmmhg represents the actual pressure value of the airbag in millimeters of mercury, adc represents the raw digital signal value acquired by the analog-to-digital converter (ADC), 3.0f represents the reference voltage of the ADC, used to convert the digital signal into an actual voltage value, 0.2f represents the zero-point offset compensation value, used to calibrate the signal deviation when the pressure is zero, 0.0625f represents the sensitivity coefficient of the pressure sensor, i.e., the voltage change corresponding to a unit pressure, and 7.50061682704f represents the pressure unit conversion coefficient, used to convert the calculated Pascals into millimeters of mercury.

10. The electromyographic pressure pelvic floor electrode inflation / deflation monitoring and protection system according to claim 8, characterized in that: The pump and valve operation status control module includes a pressure threshold judgment unit, a protection unit, a pump and valve self-test unit, and an operation status control unit. The pressure threshold judgment unit is used to compare the collected pressure with the target pressure in real time to determine whether overpressure or underpressure is triggered. The protection unit is used to pause the operation of the pump valve when the protection mode is triggered. The pump and valve self-test unit is used to start self-test in protection mode, including detecting pressure gauge reference voltage, pump and valve circuit faults, and determining whether normal operation can be restored. The operating status control unit is used to restart the pump valve and adjust the pressure according to the PWM pulse width if the self-test is successful. If the self-test fails, report an overpressure or underpressure fault and stop the pump valve from working.

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