64-channel neuromodulation system and method for direct targeting of spinal motor neurons

Abstract

The present application belongs to the technical field of nerve regulation, and relates to a 64-channel nerve regulation system and method for directly targeting spinal motor neurons. The method comprises the following steps: a low-power microprocessor analyzes and configures mode results through operation, and then sends out positive pulse trigger control signals and negative pulse trigger control signals; a 64-channel positive / negative pulse trigger module selectively sends out positive / negative pulse stimulation signals according to the control signals; a 64-channel positive / negative current voltage feedback module samples the stimulation signal intensity sent out by the 64-channel positive / negative pulse trigger module, and sends the sampling signals back to the low-power microprocessor through ADC0; and the low-power microprocessor enables current voltage detection, and analyzes whether the current intensity meets the requirements. The method can realize the arbitrary pairing and cooperative control of 64 electrodes, and the control frequency, current, voltage and pulse width parameters are all adjustable within the set range, so as to realize the cooperative control of lower limb muscles and joints, and make different degrees of paralyzed patients realize coordinated autonomous movement.

Description

Technical Field

[0001] This invention belongs to the field of neuromodulation technology, specifically relating to a 64-channel neuromodulation system and method for directly targeting spinal motor neurons. Background Technology

[0002] Currently, spinal cord stimulation (SCS) devices used for pain management work by emitting pulsed signals to antagonize pain signals transmitted via the dorsal sensory nerves of the spinal cord. However, there are currently no devices in clinical practice that can modulate lower limb movement in paralyzed patients by controlling spinal motor neurons. Furthermore, current clinical systems used for pain management typically have a maximum of 16 electrodes, and a control system and method for arbitrary pairing and coordination of 64 electrodes has not yet been developed.

[0003] Therefore, there is an urgent need to develop a spinal cord modulation system and method that can directly target motor neurons in order to enable paralyzed patients to achieve voluntary and coordinated movement of the lower limbs. Summary of the Invention

[0004] The purpose of this invention is to provide a 64-channel neuromodulation system for directly targeting spinal motor neurons, and a 64-channel neuromodulation method for directly targeting spinal motor neurons, in order to solve the problem of achieving coordinated control of lower limb muscles and joints, enabling patients with varying degrees of paralysis to achieve coordinated voluntary movement of the lower limbs.

[0005] This invention is achieved through the following technical solution:

[0006] A 64-channel neuromodulation system for directly targeting spinal motor neurons includes a low-power microprocessor, a power management module, a wireless charging management module, a Bluetooth module, a human-computer interaction module, and an electrode module integrated in a first module; it also includes a 64-channel positive pulse triggering module, a 64-channel negative pulse triggering module, a 64-channel positive current voltage feedback module, and a 64-channel negative current voltage feedback module integrated in a second module; the first module and the second module are connected via a 128-channel control bus and two analog-to-digital converter output signals;

[0007] The Bluetooth module is synchronously connected to the low-power microprocessor via a serial port. The low-power microprocessor is controlled and connected to a 64-channel positive pulse trigger module and a 64-channel negative pulse trigger module via 64-channel I / O. The output signals of the 64-channel positive pulse trigger module and the 64-channel negative pulse trigger module are respectively connected to the input terminals of the 64-channel positive current voltage feedback module and the 64-channel negative current voltage feedback module. The output terminals of the 64-channel positive current voltage feedback module and the 64-channel negative current voltage feedback module are respectively connected to the AD output terminal of the low-power microprocessor. The input terminal of the power supply management module is connected to the output terminal of the wireless charging receiver module to transfer the received energy to the charging circuit. The output terminal of the power supply management module is connected to the battery to charge the battery. The battery supplies power to each module in the circuit. The output pin after step-down and voltage regulation is connected to the input terminal of the electrode module.

[0008] Furthermore, the low-power microprocessor is used to perform pattern analysis, data transmission, and control the generation of 64 stimulation signals; the 64-channel positive pulse triggering module is used to generate any positive pulse stimulation signal according to the control requirements of the low-power microprocessor; the 64-channel negative pulse triggering module is used to generate any negative pulse stimulation signal according to the control requirements of the low-power microprocessor; the 64-channel positive current voltage feedback module is used to sample the intensity of the stimulation signals emitted by the 64-channel positive pulse triggering modules to achieve closed-loop control; the 64-channel negative current voltage feedback module is used to sample the intensity of the stimulation signals emitted by the 64-channel negative pulse triggering modules to achieve closed-loop control; the power supply management module is used to provide working energy for the entire neuromodulation system; the wireless charging management module is used to realize wireless charging of the battery; the Bluetooth module is used to realize wireless data transmission; the human-computer interaction module is used to realize the pattern configuration of the neuromodulation system by external configuration devices; and the electrode module is used to output stimulation pulses.

[0009] A 64-channel neural modulation method for directly targeting spinal motor neurons includes the following steps:

[0010] Step 1: The system working mode is preset through the human-computer interaction module, and then the working mode data is wirelessly transmitted to the low-power microprocessor by the Bluetooth module. The low-power microprocessor receives the data through the UART port.

[0011] Step 2: The low-power microprocessor configures the result through the operation and analysis mode, and then sends out positive pulse trigger control signals and negative pulse trigger control signals;

[0012] Step 3: The 64-channel positive pulse triggering module selectively emits positive pulse stimulation signals according to the control signal; the 64-channel negative pulse triggering module selectively emits negative pulse stimulation signals according to the control signal.

[0013] Step 4: The 64-channel positive current voltage feedback module samples the intensity of the stimulation signal emitted by the 64-channel positive pulse trigger module and sends the sampled signal back to the low-power microprocessor through ADC0; the 64-channel negative current voltage feedback module samples the intensity of the stimulation signal emitted by the 64-channel negative pulse trigger module and sends the sampled signal back to the low-power microprocessor through ADC1.

[0014] Step 5: The low-power microprocessor enables current and voltage detection to analyze whether the current intensity meets the requirements; if not, return to step 3.

[0015] Furthermore, in step 2, the computational analysis is achieved through a control algorithm. When two electrodes are placed in a conductive medium and a voltage is applied, a current field is formed in the medium, and the space occupied by the conductive medium between the electrodes forms a field domain.

[0016] Under the quasi-static approximation, the calculation of the current field is based on electromagnetic field theory, and the differential form of Ohm's law is shown in formula (1):

[0017] (1)

[0018] in, It is the current density vector (A / m²). It is the electric field intensity vector (V / m). Represents electrical conductivity; in a quasi-static field, the electric field is irrotational, i.e. Electric field intensity vector Represented as scalar potential gradient:

[0019] (2)

[0020] in, Let be a vector differential operator, representing the gradient with respect to spatial coordinates.

[0021] The equation for current continuity is as follows:

[0022] (3)

[0023] in, Represents charge density, t is time;

[0024] Substituting equation (1) and the irrotationality of the electric field into equation (3):

[0025] (4)

[0026] If the medium is homogeneous, If is a constant, then in the three-dimensional Cartesian coordinate system (x,y,z), the governing equation of the current field is:

[0027] (5)

[0028] For a non-homogeneous medium, the governing equation is:

[0029] (6).

[0030] Furthermore, by setting the contacts at different positions as positive or negative electrodes, when the number of positive and negative trigger pulse electrodes in the setting mode is the same, the system adopts a bipolar mode to form a stimulation circuit, with two adjacent contacts serving as anode (+) and cathode (-) respectively, driving the positive and negative electrodes according to current and voltage parameters, and configuring the initial high and low levels of timer counter 1 according to the pulse width; when the number of positive and negative trigger pulse electrodes in the setting mode is different, the system adopts a unipolar mode, with one or more electrode contacts serving as cathode (-) or anode (+).

[0031] Further, in step 5, current and voltage detection, the following steps are taken: input current and voltage parameters, sample data from positive and negative current and voltage feedback modules, and determine whether the current and voltage meet the configuration requirements; if they meet the requirements, output 0; if they do not meet the requirements, determine whether they are greater than the preset value; if they are greater than the preset value, output 1; if they do not meet the requirements, output -1.

[0032] Furthermore, based on the sampling data from the positive and negative current and voltage feedback modules, the output stimulation pulse electrical parameters are analyzed to determine whether they meet the preset mode configuration requirements. The results are marked as 0, 1, or -1, where 0 represents normal output, 1 represents output higher than the preset value, and -1 represents output lower than the preset value.

[0033] Compared with the prior art, the beneficial effects of the present invention are:

[0034] This invention provides a 64-channel motor neuron modulation system that conforms to the anatomical distribution of spinal motor neurons. This neuromodulation system directly targets spinal motor neurons and has 64 channels. It also provides a spinal nerve modulation pulse control method that enables coordinated movement of lower limb muscle groups and joints. This method allows for arbitrary pairing and coordinated control of the 64 electrodes, and the control frequency, current, voltage, and pulse width parameters are all arbitrarily adjustable within a set range. This enables coordinated control of lower limb muscles and joints, thereby enabling patients with varying degrees of paralysis to achieve coordinated voluntary movement. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 A schematic diagram of a 64-channel neural modulation system for directly targeting spinal motor neurons;

[0037] Figure 2 A flowchart of the workflow of a 64-channel neuromodulation system for directly targeting spinal motor neurons;

[0038] Figure 3 This is a schematic diagram of the electrode structure;

[0039] Figure 4 The flowchart for the control algorithm;

[0040] Figure 5 Here is a flowchart of the current and voltage detection algorithm;

[0041] Figure 6 The electric field distribution is in unipolar mode.

[0042] Figure 7 The electric field distribution is in bipolar mode.

[0043] Figure 8 This refers to the pulse signal output by the Mode 1 system.

[0044] Figure 9 This refers to the pulse signal output by the Mode 2 system.

[0045] Figure 10 This refers to the pulse signal output by the Mode 3 system.

[0046] Figure 11 This refers to the pulse signal output by the Mode 4 system.

[0047] Figure 12 This refers to the pulse signal output by the Mode 5 system.

[0048] Figure 13 This refers to the pulse signal output by the Mode 6 system.

[0049] Figure 14 The pulse signal output by the Mode 7 system;

[0050] Figure 15 The pulse signal output by the Mode 8 system;

[0051] Figure 16 The pulse signal output by the Mode 9 system;

[0052] Figure 17 This is the pulse signal output by the Mode 10 system. Detailed Implementation

[0053] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0054] Currently, similar systems used clinically for pain management typically have 16 electrodes, and there are no devices or systems that regulate lower limb movement in paralyzed patients by modulating spinal motor neurons. Therefore, this invention provides a 64-electrode arbitrary pairing and collaborative control method, where the control frequency, current, voltage, and pulse width parameters are all arbitrarily adjustable within a set range, thereby achieving coordinated control of lower limb muscles and joints, enabling patients with varying degrees of paralysis to achieve coordinated voluntary movement.

[0055] Specifically, this invention provides a 64-channel neural modulation system for directly targeting spinal motor neurons, such as... Figure 1 As shown, the system includes a low-power microprocessor, a 64-channel positive pulse trigger module, a 64-channel negative pulse trigger module, a 64-channel positive current voltage feedback module, a 64-channel negative current voltage feedback module, a power supply management module, a wireless charging management module, a Bluetooth module, a human-machine interaction module, and an electrode module. The low-power microprocessor, power supply management module, wireless charging management module, Bluetooth module, human-machine interaction module, and electrode module are integrated into a first module; the 64-channel positive pulse trigger module, 64-channel negative pulse trigger module, 64-channel positive current voltage feedback module, and 64-channel negative current voltage feedback module are integrated into a second module. The first module and the second module are connected via a 128-channel control bus and two analog-to-digital converter output signals.

[0056] The Bluetooth module is synchronously connected to the low-power microprocessor via a serial port. The low-power microprocessor is controlled and connected to a 64-channel positive pulse trigger module and a 64-channel negative pulse trigger module via 64-channel I / O. The output signals of the 64-channel positive pulse trigger module and the 64-channel negative pulse trigger module are respectively connected to the input terminals of the 64-channel positive current voltage feedback module and the 64-channel negative current voltage feedback module. The output terminals of the 64-channel positive current voltage feedback module and the 64-channel negative current voltage feedback module are respectively connected to the AD output terminal of the low-power microprocessor. The input terminal of the power supply management module is connected to the output terminal of the wireless charging receiver module to transfer the received energy to the charging circuit. The output terminal of the power supply management module is connected to the battery to charge the battery. The battery supplies power to each module in the circuit. The output pin after step-down and voltage regulation is connected to the input terminal of the electrode module.

[0057] The low-power microprocessor serves as the system's control center, performing functions such as pattern analysis, data transmission, and controlling the generation of 64 stimulation signals. The 64-channel positive pulse triggering module generates any number (≤64) positive pulse stimulation signals according to the control requirements of the low-power microprocessor. The 64-channel negative pulse triggering module generates any number (≤64) negative pulse stimulation signals according to the control requirements of the low-power microprocessor. The 64-channel positive current-voltage feedback module samples the intensity of the stimulation signals emitted by the 64 positive pulse triggering modules to achieve closed-loop control. The 64-channel negative current-voltage feedback module samples the intensity of the stimulation signals emitted by the 64 negative pulse triggering modules to achieve closed-loop control. The power supply management module provides operating energy to the entire neuromodulation system. The wireless charging management module enables wireless battery charging. The Bluetooth module enables wireless data transmission. The human-computer interaction module allows external configuration devices to configure the neuromodulation system's patterns. The electrode module outputs stimulation pulses.

[0058] This system supports mode configuration, allowing users to configure the neural modulation system according to their needs to obtain the desired operating mode. Configuration parameters include current, voltage, pulse width, frequency, and electrode selection, with setting ranges shown in Table 1.

[0059] Table 1:

[0060]

[0061] like Figure 2 As shown, the present invention provides a 64-channel neural modulation method for directly targeting spinal motor neurons, comprising the following steps:

[0062] Step 1: The system working mode is preset through the human-computer interaction module, and then the working mode data is wirelessly transmitted to the low-power microprocessor by the Bluetooth module. The low-power microprocessor receives the data through the UART port.

[0063] Step 2: The low-power microprocessor calls the control algorithm, analyzes the configuration results through calculation, and then sends out positive pulse trigger control signals and negative pulse trigger control signals;

[0064] Step 3: The 64-channel positive pulse triggering module selectively emits positive pulse stimulation signals according to the control signal; the 64-channel negative pulse triggering module selectively emits negative pulse stimulation signals according to the control signal.

[0065] Step 4: The 64-channel positive current voltage feedback module samples the intensity of the stimulation signals emitted by the 64-channel positive pulse triggering modules and sends the sampled signals back to the low-power microprocessor via ADC0; the 64-channel negative current voltage feedback module samples the intensity of the stimulation signals emitted by the 64-channel negative pulse triggering modules and sends the sampled signals back to the low-power microprocessor via ADC1; in this embodiment, before the 64-channel positive current voltage feedback module samples the intensity of the stimulation signals emitted by the 64-channel positive pulse triggering modules, a commonly used current stimulation algorithm in the prior art can be used to generate a driving current according to the current configuration parameters and the working mode;

[0066] Step 5: The low-power microprocessor enables current and voltage detection to analyze whether the current intensity meets the requirements; if not, return to step 3.

[0067] This invention embeds a low-power microprocessor-based control algorithm into a 64-channel neural modulation system for direct targeting of spinal motor neurons to generate stimulation pulses. According to a preset mode configuration, it generates positive and negative pulse trigger control signals, which drive the 64-channel positive and negative pulse trigger modules.

[0068] In step 2, the computational analysis is achieved through a control algorithm, specifically based on the fundamental principle of the directional movement of charges in a conductive medium under the influence of an electric field. When two electrodes are placed in a conductive medium (such as biological tissue) and a voltage is applied, a current field is formed in the medium, and the space occupied by the conductive medium between the electrodes forms a field domain.

[0069] Under the quasi-static approximation, the calculation of the current field is based on electromagnetic field theory, and the differential form of Ohm's law is shown in formula (1):

[0070] (1)

[0071] in, It is the current density vector (A / m²). It is the electric field intensity vector (V / m). Represents electrical conductivity.

[0072] In a quasi-static field, the electric field exhibits irrotationality, i.e. Electric field intensity vector It can be expressed as a scalar potential gradient:

[0073] (2)

[0074] in, Let be a vector differential operator, representing the gradient with respect to spatial coordinates.

[0075] The equation for current continuity is as follows:

[0076] (3)

[0077] Substituting equation (1) and the irrotationality of the electric field into equation (3):

[0078] in, Represents charge density, t is time;

[0079] (4)

[0080] If the medium is homogeneous ( If is a constant, then in the three-dimensional Cartesian coordinate system (x,y,z), the governing equation of the current field is:

[0081] (5)

[0082] For a non-homogeneous medium, the governing equation is:

[0083] (6).

[0084] The stimulation patterns of neuromodulation methods rely on precise control of each electrode contact; the matching of positive and negative electrodes is fundamental to achieving these complex patterns. By setting contacts at different locations as positive or negative electrodes, the flow path of current in nerve tissue can be precisely guided. The electrode structure in the system of this invention is as follows: Figure 3 As shown, the control algorithm flow is as follows Figure 4 As shown.

[0085] When the number of positive and negative trigger pulse electrodes is the same in the setting mode, the system adopts a bipolar mode to form a stimulation circuit, with two adjacent contacts serving as the anode (+) and cathode (-), respectively. The power supply is driven by current and voltage parameters, and the initial high and low levels are set by programming timer 1 according to pulse width, while the initial timing value is set by programming timer 2 according to frequency. The current field is confined between the two contacts, resulting in a more concentrated and focused electric field range. This effectively avoids stimulating structures far from the target, minimizing side effects.

[0086] When the number of positive and negative trigger pulse electrodes is different in the setting mode, the system adopts a unipolar mode, with one or more electrode contacts acting as either a cathode (-) or an anode (+). The power supply is driven by current and voltage parameters, and the initial high and low levels of timer / counter 1 are programmed and set according to pulse width. The initial timing value of timer 2 is programmed and set according to frequency. The current field has a wide distribution range and the electric field spreads radially, which can produce stronger and more widespread sensory abnormalities.

[0087] In this invention, the detection feedback of the closed-loop control system is completed through a current and voltage detection algorithm, as follows: Figure 5As shown. Input current and voltage parameters, sample data from positive and negative current and voltage feedback modules, and determine whether the current and voltage meet the configuration requirements; if they meet, output 0; if they do not meet, determine whether they are greater than the preset value; if they are greater than the preset value, output 1; if they do not meet, output -1.

[0088] The algorithm analyzes whether the electrical parameters of the output stimulation pulse meet the preset mode configuration requirements based on the sampling data from the positive and negative current and voltage feedback modules, and marks the results as 0, 1, or -1. 0 represents normal output; 1 represents output higher than the preset value; and -1 represents output lower than the preset value.

[0089] Example 1:

[0090] (1) Simulation experiment of neural modulation method

[0091] This system uses the finite element method to analyze neural modulation methods, including unipolar stimulation and bipolar stimulation.

[0092] Unipolar stimulus experimental conditions:

[0093] Four "+" electrodes are placed near the target area, and one "-" electrode is placed away from the target. Current flows from the "+" electrodes, passes through the target tissue, and then converges at the "-" electrode. The unipolar mode parameters are set as shown in Table 2.

[0094] Table 2:

[0095]

[0096] Qualitative field distribution such as Figure 6 As shown, the experimental results indicate that near the "+" electrode, the current density is highly concentrated, the electric field strength is large and the gradient is steep, and the electric field distribution is relatively asymmetrical.

[0097] Bipolar stimulation experimental conditions:

[0098] Four electrodes of similar size are placed close to each other, with two "+" electrodes placed near the target area and two "-" electrodes placed away from the target. Current flows from the "+" electrodes, passes through the target tissue, and then converges at the "-" electrodes. The bipolar mode parameters are set as shown in Table 3.

[0099] Table 3:

[0100]

[0101] Qualitative field distribution such as Figure 7 As shown, the electric field is confined to the region between the two electrodes. Experimental results show that the current mainly flows in the narrow region between the two electrodes, and the electric field distribution near the two electrodes exhibits symmetrical or antisymmetrical characteristics.

[0102] (2) Experiment on the neural modulation system directly targeting spinal motor neurons

[0103] This embodiment tested the system, and the settings are shown in Table 4. The test results are as follows: Figures 8-17 As shown in the figure. The test results show that the 64-channel neural modulation system can stably output control pulses, with an output current range of 0-17mA, an output operating voltage of 0-3.3V, an output pulse width of 35-8250us, and an output frequency of 2-300Hz.

[0104] According to the control algorithm, the above driving signals can be selected and output through the control signal to achieve arbitrary positive and negative pulse touch.

[0105] Table 4:

[0106]

[0107] It will be understood by those skilled in the art that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A 64-channel neural modulation system for directly targeting spinal motor neurons, characterized in that: The system includes a low-power microprocessor, a power management module, a wireless charging management module, a Bluetooth module, a human-machine interaction module, and an electrode module integrated in the first module; it also includes a 64-channel positive pulse trigger module, a 64-channel negative pulse trigger module, a 64-channel positive current voltage feedback module, and a 64-channel negative current voltage feedback module integrated in the second module; the first module and the second module are connected via a 128-channel control bus and two analog-to-digital converter output signals; The Bluetooth module is synchronously connected to the low-power microprocessor via a serial port. The low-power microprocessor is controlled and connected to a 64-channel positive pulse trigger module and a 64-channel negative pulse trigger module via 64-channel I / O. The output signals of the 64-channel positive pulse trigger module and the 64-channel negative pulse trigger module are respectively connected to the input terminals of the 64-channel positive current voltage feedback module and the 64-channel negative current voltage feedback module. The output terminals of the 64-channel positive current voltage feedback module and the 64-channel negative current voltage feedback module are respectively connected to the AD output terminal of the low-power microprocessor. The input terminal of the power supply management module is connected to the output terminal of the wireless charging receiver module, which is used to transfer the received energy to the charging circuit. The output of the power management module is connected to the battery to charge it. The battery supplies power to all modules in the circuit. The output pin of the step-down and regulated module is connected to the input of the electrode module.

2. The 64-channel neural modulation system for directly targeting spinal motor neurons according to claim 1, characterized in that: The low-power microprocessor is used to perform pattern analysis, data transmission, and control the generation of 64 stimulation signals. The 64-channel positive pulse triggering module is used to generate any positive pulse stimulation signal according to the control requirements of the low-power microprocessor. The 64-channel negative pulse triggering module is used to generate any negative pulse stimulation signal according to the control requirements of the low-power microprocessor. The 64-channel positive current-voltage feedback module is used to sample the intensity of the stimulation signals emitted by the 64-channel positive pulse triggering module to achieve closed-loop control. The 64-channel negative current-voltage feedback module is used to sample the intensity of the stimulation signals emitted by the 64-channel negative pulse triggering module to achieve closed-loop control. The power supply management module provides operating energy for the entire neuromodulation system; the wireless charging management module enables wireless charging of the battery; the Bluetooth module enables wireless data transmission; the human-computer interaction module enables external configuration devices to configure the neuromodulation system's modes; and the electrode module outputs stimulation pulses.

3. A 64-channel neural modulation method for directly targeting spinal motor neurons, characterized in that, Includes the following steps: Step 1: The system working mode is preset through the human-computer interaction module, and then the working mode data is wirelessly transmitted to the low-power microprocessor by the Bluetooth module. The low-power microprocessor receives the data through the UART port. Step 2: The low-power microprocessor configures the result through the operation and analysis mode, and then sends out positive pulse trigger control signals and negative pulse trigger control signals; Step 3: The 64-channel positive pulse triggering module selectively emits positive pulse stimulation signals according to the control signal; the 64-channel negative pulse triggering module selectively emits negative pulse stimulation signals according to the control signal. Step 4: The 64-channel positive current voltage feedback module samples the intensity of the stimulation signal emitted by the 64-channel positive pulse trigger module and sends the sampled signal back to the low-power microprocessor through ADC0; the 64-channel negative current voltage feedback module samples the intensity of the stimulation signal emitted by the 64-channel negative pulse trigger module and sends the sampled signal back to the low-power microprocessor through ADC1. Step 5: The low-power microprocessor enables current and voltage detection to analyze whether the current intensity meets the requirements; if not, return to step 3.

4. The 64-channel neural modulation method for directly targeting spinal motor neurons according to claim 3, characterized in that: In step 2, the computational analysis is achieved through the control algorithm. When two electrodes are placed in a conductive medium and a voltage is applied, a current field is formed in the medium, and the space occupied by the conductive medium between the electrodes forms a field domain. Under the quasi-static approximation, the calculation of the current field is based on electromagnetic field theory, and the differential form of Ohm's law is shown in formula (1): （1） in, It is a current density vector. It is the electric field intensity vector. Represents electrical conductivity; in a quasi-static field, the electric field is irrotational, i.e. Electric field intensity vector Represented as scalar potential gradient: （2） in, For vector differential operators, represents the gradient with respect to spatial coordinates; The equation for current continuity is as follows: （3） Substituting equation (1) and the irrotationality of the electric field into equation (3): in, Represents charge density, t is time; （4） If the medium is homogeneous, If is a constant, then in the three-dimensional Cartesian coordinate system (x,y,z), the governing equation of the current field is: （5） For a non-homogeneous medium, the governing equation is: （6）。 5. A 64-channel neural modulation method for directly targeting spinal motor neurons according to claim 4, characterized in that: By setting the contacts at different positions as positive or negative poles, when the number of positive and negative trigger pulse electrodes in the setting mode is the same, the system adopts bipolar mode to form a stimulation circuit. Two adjacent contacts serve as anode (+) and cathode (-) respectively, driving the power supply according to current and voltage parameters, and configuring the initial high and low levels of timer counter 1 according to pulse width. When the number of positive and negative trigger pulse electrodes in the setting mode is different, the system adopts unipolar mode, with one or more electrode contacts serving as cathode (-) or anode (+).

6. A 64-channel neural modulation method for directly targeting spinal motor neurons according to claim 3, characterized in that, Step 5, current and voltage detection, specifically: input current and voltage parameters, sample data from positive and negative current and voltage feedback modules, and determine whether the current and voltage meet the configuration requirements; if they meet, output 0; if they do not meet, determine whether they are greater than the preset value; if they are greater than the preset value, output 1; if they do not meet, output -1.

7. A 64-channel neural modulation method for directly targeting spinal motor neurons according to claim 6, characterized in that: Based on the sampling data from the positive and negative current and voltage feedback modules, analyze whether the output stimulation pulse electrical parameters meet the preset mode configuration requirements, and mark them as 0, 1, or -1 according to the analysis results; where 0 represents normal output; 1 represents output higher than the preset value; and -1 represents output lower than the preset value.

Images