A brain-spinal interface system

Abstract

Embodiments of the present application disclose a brain-spinal cord interface system. The system can include a first acquisition module, a decoding module, a conversion module, and a stimulation module. The first acquisition module is configured to acquire neural signals of a brain of a target subject to obtain target neural signals representing a movement intention of the target subject. The decoding module is configured to decode the target neural signals to obtain the movement intention. The conversion module is configured to convert the movement intention into target ultrasound stimulation parameters. The stimulation module is configured to stimulate a spinal cord of the target subject based on the target ultrasound stimulation parameters. The technical solution of the embodiments of the present application can better reconstruct the functional connection between the brain and the spinal cord.

Description

Technical Field

[0001] This invention relates to the field of brain-computer interface technology, and more particularly to a brain-spinal cord interface system. Background Technology

[0002] Spinal cord injury (SCI) is a central nervous system injury that disrupts the functional connection between the brain and the spinal cord, preventing the transmission of motor commands from the cerebral cortex and ultimately leading to permanent motor dysfunction. Therefore, rebuilding this functional connection is crucial.

[0003] In the process of realizing this invention, the inventors discovered the following technical problems in the prior art: the functional connection between the brain and spinal cord cannot be reconstructed well, which urgently needs to be solved. Summary of the Invention

[0004] This invention provides a brain-spinal cord interface system that solves the problem of the inability to effectively reconstruct the functional connection between the brain and the spinal cord.

[0005] According to one aspect of the present invention, a brain-spinal cord interface system is provided, which may include a first acquisition module, a decoding module, a conversion module, and a stimulation module; wherein,

[0006] The first acquisition module is used to acquire neural signals from the brain of the target object in order to obtain target neural signals that represent the target object's movement intention.

[0007] The decoding module is used to decode the target neural signals to obtain the motion intention;

[0008] The conversion module is used to convert motion intentions into target ultrasound stimulation parameters;

[0009] The stimulation module is used to perform ultrasound stimulation on the spinal cord of the target subject based on the target ultrasound stimulation parameters.

[0010] Optional, a decoding module, specifically used to decode the target neural signal using a regression model to obtain the motor intention and the intensity of that intention:

[0011] The conversion module is specifically used to convert motion intentions proportionally into target ultrasound stimulation parameters based on the intensity of the intention.

[0012] Optionally, the aforementioned brain-spinal cord interface system may also include a second acquisition module; wherein,

[0013] The second acquisition module is used to acquire the motion results of the target object corresponding to the motion intention during and / or after ultrasound stimulation.

[0014] The motion results are used to adjust the intensity of intent, and the target ultrasound stimulation parameters are adjusted proportionally based on the adjusted intensity of intent.

[0015] Based on this, optionally, a stimulation module is used to perform ultrasound stimulation on the target points pre-marked on the spinal cord of the target object, based on the target ultrasound stimulation parameters, wherein the target points are marked according to the movement part represented by the movement intention.

[0016] The second acquisition module is specifically used to acquire the motion results of the moving parts of the target object during and / or after ultrasound stimulation.

[0017] Based on this, optionally, the first acquisition module is specifically used to acquire neural signals from the region of the target object's brain corresponding to the motor part, so as to obtain the target neural signals representing the motor intention of the motor part.

[0018] Optional, a decoding module, specifically used to decode the target neural signal using a classification model to obtain the motion intent;

[0019] The conversion module is specifically used to determine the target ultrasound stimulation parameters that match the motion intention from multiple preset ultrasound stimulation parameters.

[0020] Optionally, the stimulation module includes a signal generator, a power amplifier, and an ultrasonic transducer; wherein,

[0021] A signal generator is used to generate raw ultrasound signals based on target ultrasound stimulation parameters;

[0022] A power amplifier is used to amplify the original ultrasonic signal to obtain an amplified ultrasonic signal, and the target ultrasonic signal is obtained from the amplified ultrasonic signal.

[0023] An ultrasonic transducer is used to transmit ultrasonic waves to the spinal cord of a target object based on the target ultrasonic signal in order to provide ultrasonic stimulation to the spinal cord.

[0024] Optionally, the stimulation module may also include an impedance matching circuit, which is positioned between the power amplifier and the ultrasonic transducer; wherein,

[0025] Impedance matching circuit is used to perform impedance matching on the amplified ultrasonic signal based on the impedance of the power amplifier and the impedance of the ultrasonic transducer to obtain the target ultrasonic signal.

[0026] Optionally, the first acquisition module includes an acquisition unit and a processing unit; wherein,

[0027] The acquisition unit is used to acquire neural signals from the brain of the target object to obtain raw neural signals that represent the target object's movement intention;

[0028] The processing unit is used to amplify and filter the raw neural signals to obtain the target neural signals representing the motion intention.

[0029] Optionally, based on any of the above-mentioned brain-spinal interface systems, each module in the system is configured outside the target object.

[0030] The technical solution of this invention involves: acquiring neural signals from the brain of a target object using an acquisition module to obtain target neural signals representing the target object's motor intention; decoding the target neural signals using a decoding module to obtain the motor intention; converting the motor intention into target ultrasound stimulation parameters using a conversion module; and stimulating the spinal cord of the target object using ultrasound stimulation parameters using a stimulation module. This technical solution, by constructing an interface driven by motor intention and using focused ultrasound as the information transmission medium, can non-invasively and precisely transmit motor intention and activate neural circuits within the spinal cord, while simultaneously meeting the requirements of non-invasiveness, depth, and precision control. This can effectively rebuild the functional connection between the brain and spinal cord, promoting the recovery of damaged motor function.

[0031] It should be understood that the description in this section is not intended to identify key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a structural block diagram of a brain-spinal cord interface system provided according to an embodiment of the present invention;

[0034] Figure 2 This is a structural block diagram of an example of a brain-spinal cord interface system provided according to an embodiment of the present invention;

[0035] Figure 3 This is a structural block diagram of another brain-spinal cord interface system provided according to an embodiment of the present invention;

[0036] Figure 4 This is a structural block diagram of another brain-spinal cord interface system provided according to an embodiment of the present invention;

[0037] Figure 5This is a schematic diagram of a scenario illustrating another example of a brain-spinal cord interface system provided according to an embodiment of the present invention;

[0038] Figure 6 This is a flowchart illustrating another example of a brain-spinal cord interface system provided according to an embodiment of the present invention. Detailed Implementation

[0039] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0040] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. The same applies to "target," "original," etc., and will not be repeated here. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0041] Before introducing the embodiments of the present invention, a related brain-spinal cord interface system will be described by way of example to better understand why it is unable to reconstruct the functional connection between the brain and the spinal cord.

[0042] For example, the aforementioned brain-spinal cord interface system employs electrical stimulation techniques, particularly non-invasive percutaneous electrical stimulation, to stimulate the spinal cord in an attempt to activate and remodel neural circuits within the spinal cord, thereby reconstructing the functional connection between the brain and the spinal cord. However, because the current diffuses within the tissue, the aforementioned electrical stimulation techniques cannot precisely activate the target neurons in the spinal cord, thus failing to effectively reconstruct the aforementioned functional connection.

[0043] To address this, the brain-spinal cord interface system proposed in this invention employs an ultrasound stimulation protocol to stimulate the spinal cord. Utilizing the excellent tissue penetration and sub-millimeter focusing capability of ultrasound, it can precisely target neurons deep within the spinal cord, thereby effectively reconstructing the aforementioned functional connections and promoting the recovery of damaged motor function. The following section will elaborate on this brain-spinal cord interface system.

[0044] Figure 1 This is a structural block diagram of a brain-spinal cord interface system provided in an embodiment of the present invention. This embodiment is applicable to situations where the functional connection between the brain and spinal cord is reconstructed, and is particularly applicable to situations where the functional connection between the brain and spinal cord is reconstructed after spinal cord injury to restore motor function.

[0045] See Figure 1 The brain-spinal cord interface system described in this embodiment of the invention may include a first acquisition module 10, a decoding module 11, a conversion module 12, and a stimulation module 13; wherein,

[0046] The first acquisition module 10 can be used to acquire neural signals from the brain of the target object in order to obtain target neural signals that represent the target object's movement intention.

[0047] Decoding module 11 can be used to decode the target neural signals to obtain the motion intention;

[0048] Conversion module 12 can be used to convert motion intentions into target ultrasound stimulation parameters;

[0049] Stimulation module 13 can be used to perform ultrasound stimulation on the spinal cord of a target subject based on target ultrasound stimulation parameters.

[0050] The target object can be understood as the object receiving services from the brain-spinal cord interface system. In this embodiment of the invention, optionally, the object can be a patient with motor dysfunction caused by a central nervous system disease, especially a patient with spinal cord injury. Of course, this is related to the actual situation and is not specifically limited here.

[0051] The brain of the target subject is collected by the first acquisition module 10, which collects neural signals, especially the sensorimotor cortex of the brain. In particular, the areas of the sensorimotor cortex related to limb or body movement are collected to confirm the electrophysiological manifestations of neuronal activity in the brain and obtain the target neural signals that characterize the target subject's motor intention. This motor intention can be understood as the target subject's subjective desire to perform a certain limb (such as the upper or lower limb) or body movement. However, after spinal cord injury, this intention cannot be transmitted through normal neural pathways.

[0052] In this embodiment of the invention, the above-mentioned neural signal acquisition process can optionally be implemented in various ways. For example, it can be based on electrophysiological acquisition methods, such as non-invasive electroencephalography (EEG), which collects electrical activity of the cerebral cortex by using an electrode cap worn on the scalp of the target subject; epidural electrocorticography (ECoG), which involves surgically placing an electrode array under the skull and above the dura mater; subdural electrocorticography (SubcoG), which involves surgically placing an electrode array under the dura mater and on the surface of the cerebral cortex; or intracortical microelectrode arrays, which involve surgically implanting microelectrode needles into the cerebral cortex; and so on, without specific limitations. As another example, it can be based on magnetophysiological acquisition methods, such as magnetoencephalography (MEG), a non-invasive method that detects the magnetic field of neural activity using a high-sensitivity sensor in a magnetically shielded room. For example, hemodynamic-based acquisition methods could include functional near-infrared spectroscopy (fNIRS), a non-invasive method that measures blood oxygen levels by monitoring changes in the absorption of near-infrared light in intracranial tissues; functional ultrasound (fUS), a non-invasive monitoring method that uses ultrasound to monitor local cerebral blood flow changes caused by brain activity in real time; and so on. These can be selected according to actual needs and are not specifically limited here.

[0053] Since the intention to move is the starting point for the brain to issue a movement command, but it is interrupted by spinal cord injury, this embodiment of the invention can capture this most original movement command in real time and accurately through the first acquisition module 10, thereby providing the source information basis for all subsequent modules, ensuring that the entire system is driven by the autonomous will of the target object, and thus realizing its movement intention.

[0054] The target neural signal is decoded by the decoding module 11 to obtain the target object's movement intention (e.g., moving the left hand, flexing the left fingers, or raising the right leg). In this embodiment of the invention, optionally, a motion intention decoding model can be used to decode the target neural signal to obtain the motion intention. The motion intention decoding model can be understood as a feature neural model that is processed through a preset training phase to extract and learn the specific motion intention associated with the target object. For example, the feature neural model can be a discrete classification model (e.g., a Linear Discriminant Analysis (LDA) model or a Support Vector Machine (SVM) model), which maps the collected target neural signal to a preset discrete motion intention set in real time, such as distinguishing between resting intention and walking intention; it can be a continuous prediction model (e.g., a regression model or a mixed state model), which can perform real-time and continuous quantitative prediction of motion intention to output continuous change values ​​of motion parameters, such as leg lift height or hip flexion force; it can also be a high-order representation model (e.g., a deep learning model), which performs end-to-end automatic decoding of complex nonlinear neural features; etc., which can be set according to actual needs and are not specifically limited here.

[0055] In this embodiment of the invention, optionally, the decoding module 11 can be implemented by a high-performance computer or a dedicated embedded system. For example, the decoding module 11 functionally includes at least: a local computing unit, which can be an external high-performance computer, a portable computer, or a wearable processing unit; an embedded or implantable unit, which can be a dedicated embedded system, or a fully implantable low-power neuromorphic processor integrated with the first acquisition module 10 or the conversion module 12; and a remote computing unit, which can be a cloud server, with the local device only responsible for acquiring and wirelessly transmitting neural signals.

[0056] The target neural signals are complex and difficult to use directly. Therefore, in this embodiment of the invention, the decoding module 11 translates the target neural signals generated by the brain into machine-understandable and clear motor instructions (i.e., motor intentions) so that subsequent modules can perform ultrasound stimulation on the spinal cord that matches the motor intentions.

[0057] The conversion module 12 transforms abstract motion intention commands into specific and executable target ultrasound stimulation parameters. Specifically, it parses the motion intention into corresponding motion control commands and further converts these commands into target ultrasound stimulation parameters to modulate spinal neural circuits related to the motion intention. In this embodiment, the target ultrasound stimulation parameters can be understood as a set of physical parameters capable of driving the stimulation module 13 to generate specific ultrasound waves. For example, these parameters may be at least one of the following: ultrasound frequency, intensity, pulse repetition frequency, duty cycle, stimulation intensity, stimulation duration, and focal position; no specific limitation is made herein.

[0058] For example, for the intention to dorsiflex the right ankle, the conversion module 12 first queries or calculates the three-dimensional spatial location of the target neural circuit in the spinal cord gray matter corresponding to the motor function. Then, based on the target of neural modulation (such as excitation or inhibition), it searches for or calculates the optimal ultrasound parameters (such as specific frequency and intensity). Based on these three-dimensional spatial locations and ultrasound parameters, it obtains the target ultrasound stimulation parameters. As another example, for the intention to grasp with the right hand, the conversion module 12 maps it to the spinal cord segment controlling the hand muscles (such as the cervical enlargement). Subsequently, based on a preset stimulation scheme, it generates a set of target ultrasound stimulation parameters aimed at activating neurons controlling the flexor muscles in that segment, including the spatial location of the focal point, the temporal pattern of stimulation (such as activating the extensor muscles first and then the flexor muscles), and the sound pressure level.

[0059] In this embodiment of the invention, the conversion module 12 accurately converts the motion intention representing what to do into target ultrasound stimulation parameters representing how to do it. In particular, by utilizing the focusing characteristics of ultrasound, the motion intention is encoded into target ultrasound stimulation parameters containing precise spatial targets and physical energy parameters. This ensures that the subsequent ultrasound stimulation is highly targeted and matches the motion intention, avoiding the non-specific activation problem caused by current diffusion in traditional electrical stimulation schemes, thereby more accurately reconstructing the functional connection between the brain and spinal cord.

[0060] Optionally, if the decoding module 11 uses a classification model to decode the target neural signal to obtain the motor intention, then the conversion module 12 can determine the target ultrasound stimulation parameter matching the motor intention from multiple preset ultrasound stimulation parameters. This is essentially a switch-type brain control strategy. The decoding module 11 acts as a classifier. When it recognizes a discrete motor intention (such as switching from rest intention to walking intention, starting to walk, or stopping walking), it outputs a trigger command representing that motor intention. Then, upon receiving the trigger command, the conversion module 12 immediately retrieves and executes the matching target ultrasound stimulation parameter from multiple preset ultrasound stimulation parameters. The decoding module 11 uses a classification model to act as a high-precision intention recognition switch, clarifying the vague and continuous brain activity of the target object into discrete and operable switch commands. The conversion module 12 acts as a preset program caller. Once it receives the switch command, it immediately retrieves the optimal target ultrasound stimulation parameter from multiple preset ultrasound stimulation parameters, thereby realizing an efficient, robust, and real-time switch-type brain-spinal interface control architecture.

[0061] The spinal cord can be understood as part of the central nervous system of the target object, containing neural circuits that control various motor functions, but due to damage, it is unable to receive motor commands from the brain. In this embodiment of the invention, the stimulation module 13 generates corresponding ultrasound waves based on the target ultrasound stimulation parameters, and transmits ultrasound energy to the spinal cord in a non-invasive manner (i.e., performs ultrasound stimulation on the spinal cord) to regulate the activity of the corresponding neurons (i.e., the target neurons described above) and neural networks in the spinal cord.

[0062] For example, the focused ultrasound transducer array in stimulation module 13 receives target ultrasound stimulation parameters including focal position and intensity parameters. Then, through precise phase control, it generates a focused ultrasound beam that passes non-invasively through skin and muscle tissues, precisely focusing the ultrasound energy onto the motor neurons in the spinal cord gray matter corresponding to the aforementioned focal position that control ankle dorsiflexion, thereby modulating them to achieve right ankle dorsiflexion. As another example, the focused ultrasound transducer array in stimulation module 13 receives target ultrasound stimulation parameters including stimulation timing and intensity. Based on this, it sequentially focuses ultrasound waves onto different locations within the cervical enlargement of the spinal cord according to the stimulation timing, respectively modulating the neural circuits controlling the forearm and hand muscles, thereby simulating the coordinated neural activity pattern required to complete the grasping action and realizing the intention of right-hand grasping.

[0063] The stimulation module 13 in this embodiment of the invention utilizes the excellent tissue penetration and sub-millimeter focusing capability of ultrasound to precisely and non-invasively apply the instructions (i.e., target ultrasound stimulation parameters) generated by the conversion module 12 to the target neurons deep in the spinal cord. By precisely targeting and activating specific spinal cord neural circuits, it bypasses the damaged spinal cord area and reconnects the brain's motor intention to the effectors of the spinal cord, thereby realizing the reconstruction and promotion of recovery of damaged motor function.

[0064] In this embodiment of the invention, optionally, each module in the system is configured outside the target object, thereby enabling non-invasive operation and ensuring operational safety. Furthermore, optionally, the stimulation module 13 can penetrate tissues such as skin, muscles, and vertebrae with ultrasound waves and focus them on a deep functional target point within the spinal cord, thus achieving a combination of non-invasiveness and deep focusing.

[0065] It should be noted that the brain-spinal cord interface system described above can address "interrupted or abnormal neural conduction" not only for traumatic spinal cord injuries, but also has broad applicability to various motor dysfunctions caused by central nervous system diseases, including but not limited to stroke hemiplegia, gait disorders caused by Parkinson's disease, and spastic paralysis caused by various central nervous system injuries. For example, for gait disorders caused by Parkinson's disease, the system is configured to automatically trigger a preset sequence of ultrasound stimulation parameters when it detects a specific initiation intention from the target subject but no actual limb displacement. This applies focused ultrasound at a specific frequency to the motor rhythm generator in the lumbosacral enlargement of the spinal cord, increasing the excitability of the spinal cord motor circuits, assisting the target subject in breaking the frozen state, and thereby inducing an autonomous gait cycle. For example, in regulating spasticity following stroke or traumatic brain injury, the system can achieve inhibitory neural modulation. Specifically, the conversion module 12 controls the stimulation module 13 to output a specific duty cycle or low-frequency pulse signal based on the target subject's intention to relax muscles or contract specific antagonistic muscles. At this time, ultrasound energy is precisely focused on the dorsal horn of the spinal cord or specific inhibitory interneurons. By changing the neuronal membrane potential or synaptic transmission efficiency, excessive stretch reflexes are inhibited, thereby relieving spasticity and reducing muscle tone. And so on, without further specific limitations.

[0066] The technical solution of this invention involves: acquiring neural signals from the brain of a target object using an acquisition module to obtain target neural signals representing the target object's motor intention; decoding the target neural signals using a decoding module to obtain the motor intention; converting the motor intention into target ultrasound stimulation parameters using a conversion module; and stimulating the spinal cord of the target object using ultrasound stimulation parameters using a stimulation module. This technical solution, by constructing an interface driven by motor intention and using focused ultrasound as the information transmission medium, can non-invasively and precisely transmit motor intention and activate neural circuits within the spinal cord, while simultaneously meeting the requirements of non-invasiveness, depth, and precision control. This can effectively rebuild the functional connection between the brain and spinal cord, promoting the recovery of damaged motor function.

[0067] Based on this, in order to more vividly understand the structural composition of the brain-spinal cord interface system described above, we will use... Figure 2 For example, the following optional technical solutions will be used to illustrate the process.

[0068] One optional technical solution is that the stimulation module includes a signal generator, a power amplifier, and an ultrasonic transducer; wherein,

[0069] A signal generator is used to generate raw ultrasound signals based on target ultrasound stimulation parameters;

[0070] A power amplifier is used to amplify the original ultrasonic signal to obtain an amplified ultrasonic signal, and the target ultrasonic signal is obtained from the amplified ultrasonic signal.

[0071] An ultrasonic transducer is used to transmit ultrasonic waves to the spinal cord of a target object based on the target ultrasonic signal in order to provide ultrasonic stimulation to the spinal cord.

[0072] In this context, the signal generator can be understood as the electronic device in the stimulation module responsible for generating the ultrasonic waveform (i.e., the raw ultrasonic signal), and is the source of the ultrasonic waveform. The raw ultrasonic signal can be understood as an electrical signal generated by the signal generator, typically with a specific pulse width and pulse repetition frequency, but with extremely low power. Therefore, it is insufficient on its own to drive the ultrasonic transducer to produce ultrasonic waves with biological effects. The signal generator transforms the abstract target ultrasonic stimulation parameters into specific and precise raw ultrasonic signals, thereby ensuring that the final generated ultrasonic waves fully meet the predetermined requirements in terms of time-domain characteristics (such as pulse width and pulse repetition frequency), providing the most basic waveform guarantee for subsequent precise neural modulation.

[0073] A power amplifier can be understood as an electronic module connected after the signal generator to boost power, such as a radio frequency power amplifier. It is responsible for linearly or nonlinearly amplifying the raw ultrasound signal generated by the signal generator, thereby increasing its power to achieve the required sound intensity for stimulation. Amplifying the ultrasound signal can be understood as the power amplified by the power amplifier being sufficient to drive the ultrasound transducer to generate a strong electrical signal with biological effects. In this technical solution, the raw ultrasound signal power is extremely low and cannot produce any biological effects. The power amplifier, by increasing the power, pushes the system from the information level to the energy level, providing the necessary sound intensity for ultrasound to penetrate tissue and produce effective neuromodulation effects deep in the spinal cord. It is a crucial link connecting signal and effect.

[0074] An ultrasonic transducer can be understood as a device that ultimately converts electrical signals into mechanical sound waves (i.e., ultrasound), serving as the output terminal of the stimulation module. Optionally, it can be a single-channel or multi-channel phased array; it can be a traditional piezoelectric ceramic or a flexible array manufactured using micromachining technology (such as a capacitive micromechanical ultrasonic transducer or a piezoelectric micromechanical ultrasonic transducer); etc., which can be set according to actual needs and are not specifically limited here. The target ultrasonic signal can be understood as the electrical signal that ultimately drives the ultrasonic transducer to generate ultrasound, at least amplified by a power amplifier. It can also be an amplified electrical signal that has undergone impedance matching, etc., and is not specifically limited here. Ultrasound can be understood as a focused mechanical wave generated by the ultrasonic transducer, used for non-invasive stimulation of the spinal cord. The ultrasonic transducer utilizes the piezoelectric effect to efficiently convert electrical energy into mechanical energy (i.e., ultrasound) with excellent tissue penetration and sub-millimeter focusing capability, achieving precise targeting that traditional electrical stimulation methods cannot achieve due to current diffusion. It is a true physical realization of projecting the intention of movement back into the spinal cord and reconstructing functional connections.

[0075] The above technical solution, through the sequential application of a signal generator, a power amplifier, and an ultrasonic transducer, forms a physical closed loop from parameter input to sound wave output. This together ensures that the intention to move can be safely, reliably, and accurately converted into ultrasonic stimulation acting on specific spinal cord nerve circuits, thus laying a solid hardware foundation for the reconstruction of motor function.

[0076] Optionally, the stimulation module may also include an impedance matching circuit, which is positioned between the power amplifier and the ultrasonic transducer; wherein,

[0077] Impedance matching circuit is used to perform impedance matching on the amplified ultrasonic signal based on the impedance of the power amplifier and the impedance of the ultrasonic transducer to obtain the target ultrasonic signal.

[0078] Impedance matching circuits can be understood as passive networks placed between the power amplifier and the ultrasonic transducer. Since ultrasonic transducers (especially piezoelectric ceramics / crystals) typically exhibit complex, highly reactive impedance characteristics, while the standard output impedance of a power amplifier is usually 50 ohms, the core function of the impedance matching circuit is to eliminate impedance mismatch, ensuring maximum energy transfer efficiency from the power amplifier to the ultrasonic transducer, and preventing energy backflow due to reflection, thereby protecting the power amplifier from damage. Specifically, through the impedance matching circuit, the amplified ultrasonic signal (i.e., the amplified but unimpeded electrical signal) is impedance matched according to the impedance of the power amplifier and the impedance of the ultrasonic transducer to obtain the target ultrasonic signal that can be efficiently and safely transmitted to the ultrasonic transducer.

[0079] The above technical solution effectively eliminates impedance mismatch by introducing an impedance matching circuit, which enables the energy of the amplified ultrasound signal to be efficiently transferred to the ultrasound transducer, ensuring that the ultrasound intensity used for neuromodulation is as expected. This not only improves the system's energy efficiency, but more importantly, it protects the core power amplifier, thereby ensuring that the entire stimulation module can operate stably and safely for a long time.

[0080] Another alternative technical solution is that the first acquisition module includes an acquisition unit and a processing unit; wherein,

[0081] The acquisition unit is used to acquire neural signals from the brain of the target object to obtain raw neural signals that represent the target object's movement intention;

[0082] The processing unit is used to amplify and filter the raw neural signals to obtain the target neural signals representing the motion intention.

[0083] In this design, the acquisition unit can be understood as a sensor or electrode that directly contacts the target object to pick up the brain's neural electrical activity. The raw neural signal can be understood as a very weak bioelectrical signal directly acquired by the acquisition unit without any processing, containing a large amount of noise and interference, such as electromyographic interference, power frequency interference, and electrode polarization voltage. The processing unit (or amplification and filtering unit) can be understood as a hardware circuit module connected to the acquisition unit for conditioning and digitizing the raw neural signal. In this technical solution, the processing unit amplifies and filters the raw neural signal, and further performs analog-to-digital conversion to convert the analog bioelectrical signal into a digital signal stream (i.e., the target neural signal) that can be processed by a computer.

[0084] The above technical solution, through the division of labor and cooperation between the acquisition unit and the processing unit, forms a complete closed loop from biological perception to signal preprocessing. This ensures that the neural signals representing motor intentions extracted from the brain, the biological source, can be sent to the subsequent decoding module in a high-fidelity, high-signal-to-noise ratio form. This is the premise and foundation for realizing the core function of spinal ultrasound stimulation driven by motor intention.

[0085] Figure 3 This is a structural block diagram of another brain-spinal cord interface system provided in this embodiment of the invention. This embodiment is based on and optimized from the above-described technical solutions. In this embodiment, optionally, a decoding module is used to decode the target neural signal using a regression model to obtain the motor intention and the intensity of the motor intention; and a conversion module is used to convert the motor intention into target ultrasound stimulation parameters based on the intention intensity, so that the value of the target ultrasound stimulation parameters characterizing the motor intention changes proportionally with the change in intention intensity. The explanations of terms that are the same as or corresponding to those in the above embodiments are not repeated here.

[0086] For details, see Figure 3 The brain-spinal cord interface system described in this embodiment may include a first acquisition module 20, a decoding module 21, a conversion module 22, and a stimulation module 23; wherein,

[0087] The first acquisition module 20 can be used to acquire neural signals from the brain of the target object in order to obtain target neural signals that represent the target object's movement intention;

[0088] The decoding module 21 can be used to decode the target neural signal using a regression model to obtain the motor intention and the intensity of the motor intention;

[0089] The conversion module 22 can be used to convert motion intention into target ultrasound stimulation parameters based on the intensity of intention, so that the value of the target ultrasound stimulation parameters characterizing motion intention changes proportionally with the change in the intensity of intention.

[0090] Stimulation module 23 can be used to perform ultrasound stimulation on the spinal cord of a target subject based on target ultrasound stimulation parameters.

[0091] Compared to classification models that only output discrete categories (i.e., motor intentions), regression models, while outputting discrete variables—motor intentions—can also output continuous variables—intention intensity—to characterize the strength of the motor intention, such as the desired hip flexion speed or the desired leg height. That is, regression models can establish a mapping relationship between input variables (i.e., target neural signals) and continuous output variables (i.e., intention intensity). In this embodiment of the invention, the regression model can optionally be a linear regression model or a support vector machine, etc., which can be selected according to actual needs and is not specifically limited here.

[0092] Intent intensity can be understood as a continuous variable output by decoding module 21 simultaneously with the motor intent. Compared to the classification model, which corresponds to an on / off brain control strategy, the regression model corresponds to a proportional brain control strategy. That is, decoding module 21 acts as a regressor, which can output a continuous variable representing the intensity of intent in real time, and thus can cooperate with the subsequent conversion module 22 to proportionally convert the motor intent.

[0093] Specifically, the decoding module 21 uses a regression model to decode the target neural signal to obtain the corresponding motor intention and its intensity. For example, a regression model is pre-trained to map specific characteristics of cortical neural signals (such as spike firing rate) into a continuously varying numerical value. Then, when the decoding module 21 receives the target neural signal, the regression model can not only identify the intention to flex the right leg at the hip, but also calculate the intensity of this intention as 0.7 (assuming 0 represents the weakest and 1 represents the strongest), indicating that the target object expects to flex the hip with moderate to high force.

[0094] In this embodiment of the invention, by using a regression model for decoding, it no longer only informs the system of the motion intention (i.e., what kind of motion is expected to be performed), but further informs the system of the intensity of its intention (i.e., the degree to which the motion is expected to be performed). This is equivalent to adding a continuous, analog dimension to the expression of motion intention, so that the system can capture richer and more subtle changes in motion intention, thereby providing a key information foundation for the subsequent realization of more natural and refined motion control.

[0095] Through the conversion module 22, the intention intensity can be used as a basis to convert the movement intention into target ultrasound stimulation parameters, so that the value of the target ultrasound stimulation parameters characterizing the movement intention changes proportionally with the change in intention intensity. This realizes a kind of analog modulation function, allowing the target object to have more natural and finer control over the intention intensity. For example, the conversion module 22 receives the movement intention of right leg hip flexion and the intention intensity of 0.7. It has a preset linear mapping relationship between intention intensity and ultrasound sound pressure (e.g., intention intensity 0 corresponds to 0.5 MPa and 1.0 corresponds to 1.5 MPa). Based on this linear mapping relationship, the ultrasound sound pressure value of 1.2 MPa is calculated, and it is combined with other fixed parameters (e.g., frequency 0.5 MHz and focus located in the anterior horn of the L2 segment of the spinal cord) to form the target ultrasound stimulation parameters and output them.

[0096] In this embodiment of the invention, by mapping the continuously changing amplitude information (i.e., the intensity of the intention) in motion to the physical parameters of ultrasound stimulation (i.e., the target ultrasound stimulation parameters) in real time, linearly or nonlinearly, it means that the target object can directly fine-tune the intensity of ultrasound stimulation acting on its spinal cord by naturally enhancing or weakening its motion intention, thereby enabling more refined control over the final motion.

[0097] The technical solution of this invention, through the organic combination of regression model and proportional change, completely changes the interaction mode of brain-spinal cord interface, enabling the target object to finely control the intensity of ultrasound stimulation by adjusting the intensity of intent, just like controlling its own healthy limbs or body. This achieves continuous and natural regulation of the intensity of intent, and provides a key technical path for restoring fine and coordinated motor function.

[0098] Figure 4 This is a structural block diagram of another brain-spinal cord interface system provided by an embodiment of the present invention. This embodiment is an optimization based on the above-mentioned technical solutions. Optionally, in this embodiment, the brain-spinal cord interface system may further include a second acquisition module; wherein the second acquisition module is used to acquire the motion results corresponding to the motion intention of the target object during and / or after ultrasound stimulation, wherein the motion results are used to adjust the intensity of the intention, and the values ​​of the target ultrasound stimulation parameters are adjusted proportionally based on the adjusted intensity of the intention. The explanations of terms that are the same as or corresponding to those in the above embodiments will not be repeated here.

[0099] For details, see Figure 4 The brain-spinal cord interface system described in this embodiment may include a first acquisition module 30, a decoding module 31, a conversion module 32, a stimulation module 33, and a second acquisition module 34; wherein,

[0100] The first acquisition module 30 can be used to acquire neural signals from the brain of the target object in order to obtain target neural signals that represent the target object's movement intention;

[0101] The decoding module 31 can be used to decode the target neural signal using a regression model to obtain the motor intention and the intensity of the motor intention;

[0102] The conversion module 32 can be used to convert motion intentions proportionally into target ultrasound stimulation parameters based on the intensity of the intention.

[0103] Stimulation module 33 can be used to perform ultrasound stimulation on the spinal cord of a target object based on the target ultrasound stimulation parameters;

[0104] The second acquisition module 34 can be used to acquire the motion results of the target object corresponding to the motion intention during and / or after ultrasound stimulation. The motion results are used to adjust the intensity of the intention and proportionally adjust the value of the target ultrasound stimulation parameters based on the adjusted intensity of the intention.

[0105] The second acquisition module can be understood as a hardware device or component used to acquire the stimulus effect (i.e., the motion result corresponding to the motion intention). In the embodiments of the present invention, it may be, for example, at least one of the following: an electromyography (EMG) sensor attached to the relevant muscle groups of the limb or torso of the target object, an inertial measurement unit strapped to the joint, a high-speed motion capture system, and a pressure sensor or force platform placed on the sole of the foot. This can be selected according to the actual situation and is not specifically limited here.

[0106] The motion results can characterize the objectively measurable limb or body movements actually induced by ultrasound stimulation. During and / or after the application of ultrasound stimulation, the second acquisition module 34 can collect the motion results to detect whether the target object produces movement corresponding to the motion intention and intensity. Based on this, if the detection determines that the stimulation effect is poor (i.e., the actual intention intensity is too high or too low), the intention intensity can be adjusted manually or automatically. Then, the value of the target ultrasound stimulation parameter is adjusted proportionally based on the adjusted intention intensity, thereby realizing intelligent adaptive closed-loop control. In this embodiment of the invention, optionally, for manually adjusting the intention intensity, it can be understood that the target object can try to enhance the motion intention in the next ultrasound stimulation cycle, and then the system can use a proportional brain control strategy to proportionally adjust the value of the target ultrasound stimulation parameter, thereby realizing adaptive closed-loop control driven by the target object.

[0107] The technical solution of this invention incorporates a second acquisition module to take into account the key information of ultrasonic stimulation-stimulation effect (i.e., movement result). This allows the target object to actively adjust (i.e., strengthen or weaken) its movement intention based on the actual stimulation effect. Through proportional conversion of the system, fine-tuning of the ultrasonic stimulation intensity is achieved. This enables repeated paired training of movement intention-ultrasonic stimulation-stimulation effect perception-movement intention adjustment, which can effectively induce neural plasticity and lay a solid foundation for the long-term recovery of the target object's motor function.

[0108] An optional technical solution is a stimulation module, specifically used to perform ultrasound stimulation on a target point pre-marked on the spinal cord of a target object, based on the target ultrasound stimulation parameters, wherein the target point is marked according to the movement part represented by the movement intention.

[0109] The second acquisition module is specifically used to acquire the motion results of the moving parts of the target object during and / or after ultrasound stimulation.

[0110] In this context, the target point can be understood as the spatial location on the spinal cord of the target subject, marked according to the imaging results after precise imaging of the spinal cord using imaging equipment before or during treatment, corresponding to the motor function to be restored. This spatial location corresponds to the motor part represented by the intended movement, which can be understood as the limb or body part of the target subject where movement is expected to occur. For example, for patients with upper limb paralysis, the target point is on the cervical enlargement of the spinal cord; for patients with lower limb paralysis, the target point is on the lumbosacral greater vertebrae of the spinal cord.

[0111] Based on this, the stimulation module is used to apply ultrasound stimulation to the target point, and then the second acquisition module is used to collect the motion results of the corresponding motor parts. The advantage of this setup is that by pre-calibrating the target point, it is ensured that the ultrasound energy is precisely applied to the anatomical structures related to the specific motor intention. Based on this, the motion results are collected for specific motor parts, ensuring that the system perceives the direct stimulation effect. This makes the loop of motor intention-ultrasound stimulation-motor feedback anatomically and functionally closed, thus providing a solid technical guarantee for in-depth research on the function of specific neural circuits, the development of highly individualized and precise rehabilitation programs, and the ultimate realization of the fine reconstruction of complex motor functions.

[0112] Based on this, optionally, the first acquisition module can be used to acquire neural signals from the region of the target object's brain corresponding to the motor part, so as to obtain the target neural signals representing the motor intention of the motor part.

[0113] In this context, "region" can be understood as the functional area on the sensorimotor cortex of the brain that corresponds to the motor part, and in particular, it can be understood as the functional area responsible for planning, controlling, and controlling the movement of the motor part.

[0114] In this technical solution, based on the topological map of the sensorimotor cortex, it can be seen that different body parts are represented in different locations within the sensorimotor cortex. For example, the motor function of the lower limbs is mainly controlled by the anterior part of the paracentral lobule on the medial surface of the cerebral hemisphere, while the motor function of the upper limbs is controlled by the cortical region on the lateral side of the brain. Therefore, the first acquisition module can be used to acquire neural signals from these regions to obtain target neural signals representing the target object's intention to move the motor part. For example, when the system expects to regulate the right hand, the first acquisition module focuses on acquiring neural signals located near the C3 and C4 electrode points in the cerebral cortex (i.e., the upper limb motor representation area).

[0115] The aforementioned technical solution spatially unifies the three stages of neural signal acquisition, ultrasound stimulation, and stimulation effect feedback through the motor site. This precise spatial correspondence of the three-in-one system enables the entire brain-spinal cord interface to form a complete, functionally specific closed-loop circuit. This ensures that the entire process, from the generation of motor intention to the activation of the spinal cord neural circuit, to the movement of the motor site, and finally to the regulation of motor intention through feedback, takes place on a highly homogeneous neural pathway targeting the same motor function (i.e., the same motor site). This design respects the inherent neuroanatomy and functional organization of the organism to the greatest extent possible, enabling the efficient induction of neural plasticity through repeated pairing of motor intention and spinal cord neural circuit activation, ultimately achieving long-term and natural biological functional recovery for the target subject.

[0116] Based on this, in order to better understand the above technical solutions as a whole, the following example of lower limb motor function recovery based on the above brain-spinal cord interface system will be used to illustrate them.

[0117] For example, see Figure 5 In this example, a typical scenario involves a first acquisition module (100) acquiring the patient's neural signals, such as electroencephalogram (EEG) signals, with a decoding and conversion module (200) processing them alongside. A stimulation module (300) is fixed and aligned with the patient's lumbosacral spinal cord, while a second acquisition module, such as an EMG sensor (400), is attached to the leg. Based on this, see [further details omitted]. Figure 6 The specific implementation process of this example is as follows:

[0118] Step 1: System initialization and target calibration

[0119] Before treatment begins, the patient assumes the treatment position. The operator uses image-guided scanning equipment such as ultrasound, computed tomography (CT), or magnetic resonance imaging (MRI) to scan the patient's spinal cord and, based on neuroanatomical knowledge, identifies the functional targets within the spinal cord that need to be modulated. In this example, since the motor function to be restored is lower limb motor function, the corresponding target is the lumbosacral enlargement region.

[0120] Step 2: Real-time acquisition of EEG signals

[0121] The system starts. The first acquisition module (100) begins to continuously acquire the EEG signals of the patient's sensorimotor cortex, and after amplification, filtering and analog-to-digital conversion, transmits them in real time to the decoding and conversion module (200).

[0122] Step 3: Real-time decoding of motion intent

[0123] The decoding section of the decoding and conversion module (200) analyzes the received EEG signal stream frame by frame and determines the patient's current motor intention in real time by using a pre-trained classification or regression model. The specific implementation of step 3 varies depending on the selected control strategy.

[0124] (a) In the on / off brain control strategy, real-time EEG signals are classified into predefined discrete motor intentions, such as rest intentions or walking intentions.

[0125] (b) In the proportional brain control strategy, real-time EEG signals are decoded into motor intentions and continuous variables representing the intensity of the intentions.

[0126] The decoding result obtained through the control strategy is immediately output to step 4. If the decoding result indicates a rest intention or the intention strength is zero, the process returns to step 2 to continue monitoring.

[0127] Step 4: Convert ultrasound stimulation parameters

[0128] Once motion intent is detected in step 3, the conversion section in the decoding and conversion module (200) immediately generates a complete set of executable target ultrasound stimulation parameters and outputs them to the stimulation module (300).

[0129] Step 5: Drive ultrasound stimulation

[0130] The stimulation module (300) immediately generates corresponding ultrasound signals based on the received target ultrasound stimulation parameters, and then drives the transducer array to emit ultrasound waves. These beams non-invasively penetrate the skin, muscles, and vertebrae of the patient's back and are precisely focused on the target points marked in step 1. The high-intensity ultrasound energy at the focal point activates the target neurons, thereby stimulating the spinal cord circuits to generate motor commands.

[0131] Step 6: Collect motion data and evaluate performance

[0132] Simultaneously with or shortly after the application of ultrasound stimulation in step 5, an EMG sensor (400) monitors whether the patient's leg produces the intended lower limb movement. If detected, but the EMG signal is weak, the patient can attempt to enhance the movement intention in the next cycle, thereby automatically adjusting the target ultrasound stimulation parameters in step 4 through a proportional brain control strategy to enhance neuroplasticity and achieve long-term, biological functional recovery.

[0133] The above example, by using focused ultrasound as the information transmission medium between decoding motor intentions and stimulating spinal cord neural circuits, fundamentally solves the defects of high invasiveness, low accuracy and shallow stimulation depth of electrical stimulation methods, and provides a safe, accurate and deeply targeted brain-spinal cord interface solution.

[0134] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A brain-spinal cord interface system, characterized in that, It includes a first acquisition module, a decoding module, a conversion module, and a stimulation module; among which, The first acquisition module is used to acquire neural signals from the brain of the target object in order to obtain target neural signals that characterize the movement intention of the target object; The decoding module is used to decode the target neural signal to obtain the motion intention; The conversion module is used to convert the motion intention into target ultrasound stimulation parameters; The stimulation module is used to perform ultrasound stimulation on the spinal cord of the target object based on the target ultrasound stimulation parameters.

2. The system according to claim 1, characterized in that, The decoding module is specifically used to decode the target neural signal using a regression model to obtain the motor intention and the intensity of the motor intention: The conversion module is specifically used to convert the motion intention into target ultrasound stimulation parameters based on the intensity of the intention, so that the value of the target ultrasound stimulation parameters characterizing the motion intention changes proportionally with the change in the intensity of the intention.

3. The system according to claim 2, characterized in that, It also includes a second acquisition module; among which, The second acquisition module is used to acquire the motion results of the target object corresponding to the motion intention during and / or after ultrasound stimulation. The motion result is used to adjust the intensity of the intention, and the value of the target ultrasound stimulation parameter is adjusted proportionally based on the adjusted intensity of the intention.

4. The system according to claim 3, characterized in that, The stimulation module is specifically used to perform ultrasound stimulation on a pre-marked target point on the spinal cord of the target object based on the target ultrasound stimulation parameters, wherein the target point is marked according to the movement part represented by the movement intention; The second acquisition module is specifically used to acquire the motion results of the moving parts of the target object during and / or after ultrasound stimulation.

5. The system according to claim 4, characterized in that, The first acquisition module is specifically used to acquire neural signals from the region of the target object's brain corresponding to the motor part, so as to obtain target neural signals that characterize the motor intention of the motor part.

6. The system according to claim 1, characterized in that, The decoding module is specifically used to decode the target neural signal using a classification model to obtain the motion intention; The conversion module is specifically used to determine the target ultrasound stimulation parameter that matches the motion intention from a plurality of preset ultrasound stimulation parameters.

7. The system according to claim 1, characterized in that, The stimulation module includes a signal generator, a power amplifier, and an ultrasonic transducer; wherein... The signal generator is used to generate a raw ultrasound signal based on the target ultrasound stimulation parameters; The power amplifier is used to amplify the original ultrasonic signal to obtain an amplified ultrasonic signal, and to obtain the target ultrasonic signal based on the amplified ultrasonic signal. The ultrasonic transducer is used to emit ultrasonic waves to the spinal cord of the target object based on the target ultrasonic signal, so as to provide ultrasonic stimulation to the spinal cord.

8. The system according to claim 7, characterized in that, The stimulation module further includes an impedance matching circuit, which is disposed between the power amplifier and the ultrasonic transducer; wherein... The impedance matching circuit is used to perform impedance matching on the amplified ultrasonic signal according to the impedance of the power amplifier and the impedance of the ultrasonic transducer to obtain the target ultrasonic signal.

9. The system according to claim 1, characterized in that, The first acquisition module includes an acquisition unit and a processing unit; wherein, The acquisition unit is used to acquire neural signals from the brain of the target object to obtain raw neural signals that characterize the movement intention of the target object. The processing unit is used to amplify and filter the original neural signal to obtain a target neural signal that represents the motion intention.

10. The system according to any one of claims 1-9, characterized in that, Each module in the system is configured outside the target object.

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