Brain-machine interface control system and control method

Abstract

This application relates to a brain-computer interface (BCI) control system and method. Its wireless power supply transmitter transmits energy through the skin at a frequency of 6.78MHz via magnetic resonance coupling to an implantable BCI controller (ICU) within the body. This allows the ICU to power an implantable brain signal acquisition unit (NRU) and an implantable spinal nerve stimulator (NSU) based on the received energy, enabling wireless power supply to implantable medical devices such as the NRU and NSU. Furthermore, the external BCI controller (ECU) and the implantable ICU communicate wirelessly for motion feedback and control, achieving a closed-loop control system of "perception-decision-feedback-adjustment," thereby improving the accuracy and adaptability of motion control.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a brain-computer interface control system and control method. Background Technology

[0002] Brain-computer interface technology is a direct communication pathway connecting the brain to external devices, and it has great application potential in fields such as spinal cord injury rehabilitation and treatment of motor dysfunction.

[0003] In traditional technologies, brain-computer interface control systems typically deliver stimuli based on preset parameters or trigger actions solely based on simple EEG signal thresholds, lacking real-time perception of the actual movement status of the limbs. Once the patient's posture changes, muscles become fatigued, or neural plasticity changes, the preset parameters become inapplicable, leading to decreased control precision and even erroneous movement commands. Summary of the Invention

[0004] Therefore, it is necessary to provide a brain-computer interface control system and control method to address the aforementioned technical problems.

[0005] In a first aspect, this application provides a brain-computer interface control system, the system comprising an implantable subsystem implanted within the body and a brain-computer interface subsystem located outside the body. The implantable subsystem includes an implantable brain-computer interface controller, an implantable brain signal acquisition device, and an implantable spinal nerve stimulator connected to the implantable brain-computer interface controller. The brain-computer interface subsystem includes an electrically connected wireless power supply transmitter and an external brain-computer interface controller; the external brain-computer interface controller is wirelessly connected to the implantable brain-computer interface controller. The wireless power supply transmitter is used to transmit energy to the implantable brain-computer interface controller at a frequency of 6.78MHz under the drive of the external brain-computer interface controller, so that the implantable brain-computer interface controller can supply power to the implantable brain signal acquisition device and the implantable spinal cord nerve stimulator according to the energy. The implantable brain signal acquisition device is used to acquire brain signals and send them to the implantable brain-computer interface controller. The implantable brain-computer interface controller forwards the brain signals to the external brain-computer interface controller via wireless communication. The external brain-computer interface controller is used to decode the EEG signal to obtain the movement intention, and perform fusion analysis with the collected movement posture data. When it is determined that the movement is suitable, a stimulation command is generated, and the stimulation command is sent to the implanted brain-computer interface controller via wireless communication. The implantable brain-computer interface controller is used to drive the implantable spinal cord stimulator to generate electrical stimulation according to the stimulation command. The external brain-computer interface controller is also used to acquire the actual motor state after electrical stimulation, and if the deviation between the actual motor state and the motor intention exceeds a set threshold, adjust and regenerate the stimulation command, and return to execute sending the stimulation command to the implanted brain-computer interface controller via wireless communication.

[0006] In one embodiment, the external brain-computer interface controller includes a core processing module and a sensor module and a wireless transceiver module connected to the core processing module. The sensor module integrates a posture sensor for collecting first motion posture data. The wireless transceiver module is used to establish a wireless communication connection with the implantable brain-computer interface controller. The core processing module receives the electroencephalogram (EEG) signals transmitted by the implantable brain-computer interface controller through the wireless communication connection, decodes the EEG signals to obtain the motion intention, and performs fusion analysis in conjunction with the first motion posture data collected by the sensor module to determine whether the current state is suitable for exercise. If the exercise is deemed suitable, a stimulation command is generated and sent to the implantable brain-computer interface controller through the wireless communication connection, so that the implantable brain-computer interface controller drives the implantable spinal cord stimulator to generate electrical stimulation according to the stimulation command. The sensor module is also used to monitor first motion state data after electrical stimulation. The core processing module is also used to adjust and regenerate the stimulation command if the deviation between the actual motion state and the motion intention exceeds a set threshold based on the first motion state data.

[0007] In one embodiment, the external brain-computer interface controller further includes a power management module and a multi-functional interface module, which are electrically connected to the core processing module respectively. The power management module is used to manage the power supply of the system; the multi-functional interface module is also connected to the power management module and is used to transmit working power to the wireless power supply transmitter or to supply power to external electronic devices.

[0008] In one embodiment, the external brain-computer interface controller further includes a human-computer interaction module connected to the core processing module. The human-computer interaction module integrates an audio output unit and a display unit. The display unit is used to display the system's operating status. The core processing module is also used to generate an alarm command when it is determined that the exercise is not suitable. The audio output unit is used to issue a voice alarm based on the alarm command.

[0009] In one embodiment, the wireless transceiver module is also used to communicate with an external cloud server, provided that an authorization is obtained.

[0010] In one embodiment, the implantable brain-computer interface controller integrates a gyroscope, which is used to collect second motion posture data and second motion state data after electrical stimulation, and feeds back the collected data to the external brain-computer interface controller via a wireless communication connection; the core processing module in the external brain-computer interface controller performs fusion analysis based on the motion intention and the first and second motion posture data to determine whether the current state is suitable for movement; and determines the actual motion state based on the first and second motion state data.

[0011] In one embodiment, the communication protocol used for the wireless communication includes at least one of UWB, WiFi, BLE / BT, LORA, NB_IoT, Zigbee, 4G / 5G, proprietary 2.4G, and StarScan.

[0012] Secondly, this application also provides a control method based on the above-mentioned brain-computer interface control system, the method comprising: The implantable brain signal acquisition device acquires brain signals and sends them to the implantable brain-computer interface controller; The implantable brain-computer interface controller forwards the EEG signals to the external brain-computer interface controller via wireless communication. The external brain-computer interface controller decodes the EEG signal to obtain the movement intention, and performs fusion analysis with the collected movement posture data. When it is determined that the movement is suitable, it generates a stimulation command and sends the stimulation command to the implanted brain-computer interface controller via wireless communication. The implantable brain-computer interface controller drives the implantable spinal nerve stimulator to generate electrical stimulation according to the stimulation command. The external brain-computer interface controller also acquires the actual movement state after electrical stimulation, compares the actual movement state with the movement intention to obtain the deviation, and if the deviation exceeds a set threshold, adjusts and regenerates the stimulation command, and returns to execution to send the stimulation command to the implanted brain-computer interface controller via wireless communication.

[0013] In one embodiment, the method further includes: generating an alarm command when it is determined that the exercise is not suitable, and issuing a voice alarm according to the alarm command.

[0014] In one embodiment, the method further includes: recording log data and returning to the step of acquiring EEG signals if it is determined that the deviation does not exceed a set threshold.

[0015] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method.

[0016] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0017] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described method.

[0018] The aforementioned brain-computer interface control system and method utilize a wireless power supply transmitter that transmits energy through the skin at a frequency of 6.78MHz via magnetic resonance coupling to the implantable brain-computer interface controller (ICU). This allows the ICU to power the implantable brain signal acquisition unit (NRU) and the implantable spinal nerve stimulator (NSU) based on the received energy, enabling wireless power supply to these implantable medical devices. Furthermore, the external brain-computer interface controller (ECU) and the implantable ICU communicate wirelessly for motion feedback and control, achieving a closed-loop control system of "perception-decision-feedback-adjustment," thereby improving the accuracy and adaptability of motion control. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the brain-computer interface control system in one embodiment.

[0021] Figure 2 This is a schematic diagram of the internal structure of an external brain-computer interface controller in one embodiment.

[0022] Figure 3 This is a schematic diagram of the power supply process of the wireless power supply transmitter in one embodiment.

[0023] Figure 4 This is a flowchart illustrating a brain-computer interface control method in one embodiment.

[0024] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0025] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0026] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0027] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0028] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0029] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0030] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0031] In one exemplary embodiment, a brain-computer interface control system is provided, such as Figure 1 As shown, the system includes an implantable subsystem 100 implanted in the body and a brain-computer interface subsystem 200 located outside the body.

[0032] The implantable subsystem 100 includes an implantable brain-computer interface controller ICU, an implantable brain signal acquisition unit NRU, and an implantable spinal nerve stimulator NSU connected to the implantable brain-computer interface controller ICU.

[0033] The brain-computer interface subsystem 200 includes an electrically connected wireless power transmitter and an external brain-computer interface controller ECU. The external brain-computer interface controller ECU is wirelessly connected to the implantable brain-computer interface controller ICU. The wireless communication can support multi-protocol converged communication, and the communication protocols used include, but are not limited to, at least one of UWB, WiFi, BLE / BT, LoRa, NB-IoT, Zigbee, 4G / 5G, proprietary 2.4G, and StarFlash.

[0034] For example, the wireless power supply transmitter, driven by the external brain-computer interface controller (ECU), transmits energy through the skin at a frequency of 6.78 MHz via magnetic resonance coupling to the implantable brain-computer interface controller (ICU) within the body. This allows the ICU to power the implantable brain signal acquisition unit (NRU) and the implantable spinal nerve stimulator (NSU) based on the received energy, thus enabling wireless power supply to implantable medical devices such as the NRU and NSU. Furthermore, the wireless power supply transmitter can also serve as a communication relay station, enhancing the signal transmission stability between the in-body ICU and the external ECU, and addressing the issue of high-frequency signal attenuation in human tissue.

[0035] The implantable brain signal acquisition unit (NRU) can be encapsulated in biocompatible materials and implanted into the dura mater of the motor cortex of both lower limbs. The NRU can incorporate a multi-channel electrode array for acquiring multi-channel EEG signals, such as high signal-to-noise ratio local field potentials and high-frequency gamma wave signals. The acquired analog signals are amplified by an internal low-noise amplifier and converted to digital signals with high precision before being sent to the implantable brain-computer interface controller in the ICU.

[0036] The implantable brain-computer interface controller ICU serves as the central hub of the implantable subsystem 100. The ICU contains a magnetic resonance receiving coil, a rectifier and filter circuit, a power management unit, and a bidirectional wireless communication module. On one hand, it can receive EEG data from the NRU and forward it to the external brain-computer interface controller ECU; on the other hand, it can receive stimulation commands from the ECU and forward them to the NSU. In this embodiment, the ICU may also integrate a miniature gyroscope (or accelerometer) to monitor minute vibrations or positional changes near the implantation site, supplementing the external sensors to provide more accurate in vivo motion feedback.

[0037] The implantable spinal nerve stimulator (NSU) receives stimulation commands forwarded from the ICU and delivers electrical pulses of specific frequency, pulse width, and amplitude to the dorsal or ventral root of the spinal cord via electrodes to activate descending motor pathways and induce lower limb muscle contractions.

[0038] The external brain-computer interface controller (ECU) acts as the intelligent brain of the brain-computer interface control system. It decodes the EEG signals relayed from the ICU to obtain the motor intention, and performs fusion analysis with the collected motor posture data. When suitable movement is determined, it generates stimulation commands and sends them to the ICU via wireless communication. The ICU then drives the implanted spinal nerve stimulator (NSU) to generate electrical stimulation based on the stimulation commands. The ECU also acquires the actual motor state after electrical stimulation. If the deviation between the actual motor state and the motor intention exceeds a set threshold, it adjusts and regenerates the stimulation commands, then returns to the ICU for execution via wireless communication, achieving a closed-loop control system of "perception-decision-feedback-adjustment."

[0039] In the aforementioned brain-computer interface control system, its wireless power supply transmitter transmits energy through the skin at a frequency of 6.78MHz via magnetic resonance coupling to the implantable brain-computer interface controller ICU. This allows the ICU to power the implantable brain signal acquisition unit (NRU) and the implantable spinal nerve stimulator (NSU) based on the received energy, thus enabling wireless power supply to implantable medical devices such as the NRU and NSU. Furthermore, the external brain-computer interface controller ECU and the implantable brain-computer interface controller ICU communicate wirelessly for motion feedback and control, achieving a closed-loop control system of "perception-decision-feedback-adjustment," thereby improving the accuracy and adaptability of motion control.

[0040] In one exemplary embodiment, such as Figure 2 As shown, the external brain-computer interface controller (ECU) may include a core processing module (such as an ECU core processing module) and a sensor module and a wireless transceiver module connected to the core processing module.

[0041] The sensor module integrates a posture sensor (such as a six-axis or nine-axis gyroscope or accelerometer) to collect first motion posture data in real time, namely the motion posture of the patient's torso and the wearing part, such as standing, sitting, fall detection, etc.

[0042] The wireless transceiver module is used to establish a wireless communication connection with the implantable brain-computer interface controller ICU. For example, a proprietary 2.4G or UWB protocol can be used to establish a wireless communication connection with the implantable brain-computer interface controller ICU, thereby ensuring low latency (e.g., keeping the latency within 10ms) and high security in communication with the ICU.

[0043] In one scenario, the wireless transceiver module is also used to communicate with external cloud servers, provided that authorization is obtained, such as uploading encrypted data to the cloud for model training or remote medical monitoring.

[0044] The core processing module integrates a high-performance NPU (Neural Processing Unit), large-capacity DDR memory, and Flash storage. It can run large-scale brain-computer interface (BCI) decoding models (such as temporal models based on the Transformer architecture). This module is responsible for decoding motor intentions in real time and adjusting strategies based on feedback. For example, the core processing module can receive EEG signals transmitted by the implantable brain-computer interface controller ICU via wireless communication, decode the EEG signals to obtain the motor intention, and perform fusion analysis with the first motor posture data collected by the sensor module to determine whether the current state is suitable for movement. If it is determined that the movement is suitable, it generates a stimulation command and sends the stimulation command to the implantable brain-computer interface controller ICU via wireless communication, so that the implantable brain-computer interface controller ICU can drive the implantable spinal cord stimulator NSU to generate electrical stimulation according to the stimulation command.

[0045] The sensor module also monitors the initial motion state data after electrical stimulation. The core processing module further adjusts and regenerates the stimulation command if the deviation between the actual motion state and the intended motion exceeds a set threshold, based on the initial motion state data. This achieves feedback-based closed-loop motion control, improving control accuracy and adaptability.

[0046] In one exemplary embodiment, the implantable brain-computer interface controller (BCI) can also integrate a gyroscope within the ICU. This gyroscope is used to collect second motion posture data and second motion state data after electrical stimulation, and feeds back the collected data to the external BCI controller ECU via a wireless communication connection. The core processing module in the external BCI controller ECU then performs a fusion analysis based on the motion intention, combining the first and second motion posture data to determine whether the current state is suitable for movement; and determines the actual motion state based on the first and second motion state data. It monitors the motion state in real time through dual-sensor fusion (i.e., the gyroscope outside the ECU and the gyroscope inside the ICU) and compares the actual motion data with the brain's intention in real time. Once a deviation is detected (such as insufficient stimulation intensity leading to leg lifting failure), the system can automatically adjust the stimulation parameters in milliseconds. This adaptive correction mechanism ensures the accuracy of motion execution.

[0047] In one exemplary embodiment, the aforementioned external brain-computer interface controller may further include a power management module and a multi-functional interface module, both electrically connected to the core processing module. The power management module may have a built-in or external high-capacity lithium battery, featuring overcharge and over-discharge protection and dual-power supply switching capabilities, and can be used to manage the system's power supply. Its size and weight are comparable to common mobile WiFi devices on the market, combining portability, security, and long battery life.

[0048] The multi-functional interface module also connects to the power management module, which features fast charging and power supply to the wireless power transmitter. It can be used to transmit operating power to the wireless power transmitter and provide emergency power to external electronic devices such as mobile phones. It can also be used for after-sales troubleshooting, eliminating the need for disassembly and significantly reducing maintenance costs.

[0049] In one exemplary embodiment, the external brain-computer interface controller may further include a human-computer interaction module connected to the core processing module. This human-computer interaction module integrates an audio output unit and a display unit. The display unit displays the system's operating status, such as battery level, signal strength, and current decoding intent, allowing the user to understand the system's operating status in real time. The audio output unit issues voice alarms based on alarm commands generated by the core processing module when it determines that movement is unsuitable (e.g., dangerous posture), to promptly remind the user.

[0050] In one exemplary embodiment, the power supply process of the wireless power transmitter can be as follows: Figure 3 As shown, it includes: Step S1: The wireless power transmitter responds to the initial driving voltage and starts wireless power transmission.

[0051] The initial driving voltage can be a voltage set during the initial wearing phase of the brain-computer interface subsystem to ensure the activation of the implantable brain-computer interface controller ICU. Specifically, the wireless power transmitter responds to this initial driving voltage and initiates wireless power transmission. For example, the transmitter's main control module can control the adjustable power module to output a lower initial driving voltage (e.g., 5V) to initiate 6.78MHz energy transmission. At this time, the DC output module of the implantable brain-computer interface controller ICU is in a default off state.

[0052] Step S2: The implantable brain-computer interface controller ICU samples the rectified and filtered voltage and feeds it back to the wireless power supply transmitter.

[0053] Specifically, when the implantable brain-computer interface controller is powered on and reset in the ICU, its main control module is activated, and the control voltage sampling module collects the rectified and filtered voltage value. And it is fed back to the transmitting end.

[0054] Step S3: If the transmitter determines that the voltage fed back by the ICU is within the preset tolerance, then adjust the transmission voltage and return to step S2 until the number of adjustments reaches the preset number and all meet the preset tolerance, then the handshake is determined to be successful and step S4 is executed.

[0055] After receiving the data, the transmitter determines... Is it within the preset target tolerance range (e.g., target value ±10%)? If it is within the preset tolerance range, adjust the transmit voltage and return to step S2 until the preset number of adjustments is reached and the preset tolerance is met. Then, the handshake is considered successful and step S4 is executed.

[0056] For example, taking a preset number of handshakes of 3, if the first handshake requires setting the voltage of the receiving end (i.e., ICU) to A and the transmitting end to adjust the transmission power, if the voltage of the receiving end is adjusted to within a preset range (e.g., A ± 10%) within 50ms, it indicates that the first handshake is normal, and the second handshake is then performed. If the second handshake requires setting the voltage of the receiving end to B and the transmitting end to adjust the transmission power, if the voltage of the receiving end is adjusted to within a preset range (e.g., B ± 10%) within 50ms, it indicates that the second handshake is normal, and the third handshake is then performed. If the third handshake requires setting the voltage of the receiving end to C and the transmitting end to adjust the transmission power, if the voltage of the receiving end is adjusted to within a preset range (e.g., C ± 10%) within 50ms, it indicates that the third handshake is normal. If all three handshakes are normal, the handshake is successful, and step S4 is executed; if any one of them is abnormal, the handshake fails.

[0057] Understandably, the aforementioned "inquiry-adjustment-feedback" cycle needs to be successfully executed a preset number of times (e.g., 3 times, this number is configurable). If the voltage remains stable within the tolerance within the preset number of times, the handshake is considered successful, both parties establish a legitimate energy transmission link, and enter the subsequent position correction mode.

[0058] In one scenario, if any handshake fails, such as when the transmitter determines that the voltage fed back from the ICU is outside the preset tolerance, power supply will be cut off and an alarm will be issued. For example, the transmitter's main control module will immediately stop transmitting and prompt the user to check the equipment via an audible and visual alarm.

[0059] Only devices that pass the above multiple handshake verifications can establish an energy link, thereby effectively preventing unauthorized third-party devices from mistakenly receiving energy and causing overheating, and also preventing the transmitter from emitting high-power energy to non-target objects (such as coins, keys, and other metallic foreign objects), thus avoiding energy waste.

[0060] Step S4: The transmitter calculates the power supply efficiency. If the power supply efficiency is lower than the preset value, it prompts the user to adjust the position.

[0061] After a successful handshake, the system does not immediately supply power but instead enters the position optimization phase. During this phase, the transmitter continuously acquires voltage and current data from the receiver and calculates the power supply efficiency based on the transmitter's input power. If the power supply efficiency is lower than a preset value (e.g., 20%), it indicates poor coil alignment or a significant obstacle, prompting the system to adjust its position. This may be indicated via voice or display prompts such as "Please adjust the transmitter position" or "Please remove the obstruction." The system enters normal operation mode (step S5) once the power supply efficiency is greater than or equal to the preset value.

[0062] Step S5: Once the power supply efficiency reaches the preset value, the system will enter normal operating mode.

[0063] In normal operating mode, the transmitter can dynamically adjust the transmission power based on the voltage feedback from the receiver to ensure that the voltage after rectification and filtering at the receiver is relatively stable.

[0064] For example, in normal operating mode, when the power supply is turned on, if the receiving end main control module confirms that the voltage and current sampling values ​​are normal and the temperature is not abnormal, it can control the DC output module to close to output a stable DC power supply to implantable medical devices (such as NRU and NSU).

[0065] During operation, slight shifts in the relative position of the coils due to patient movement or changes in the load of the implantable medical device can cause fluctuations in the rectified voltage at the receiving end. Therefore, the receiving end samples the data in real time and reports it. The main control module at the transmitting end dynamically fine-tunes the output voltage of the adjustable power module based on the feedback data, thereby changing the transmission power to keep the rectified voltage at the receiving end constant, ensuring that the downstream DC-DC converter operates at its optimal efficiency point. For example, when the position shift is small (such as forward, backward, left, right, or up and down), the receiving end voltage will decrease. After receiving the feedback voltage from the receiving end, the transmitting end can increase the transmission power to restore the receiving end voltage to a relatively stable value. If the position shift is too large, the transmitting end will initially increase the transmission power to try to restore the receiving end voltage to a relatively stable value, but at this time, the current at the transmitting end will also increase sharply, leading to decreased efficiency and increased temperature. If the position shifts from the offset position to a point where the horizontal and vertical distances are close, the receiving end voltage will rise. After receiving the feedback voltage from the receiving end, the transmitting end can decrease the transmission power to restore the receiving end voltage to a relatively stable value.

[0066] In one scenario, the temperature acquisition modules at both the transmitting and receiving ends can monitor the temperature in real time. If the temperature at either end exceeds a safety threshold (e.g., greater than 41°C), the corresponding main control module will immediately reduce power or cut off the output and generate an alarm message, thereby achieving over-temperature protection.

[0067] In one scenario, if the transmitter does not receive a feedback signal from the receiver for several consecutive cycles (which may mean that the receiver has been removed or communication has failed), the transmitter can stop transmitting energy to achieve communication loss protection and prevent no-load heating or heating of surrounding metal objects.

[0068] In one scenario, if the voltage sampled by the transmitter or receiver exceeds the safe range (e.g., above 20V), the system can also enter a fault protection state, such as cutting off the output and recording a fault code, thereby minimizing potential safety risks and ensuring high reliability of the system in complex electromagnetic environments and patients' daily activities.

[0069] It transmits wireless power through resonance between the transmitting and receiving coils, achieving resonance at both ends. Both the transmitting and receiving ends operate at a 6.78MHz frequency to create resonance, thus avoiding common Qi standards and reducing interference with other wireless charging devices. This frequency also exhibits good penetration characteristics in biological tissues, enhancing the energy conversion of the alternating magnetic field and resulting in high transmission efficiency and long transmission distances (maximum of at least 3cm) with minimal radiation during transmission. Furthermore, its resonant frequency does not induce eddy currents in metal products or heat the metal casing, making it suitable for implantable medical applications, providing safe wireless power for implantable medical devices.

[0070] The modules in the aforementioned brain-computer interface control system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0071] Based on the same inventive concept, this application also provides a brain-computer interface control method, which can be applied to... Figure 1 or Figure 2 In the brain-computer interface control system shown. For example... Figure 4 As shown, the method may include the following steps: Step 402: The implantable brain signal acquisition unit (NRU) acquires brain signals and sends them to the implantable brain-computer interface controller (ICU).

[0072] Step 404: The implantable brain-computer interface controller ICU forwards the EEG signals to the external brain-computer interface controller ECU via wireless communication.

[0073] Step 406: The external brain-computer interface controller (ECU) decodes the EEG signal to obtain the movement intention.

[0074] For example, the external brain-computer interface controller (ECU) can use a large model running on the NPU, combined with the patient's historical profile stored in Flash, to decode the current movement intention in real time, such as "wanting to step with the left leg".

[0075] Step 408: The external brain-computer interface controller (ECU) combines its own collected first motion posture data with the ICU's second motion posture data to perform a fusion analysis to determine whether the exercise is suitable.

[0076] For example, the external brain-computer interface controller (ECU) combines data collected from itself and the gyroscope in the ICU for analysis. If it detects that the patient is in an unsafe posture (such as falling or violent shaking) or in a scenario unsuitable for movement, it determines that movement is unsuitable and proceeds to step 328. If it detects that the patient is in a safe posture, it determines that movement is suitable and proceeds to step 410. If, after detection, it determines that movement is unsuitable, it proceeds to step 428.

[0077] Step 410: The external brain-computer interface controller (ECU) generates stimulation commands when it is determined that the movement is suitable.

[0078] Specifically, the external brain-computer interface controller (ECU) can combine the motor intentions obtained from the above decoding with the parameter strategies of the current rehabilitation stage to generate stimulation commands including frequency, pulse width, amplitude, and timing.

[0079] Step 412: The external brain-computer interface controller (ECU) sends stimulation commands to the implantable brain-computer interface controller (ICU) via wireless communication.

[0080] In step 414, the implantable brain-computer interface controller in the ICU drives the implantable spinal nerve stimulator (NSU) to generate electrical stimulation according to the stimulation command. This activates the descending motor pathway, triggering lower limb muscle contraction.

[0081] In step 416, the external brain-computer interface controller (ECU) also monitors the second motor state data of the ICU in real time after electrical stimulation.

[0082] Step 418: The external brain-computer interface controller (ECU) determines the actual motion state based on the first motion state data it collects and the second motion state data from the ICU.

[0083] Specifically, the gyroscopes in the ECU and ICU monitor motion data in real time to determine the actual motion state, such as the actual trajectory, speed, and angle of the limb.

[0084] Step 420: The external brain-computer interface controller (ECU) compares the actual motion state with the motion intention to obtain the deviation.

[0085] Step 422: The external brain-computer interface controller (ECU) determines whether the deviation exceeds the set threshold.

[0086] The set threshold can be an angle threshold, a speed threshold, or a trajectory threshold, etc. Specifically, if the deviation exceeds the set threshold, step 424 is executed; if the deviation does not exceed the set threshold, step 426 is executed.

[0087] In step 424, if the external brain-computer interface controller ECU determines that the deviation exceeds the set threshold, it adjusts and regenerates the stimulation command, and returns to execute step 412.

[0088] For example, if the actual movement does not occur or the movement amplitude is insufficient (i.e., the deviation from the intended movement exceeds a threshold), the system determines that adjustment is needed. The ECU immediately adjusts the stimulation parameters dynamically based on the direction and magnitude of the deviation, such as increasing the current intensity or changing the pulse frequency, and generates and reissues new stimulation commands until the actual movement matches the expectation.

[0089] Step 426: If the deviation does not exceed the set threshold, the external brain-computer interface controller (ECU) records the log data and returns to the step of acquiring EEG signals.

[0090] For example, if the actual action and the intention Figure 1 If the deviation from the intended motion is within a preset threshold (e.g., angular error < 5 degrees), the system determines that the current instruction is valid, records the log data, and enters the next control loop.

[0091] Step 428: The external brain-computer interface controller ECU generates an alarm command when it is determined that the movement is not suitable, and issues a voice alarm according to the alarm command.

[0092] Specifically, when the external brain-computer interface controller (ECU) determines that the current state is not suitable for exercise based on the motion posture data, it generates an alarm command and controls the human-computer interaction module to issue a voice alarm to remind the user that the current state is not suitable for exercise.

[0093] In one scenario, the EEG data, stimulation parameters, movement results, and timestamps from each cycle can be encrypted and stored locally in Flash memory. The data can then be periodically (e.g., during overnight charging) or, with user authorization, synchronized to a cloud server. The cloud can then utilize massive amounts of data to iteratively train a large model, optimize the patient profile, and send the updated model parameters back to the ECU, enabling the system to improve its decoding accuracy and control adaptability over time.

[0094] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0095] In one exemplary embodiment, a computer device is provided, the internal structure of which can be as shown in the figure. Figure 5 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a brain-computer interface control method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0096] Those skilled in the art will understand that Figure 5The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0097] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0098] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0099] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0100] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0101] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0102] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0103] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A brain-machine interface control system, comprising: The system comprises an implantable subsystem implanted in the body and a brain-computer interface subsystem located outside the body, The implantable subsystem comprises an implantable brain-computer interface controller, and an implantable brain signal collector and an implantable spinal cord nerve stimulator connected with the implantable brain-computer interface controller; The brain-computer interface subsystem comprises a wireless power transmission end and an external brain-computer interface controller connected by wires; the external brain-computer interface controller is connected with the implantable brain-computer interface controller through wireless communication; The wireless power transmission end is used to transmit energy to the implantable brain-computer interface controller based on a 6.78MHz frequency under the driving of the external brain-computer interface controller, so that the implantable brain-computer interface controller powers the implantable brain signal collector and the implantable spinal cord nerve stimulator according to the energy; The implantable brain signal collector is used to collect electroencephalogram signals and send them to the implantable brain-computer interface controller, which forwards the electroencephalogram signals to the external brain-computer interface controller through wireless communication; The external brain-computer interface controller is used to decode the electroencephalogram signals to obtain a motion intention, combine with collected motion posture data for fusion analysis, generate a stimulation instruction in the case of determining that it is suitable to move, and send the stimulation instruction to the implantable brain-computer interface controller through wireless communication; The implantable brain-computer interface controller is used to drive the implantable spinal cord nerve stimulator to generate electrical stimulation according to the stimulation instruction; The external brain-computer interface controller is also used to obtain an actual motion state after electrical stimulation, and in the case of determining that the deviation between the actual motion state and the motion intention exceeds a set threshold, adjust and re-generate a stimulation instruction, and return to execute sending the stimulation instruction to the implantable brain-computer interface controller through wireless communication.

2. The system of claim 1, wherein, The external brain-computer interface controller comprises a core processing module, and a sensor module and a wireless transceiver module connected with the core processing module; The sensor module is integrated with a posture sensor and is used to collect first motion posture data; The wireless transceiver module is used to establish a wireless communication connection with the implantable brain-computer interface controller; The core processing module is used to receive the electroencephalogram signals transmitted by the implantable brain-computer interface controller through the wireless communication connection, decode the electroencephalogram signals to obtain a motion intention, and combine with the first motion posture data collected by the sensor module for fusion analysis to determine whether it is suitable to move currently; And in the case of determining that it is suitable to move, generate a stimulation instruction, and send the stimulation instruction to the implantable brain-computer interface controller through the wireless communication connection, so that the implantable brain-computer interface controller drives the implantable spinal cord nerve stimulator to generate electrical stimulation according to the stimulation instruction; The sensor module is also used to monitor first motion state data after electrical stimulation; The core processing module is also used to adjust and re-generate a stimulation instruction in the case of determining that the deviation between the actual motion state and the motion intention exceeds a set threshold according to the first motion state data.

3. The system of claim 2, wherein, The external brain-computer interface controller also includes a power management module and a multi-functional interface module, which are electrically connected to the core processing module. The power management module is used to manage the power supply of the system. The multi-functional interface module is also connected to the power management module for transmitting operating power to the wireless power transmitter or supplying power to external electronic devices.

4. The system of claim 2, wherein, The external brain-computer interface controller also includes a human-computer interaction module connected to the core processing module, and the human-computer interaction module integrates an audio output unit and a display unit. The display unit is used to display the system's operating status; The core processing module is also used to generate an alarm command when it is determined that the exercise is not suitable; the audio output unit is used to issue a voice alarm according to the alarm command.

5. The system of claim 2, wherein, The wireless transceiver module is also used to communicate with an external cloud server, provided that an authorization is obtained.

6. The system according to any one of claims 2 to 5, characterized in that, The implantable brain-computer interface controller integrates a gyroscope, which is used to collect second motion posture data and second motion state data after electrical stimulation, and to feed back the collected data to the external brain-computer interface controller via wireless communication. The core processing module in the external brain-computer interface controller performs a fusion analysis based on the movement intention and the first and second movement posture data to determine whether the current movement is suitable; and determines the actual movement state based on the first and second movement state data.

7. The system according to any one of claims 1 to 5, characterized in that, The communication protocols used in the wireless communication include at least one of UWB, WiFi, BLE / BT, LORA, NB_IoT, Zigbee, 4G / 5G, proprietary 2.4G, and StarScan.

8. A control method based on the brain-machine interface control system according to any one of claims 1 to 7, characterized by, The method includes: The implantable brain signal acquisition device acquires brain signals and sends them to the implantable brain-computer interface controller; The implantable brain-computer interface controller forwards the EEG signals to the external brain-computer interface controller via wireless communication. The external brain-computer interface controller decodes the EEG signal to obtain the movement intention, and performs fusion analysis with the collected movement posture data. When it is determined that the movement is suitable, it generates a stimulation command and sends the stimulation command to the implanted brain-computer interface controller via wireless communication. The implantable brain-computer interface controller drives the implantable spinal nerve stimulator to generate electrical stimulation according to the stimulation command. The external brain-computer interface controller also acquires the actual movement state after electrical stimulation, compares the actual movement state with the movement intention to obtain the deviation, and if the deviation exceeds a set threshold, adjusts and regenerates the stimulation command, and returns to execution to send the stimulation command to the implanted brain-computer interface controller via wireless communication.

9. The method of claim 8, wherein, The method further includes: If it is determined that exercise is not suitable, an alarm command is generated, and a voice alarm is issued based on the alarm command.

10. The method of claim 8, wherein, The method further includes: If the deviation is determined not to exceed the set threshold, log data is recorded and the process of acquiring EEG signals is returned.

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