Closed-loop neuromodulation brain-computer interface spinal cord injury rehabilitation training device

Abstract

This invention relates to the field of medical devices and discloses a closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device, including a supine rehabilitation training device, a control unit, an adaptive training module, and a thigh support module. The adaptive training module includes a suspension frame fixed to the supine rehabilitation training device, a first telescopic mechanism disposed on the suspension frame, a transverse support plate connected to the moving end of the first telescopic mechanism, a second telescopic mechanism disposed on the transverse support plate, a connecting rope connected to the moving end of the second telescopic mechanism, and a sling connected to the connecting rope for supporting the patient's lower leg. This invention, by setting up a supine rehabilitation training device, an adaptive training module, and a thigh support module, enables patients to perform lower limb rehabilitation training in a supine position, avoiding body swaying caused by insufficient support in standing or sitting postures during early training of spinal cord injury patients, thus improving safety and stability during the training process.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more particularly to a closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device. Background Technology

[0002] Brain-computer interface spinal cord injury rehabilitation training devices are a type of equipment that collects and identifies patients' brain signals to assist patients in lower limb motor intention training and rehabilitation training. They are usually used in conjunction with equipment such as lower limb rehabilitation training institutions, weight-bearing support institutions, electrical stimulation institutions or rehabilitation training beds to help spinal cord injury patients carry out lower limb function training in the early or recovery period.

[0003] Among existing lower limb rehabilitation training devices, some equipment adopts standing or sitting-standing training structures, while others adopt foot pedal, exoskeleton, or suspension weight-reduction training structures. However, for patients in the early stages of spinal cord injury, their lower limb active support ability is relatively weak, and they are prone to problems such as body center of gravity shift, trunk swaying, or unstable lower limb force during standing or sitting training. In the supine training state, if the lower limb movement is driven only by foot pedals or ordinary slings, there are problems such as the lower leg support height not being easy to adjust according to the changes in the patient's active movements, lack of stable support in the thigh, and insufficient adaptability of local lower limb training.

[0004] Therefore, it is necessary to provide a closed-loop neuromodulation brain-computer interface spinal cord injury rehabilitation training device that enables patients to perform lower limb training in a stable supine position. Through the coordination of structures such as calf support, pressure detection, extension and contraction adjustment, and thigh lifting support, the device can improve the support stability, movement adaptability, and training safety during calf lifting and pressing training. Summary of the Invention

[0005] (a) Technical problems to be solved To address the shortcomings of existing technologies, this invention provides a closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device. This device solves the problems of insufficient stability in standing or sitting postures, difficulty in stably supporting and adjusting calf training movements, and lack of stable support for the thigh during calf training in the early stages of spinal cord injury rehabilitation training.

[0006] (II) Technical Solution To achieve the above objectives, the present invention is implemented through the following technical solutions.

[0007] A closed-loop neuromodulation brain-computer interface spinal cord injury rehabilitation training device includes a supine rehabilitation training device, a control unit, an adaptive training module, and a thigh support module. The adaptive training module includes a suspension frame fixed to the supine rehabilitation training device, a first telescopic mechanism disposed on the suspension frame, a transverse support plate connected to the moving end of the first telescopic mechanism, a second telescopic mechanism disposed on the transverse support plate, a connecting rope connected to the moving end of the second telescopic mechanism, and a sling connected to the connecting rope for supporting the patient's lower leg. A pressure sensing unit is provided on the inner bottom of the sling. The pressure sensing unit and the first telescopic mechanism are electrically connected to the control unit. The control unit controls the first telescopic mechanism to drive the transverse support plate to rise and fall according to the pressure change of the patient's lower leg on the sling detected by the pressure sensing unit, so as to adjust the support height of the sling. The thigh support module is disposed on the supine rehabilitation training device and has a thigh support plate for lifting and supporting the patient's thigh when the sling is used for lower leg training.

[0008] In one embodiment, the pressure sensing unit has a preset low threshold and a preset high threshold. When the detected value of the pressure sensing unit is lower than the preset low threshold, the control unit controls the first telescopic mechanism to move the transverse support plate upward; when the detected value of the pressure sensing unit is higher than the preset high threshold, the control unit controls the first telescopic mechanism to move the transverse support plate downward.

[0009] Preferably, the second telescopic mechanism is configured as two sets, with the two sets of second telescopic mechanisms respectively located on both sides of the transverse support plate. Each set of second telescopic mechanisms is connected to a sling through a corresponding connecting rope, and is used to adjust the effective length of the corresponding connecting rope to drive the corresponding sling to rise and fall relative to the transverse support plate.

[0010] In one embodiment, the two sets of second telescopic mechanisms are electrically connected to the control unit, which controls the two sets of second telescopic mechanisms to adjust the effective length of the corresponding connecting ropes, so that the two slings are in a synchronous support state or a unilateral release state, thereby forming a two-leg coordinated training mode or a single-leg independent training mode.

[0011] In one embodiment, the sling has an internal fixation strap for securing the patient's lower leg. The fixation strap is located above or to the side of the pressure sensing unit so that the patient's lower leg remains in contact with the pressure sensing unit during training.

[0012] In one embodiment, the thigh support module includes a mounting base, a guide platform, a hydraulic rod, and a sliding block. The thigh support plate is disposed above the guide platform, and the hydraulic rod is connected to the sliding block and used to push the sliding block to move relative to the guide platform.

[0013] Preferably, the bottom of the guide platform is provided with a first inclined surface, and the upper part of the sliding block is provided with a second inclined surface that cooperates with the first inclined surface. When the hydraulic rod pushes the sliding block to move horizontally, the sliding block pushes the guide platform to move vertically through the second inclined surface, thereby driving the thigh support plate to rise.

[0014] In one embodiment, guide plates are provided on both sides of the guide platform, and a first guide groove extending vertically is provided in the mounting base. The guide plates are slidably disposed in the first guide groove to limit the lifting direction of the guide platform.

[0015] In a preferred embodiment, guide blocks are provided on both sides of the sliding block, and a second guide groove extending horizontally is provided in the mounting base. The guide blocks are slidably disposed in the second guide groove to limit the horizontal movement direction of the sliding block.

[0016] In another preferred embodiment, the closed-loop neuromodulation brain-computer interface spinal cord injury rehabilitation training device further includes an EEG signal decoding unit and an EEG signal acquisition headgear connected to the EEG signal decoding unit. The EEG signal decoding unit is electrically connected to the control unit and is used to acquire the patient's lower limb training intention signal. The control unit controls the closed-loop neuromodulation brain-computer interface spinal cord injury rehabilitation training device to start training, stop training, or switch training modes according to the lower limb training intention signal.

[0017] (III) Beneficial Effects This invention provides a closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device. Compared with the prior art, it has the following advantages: By setting up a supine rehabilitation training device, an adaptive training module, and a thigh support module, patients can perform lower limb rehabilitation training in a supine position, avoiding body swaying caused by insufficient support in standing or sitting postures during early training for spinal cord injury patients, thus improving safety and stability during the training process.

[0018] By incorporating a first telescopic mechanism, a transverse support plate, a second telescopic mechanism, a connecting rope, and a sling in the adaptive training module, and by installing a pressure sensing unit at the bottom inner side of the sling, the sling can support the patient's lower leg. The pressure sensing unit can detect changes in pressure exerted by the patient's lower leg on the sling. The control unit can control the first telescopic mechanism to raise and lower the transverse support plate based on the pressure changes detected by the pressure sensing unit. This allows the support height of the sling to be adjusted according to the patient's lower leg raising or lowering movements, improving the following performance and auxiliary stability during lower leg raising and lowering training. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0020] Figure 1 A schematic diagram of the overall structure of a closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device. Figure 2 A schematic diagram of the thigh support module of a closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device. Figure 3 A schematic diagram of the adaptive training module of a closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device. Figure 4 This is a schematic diagram of the control relationship of a closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device.

[0021] The attached figures are labeled as follows: 1. Horizontal Rehabilitation Training Equipment; 2. EEG Signal Decoding Unit; 3. EEG Signal Acquisition Headgear; 4. Thigh Support Module; 401. Rotating Support Base; 402. Rotating Shaft; 403. Support Plate; 404. Soft Pad Layer; 405. Guide Platform; 406. Guide Plate; 407. First Guide Groove; 408. Hydraulic Rod; 409. Sliding Block; 410. Guide Block; 411. Second Guide Groove; 412. Blocking Plate; 5. Adaptive Training Module; 501. Suspension Frame; 502. First Telescopic Mechanism; 503. Support Plate; 504. Second Telescopic Mechanism; 505. Connecting Rope; 506. Sling; 507. Fixing Strap; 508. Pressure Sensing Unit. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Example 1 Please see Figure 1 and Figure 3 This embodiment provides a closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device, including a supine rehabilitation training device 1, an adaptive training module 5, and a thigh support module 4. A control unit is provided inside the supine rehabilitation training device 1 or on one side of the supine rehabilitation training device 1.

[0024] The supine rehabilitation training device 1 is used for patients to perform lower limb rehabilitation training in a supine position. The supine rehabilitation training device 1 can be a training bed, a rehabilitation training platform, or a supine training device with a support surface. When using it, the patient lies flat on the supine rehabilitation training device 1, so that the patient's trunk is in a stable support state, reducing the body swaying caused by insufficient lower limb support during standing or sitting rehabilitation training.

[0025] The adaptive training module 5 is installed on the horizontal rehabilitation training equipment 1 and is used to support and assist the patient's lower leg during training. The adaptive training module 5 includes a suspension frame 501, a first telescopic mechanism 502, a transverse support plate 503, a second telescopic mechanism 504, a connecting rope 505, and a sling 506.

[0026] The suspension frame 501 is fixed to one side or above the horizontal rehabilitation training equipment 1. The suspension frame 501 can be an L-shaped bracket, a gate-shaped bracket, or other support structure that can support the first telescopic mechanism 502. The first telescopic mechanism 502 is set on the suspension frame 501. The moving end of the first telescopic mechanism 502 is connected to the transverse support plate 503. The first telescopic mechanism 502 is used to drive the transverse support plate 503 to move up and down relative to the horizontal rehabilitation training equipment 1.

[0027] A transverse support plate 503 extends along the left and right direction of the patient. A second telescopic mechanism 504 is provided at the bottom or side of the transverse support plate 503. The moving end of the second telescopic mechanism 504 is connected to a connecting rope 505. The end of the connecting rope 505 away from the second telescopic mechanism 504 is connected to a sling 506. The sling 506 is used to support the patient's lower leg.

[0028] A pressure sensing unit 508 is provided on the inner bottom of the sling 506. The pressure sensing unit 508 is used to detect the pressure of the patient's lower leg on the sling 506. A fixing strap 507 can also be provided inside the sling 506. The fixing strap 507 is used to fix the patient's lower leg in the sling 506 so that the patient's lower leg can remain in contact with the pressure sensing unit 508 during training.

[0029] The fixation strap 507 can be a Velcro strap, a snap strap, an elastic strap, or an adjustable strap; the fixation strap 507 is located above or to the side of the pressure sensing unit 508 to restrict the patient's lower leg to a predetermined position within the sling 506 without affecting the detection of the pressure sensing unit 508.

[0030] The control unit can be a microcontroller, PLC controller, embedded control board, or other controller capable of receiving detection signals and outputting control commands; the pressure sensing unit 508, the first telescopic mechanism 502, and the second telescopic mechanism 504 are all electrically connected to the control unit. The control unit is used to receive the pressure signal detected by the pressure sensing unit 508 and output control commands to the first telescopic mechanism 502 and the second telescopic mechanism 504.

[0031] Before the patient begins training, the patient lies flat on the supine rehabilitation training device 1 with the lower leg placed in the sling 506 and fixed by the fixing strap 507, so that the lower side of the lower leg is in contact with the pressure sensing unit 508. The control unit reads the pressure value of the pressure sensing unit 508 in the initial support state and uses this pressure value as the reference pressure value. The control unit generates a preset low threshold and a preset high threshold based on the reference pressure value. The preset low threshold is used to determine whether the patient's lower leg actively lifts up, and the preset high threshold is used to determine whether the patient's lower leg actively presses down.

[0032] In one specific approach, the preset low threshold can be set to 60%-90% of the baseline pressure value, and the preset high threshold can be set to 110%-150% of the baseline pressure value. In another approach, the preset low threshold and preset high threshold can also be manually set by medical staff based on the patient's weight, lower limb muscle strength level, rehabilitation training stage, and the contact status between the lower leg and the sling 506.

[0033] To reduce the risk of false triggering caused by instantaneous pressure fluctuations, the control unit can continuously sample the pressure value collected by the pressure sensing unit 508 and use the average of multiple consecutive sampled values ​​as the current pressure detection value. When the current pressure detection value is continuously lower than the preset low threshold for a preset time, the control unit determines that the patient's lower leg has actively raised; when the current pressure detection value is continuously higher than the preset high threshold for a preset time, the control unit determines that the patient's lower leg has actively pressed down.

[0034] During the leg-raising training, when the control unit determines that the patient's lower leg is actively raised, the control unit controls the first telescopic mechanism 502 to move the transverse support plate 503 upward. The transverse support plate 503, through the second telescopic mechanism 504 and the connecting rope 505, moves the sling 506 upward with the patient's lower leg, so that the sling 506 continuously provides support during the patient's lower leg raising process.

[0035] During the leg press training, when the control unit determines that the patient's lower leg is actively pressing down, the control unit controls the first telescopic mechanism 502 to move the transverse support plate 503 downward. The transverse support plate 503, through the second telescopic mechanism 504 and the connecting rope 505, moves the sling 506 downward with the patient's lower leg, so that the sling 506 reduces the upward resistance on the patient's lower leg, making it easier for the patient to complete the leg press training.

[0036] The pressure sensing unit 508, control unit, first telescopic mechanism 502, transverse support plate 503, second telescopic mechanism 504, connecting rope 505 and sling 506 form a pressure feedback calf support training structure, enabling patients to perform calf raising and lowering training in a stable lying position.

[0037] The first telescopic mechanism 502 is mainly used to drive the horizontal support plate 503 to rise and fall as a whole, and to adjust the overall support height of the left and right slings 506. The second telescopic mechanism 504 is mainly used to adjust the effective length of the corresponding connecting rope 505, and to drive the corresponding sling 506 to rise and fall relative to the horizontal support plate 503 through the connecting rope 505. The first telescopic mechanism 502 is used for overall height adjustment, and the second telescopic mechanism 504 is used for independent support height adjustment of the left and right lower legs.

[0038] In one embodiment, the second telescopic mechanism 504 is configured as two sets, with the two sets of second telescopic mechanisms 504 respectively located on the left and right sides of the transverse support plate 503. Each set of second telescopic mechanisms 504 is connected to a sling 506 via a corresponding connecting rope 505 to support and adjust the patient's left and right calves respectively.

[0039] In single-leg training mode, the control unit controls the second telescopic mechanism 504 on the training side to tighten or maintain the corresponding connecting rope 505, so that the training side sling 506 maintains support for the training side lower leg; at the same time, the control unit controls the second telescopic mechanism 504 on the non-training side to lower the corresponding connecting rope 505, so that the non-training side sling 506 is in a unilateral release state. The unilateral release state means that the non-training side sling 506 can still accommodate the patient's lower leg, but its connecting rope 505 is lowered to a position that does not pull on the non-training side lower leg as the transverse support plate 503 rises and falls.

[0040] In the dual-leg coordinated training mode, the control unit controls the two sets of second telescopic mechanisms 504 to simultaneously extend and retract the corresponding connecting ropes 505, so that the two slings 506 maintain the same or similar support height. In the dual-leg differentiated training mode, the control unit can control the extension length of the two sets of second telescopic mechanisms 504 respectively, so that the two slings 506 form different support heights or different auxiliary forces to adapt to the training needs of patients with inconsistent muscle strength in their left and right lower limbs.

[0041] The first telescopic mechanism 502 can be an electric push rod, a pneumatic push rod, a hydraulic push rod, or a screw lifting mechanism. The second telescopic mechanism 504 can be an electric push rod, a pneumatic push rod, a hydraulic push rod, a screw telescopic mechanism, or a motor winding mechanism. When the second telescopic mechanism 504 uses a motor winding mechanism, one end of the connecting rope 505 is wound around a winding wheel. The motor drives the winding wheel to rotate forward or backward to tighten or release the connecting rope 505. When the second telescopic mechanism 504 uses an electric push rod, the connecting rope 505 is connected to the moving end of the electric push rod. The electric push rod extends or retracts to change the effective length of the connecting rope 505.

[0042] The sling 506 can be made of flexible webbing, medical silicone tape, or a padded support strap. The pressure sensing unit 508 is embedded in the bottom inner side of the sling 506. The upper surface of the pressure sensing unit 508 can be covered with a flexible protective layer. The flexible protective layer is used to disperse the local contact pressure between the patient's lower leg and the pressure sensing unit 508 to improve training comfort and reduce the risk of local compression.

[0043] Example 2 Please see Figure 1 and Figure 2 The thigh support module 4 is installed on the horizontal rehabilitation training equipment 1 and is used to support the patient's thigh when the sling 506 performs leg raising and pressing training. The thigh support module 4 includes a mounting base 401, a thigh support plate 403, a guide platform 405, a hydraulic rod 408, and a sliding block 409.

[0044] The mounting base 401 is located on the upper part of the horizontal rehabilitation training equipment 1 or embedded in the horizontal rehabilitation training equipment 1. The guide platform 405 is located in the mounting base 401. The thigh support plate 403 is located above the guide platform 405. The hydraulic rod 408 is located in the mounting base 401 or in the horizontal rehabilitation training equipment 1. The moving end of the hydraulic rod 408 is connected to the sliding block 409.

[0045] The bottom of the guide platform 405 is provided with a first inclined surface, and the upper part of the sliding block 409 is provided with a second inclined surface that cooperates with the first inclined surface. When the hydraulic rod 408 pushes the sliding block 409 to move horizontally, the second inclined surface of the sliding block 409 abuts against and pushes the first inclined surface at the bottom of the guide platform 405, so that the horizontal movement of the sliding block 409 is converted into the vertical movement of the guide platform 405. The guide platform 405 further drives the thigh support plate 403 to rise, so that the thigh support plate 403 supports the patient's thigh.

[0046] A soft padding layer 404 can be provided above the thigh support plate 403. The soft padding layer 404 is used to contact the patient's thigh. The soft padding layer 404 can be made of flexible rubber, silicone, sponge pad or support pad covered with soft material to improve the comfort during thigh support.

[0047] The two sides of the padding layer 404 can be provided with baffles 412. The baffles 412 are used to limit the lateral displacement of the patient's thigh relative to the padding layer 404. The upper end of the baffles 412 can be provided with rounded corners, chamfers or flexible covering layers to avoid scratching or local pressure on the patient's skin during thigh support.

[0048] To improve the stability of the vertical lifting of the guide platform 405, guide plates 406 are respectively provided on both sides of the guide platform 405. The mounting base 401 is provided with a vertically extending first guide groove 407. The guide plate 406 is slidably disposed in the first guide groove 407. The guide plate 406 cooperates with the first guide groove 407 to limit the lifting direction of the guide platform 405, so that the guide platform 405 is not prone to lateral deviation or swaying during the lifting process.

[0049] To improve the stability of the horizontal movement of the sliding block 409, guide blocks 410 are respectively provided on both sides of the sliding block 409. The mounting base 401 is provided with a horizontally extending second guide groove 411. The guide blocks 410 are slidably disposed in the second guide groove 411. The guide blocks 410 cooperate with the second guide groove 411 to limit the horizontal movement direction of the sliding block 409, so that the sliding block 409 can stably transmit the horizontal pushing force to the guide table 405.

[0050] Before calf training, the control unit can control the hydraulic rod 408 to push the sliding block 409 to move towards the guide platform 405, so that the thigh support plate 403 and the padding layer 404 rise to a position that fits against the patient's thigh. During calf training, the thigh support plate 403 provides local support to the patient's thigh, so that when the patient's calf is raised or lowered in the sling 506, the thigh is less likely to sink, shift or be pulled.

[0051] The above structure can provide stable lifting support for the thigh while the patient is in a supine position, which works in conjunction with the calf sling pressure feedback training in Example 1 to improve the stability of the patient's lower limb segmented training.

[0052] In a preferred embodiment, the mounting base 401 can be a rotating support base, which is rotatably connected to the supine rehabilitation training device 1 via a pivot 402. By setting the pivot 402, the thigh support module 4 can adjust its angle relative to the supine rehabilitation training device 1. When the patient needs to perform calf training alone, the thigh support module 4 can be adjusted to a support angle and support the patient's thigh through the thigh support plate 403. When the patient needs to perform combined calf and thigh training or does not need thigh support, the thigh support module 4 can be rotated to a storage position or a lower support position to reduce interference with the patient's lower limb range of motion.

[0053] In another alternative embodiment, the thigh support module 4 may not have a pivot 402. The mounting base 401 is directly fixed inside the horizontal rehabilitation training device 1. The guide platform 405, sliding block 409, hydraulic rod 408 and thigh support plate 403 are set inside the mounting base 401. The hydraulic rod 408 pushes the sliding block 409 to move horizontally and lifts the guide platform 405, which can also achieve vertical lifting support for the patient's thigh.

[0054] In another alternative embodiment, the hydraulic rod 408 can also be replaced by an electric push rod, a pneumatic push rod, a screw drive mechanism, or a cam lifting mechanism, as long as it can push the sliding block 409 to move relative to the guide table 405, and drive the thigh support plate 403 to rise and fall vertically through the inclined surface cooperation between the sliding block 409 and the guide table 405.

[0055] In this embodiment, the thigh support module 4 is used to provide vertical lifting support for the thigh support plate 403. The rotating structure is a preferred structure, but not the only way to achieve thigh lifting support.

[0056] Example 3 Please see Figures 1-3 The device may also include an EEG signal decoding unit 2 and an EEG signal acquisition headgear 3; the EEG signal acquisition headgear 3 is worn on the patient's head to acquire the patient's EEG signals, and the EEG signal decoding unit 2 is connected to the EEG signal acquisition headgear 3 to identify the EEG signals and generate the patient's lower limb training intention signal.

[0057] The EEG signal decoding unit 2 is electrically connected to the control unit. The lower limb training intention signal output by the EEG signal decoding unit 2 may include at least one of the following: training start signal, training stop signal, leg raise training mode signal, leg press training mode signal, single leg training mode signal, and double leg training mode signal.

[0058] At the start of training, the EEG signal acquisition headgear 3 acquires the patient's EEG signals, and the EEG signal decoding unit 2 identifies the patient's intention to start training and sends a training start signal to the control unit. After receiving the training start signal, the control unit controls the pressure sensing unit 508 to initialize the pressure and controls the first telescopic mechanism 502, the second telescopic mechanism 504, and the thigh support module 4 to enter the preset training position.

[0059] During training, the EEG signal decoding unit 2 is mainly used for training intention recognition and training mode switching, while the pressure sensing unit 508 is mainly used to detect the pressure change of the patient's lower leg on the sling 506 and trigger the first telescopic mechanism 502 to follow up and lower. In other words, the EEG signal decoding unit 2 is used to determine whether the patient has entered training and what training mode has been entered, while the pressure sensing unit 508 is used to sense the lifting or lowering of the patient's lower leg during specific training.

[0060] When the EEG signal decoding unit 2 recognizes the leg-raising training mode signal, the control unit enters the leg-raising training mode. In this mode, when the current pressure detection value of the pressure sensing unit 508 is continuously lower than the preset low threshold for a preset time, the control unit controls the first telescopic mechanism 502 to move the transverse support plate 503 upward, so that the sling 506 moves upward with the patient's lower leg and continuously supports the patient's lower leg.

[0061] When the EEG signal decoding unit 2 recognizes the leg press training mode signal, the control unit enters the leg press training mode. In this mode, when the current pressure detection value of the pressure sensing unit 508 is continuously higher than the preset high threshold for a preset time, the control unit controls the first telescopic mechanism 502 to drive the transverse support plate 503 to move down, so that the sling 506 moves down with the patient's lower leg and reduces the upward resistance on the lower leg.

[0062] When the EEG signal decoding unit 2 recognizes the single-leg training mode signal, the control unit determines the training side based on the signal and controls the second telescopic mechanism 504 corresponding to the training side to maintain the supporting state, and controls the second telescopic mechanism 504 corresponding to the non-training side to lower the connecting rope 505 to avoid passive traction of the lower limb on the non-training side.

[0063] When the EEG signal decoding unit 2 recognizes the dual-leg training mode signal, the control unit controls the two sets of second telescopic mechanisms 504 to synchronously or according to a preset ratio adjust the length of the corresponding connecting ropes 505 so that the two slings 506 are in a synchronous support state or a differentiated support state.

[0064] When the EEG signal decoding unit 2 recognizes the training stop signal, the control unit controls the first telescopic mechanism 502 to stop lifting and lowering, and controls the second telescopic mechanism 504 to slowly release the connecting rope 505, so that the sling 506 gradually reduces the traction on the patient's lower leg. If necessary, the control unit also controls the hydraulic rod 408 to reset, so that the thigh support plate 403 descends to the initial position.

[0065] To improve training safety, the device can also set a safety pressure threshold. When the detection value of the pressure sensing unit 508 continuously exceeds the safety pressure threshold, the control unit determines that the patient's lower leg may be subjected to excessive pressure or abnormal force. The control unit stops the first telescopic mechanism 502 and the second telescopic mechanism 504 from continuing to operate, and controls the second telescopic mechanism 504 to release the connecting rope 505 to reduce the force of the sling 506 on the patient's lower leg.

[0066] The first telescopic mechanism 502 and the second telescopic mechanism 504 may also be equipped with travel limiters or travel sensors. The travel limiters or travel sensors are electrically connected to the control unit. The control unit limits the maximum lifting stroke of the transverse support plate 503 and the sling 506 according to the signal of the travel limiters or travel sensors, so as to avoid excessive lifting of the transverse support plate 503 or the sling 506.

[0067] The hydraulic rod 408 can also be equipped with a stroke limiter or a stroke sensor. The control unit limits the maximum lifting height of the thigh support plate 403 based on the stroke signal of the hydraulic rod 408 to prevent the thigh support plate 403 from being excessively lifted and causing discomfort to the patient's thigh.

[0068] In one embodiment, the horizontal rehabilitation training device 1 may also be equipped with manual control buttons, a touch screen, or an emergency stop button. The manual control buttons or touch screen are used for medical staff to set training modes, pressure thresholds, training time, sling support height, and thigh support height. The emergency stop button is used to stop the operation of the first telescopic mechanism 502, the second telescopic mechanism 504, and the hydraulic rod 408 when the patient experiences discomfort or the device operates abnormally.

[0069] In one embodiment, the control unit can record the detection values ​​of the pressure sensing unit 508 during the training process, the number of times the first telescopic mechanism 502 rises and falls, the extension and retraction status of the second telescopic mechanism 504, and the training duration, so that medical staff can understand the patient's level of active participation and the status of lower limb rehabilitation training during the training process.

[0070] With the above settings, this device can obtain the patient's training intention using the EEG signal decoding unit 2 when the patient is in a stable lying position, detect the pressure change of the patient's lower leg on the sling 506 using the pressure sensing unit 508, realize the overall lifting and lowering of the sling 506 using the first telescopic mechanism 502, realize the independent adjustment of the left and right slings 506 using the second telescopic mechanism 504, and use the thigh support module 4 to lift and support the patient's thigh, forming a lower limb rehabilitation training program that combines lower leg lifting and pressure training with thigh stability support in a lying position.

[0071] In summary, compared with existing technologies, the closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device proposed in this application has the following beneficial effects: By setting up a supine rehabilitation training device, an adaptive training module, and a thigh support module, patients can perform lower limb rehabilitation training in a supine position, avoiding body swaying caused by insufficient support in standing or sitting postures during early training for spinal cord injury patients, thus improving safety and stability during the training process.

[0072] By incorporating a first telescopic mechanism, a transverse support plate, a second telescopic mechanism, a connecting rope, and a sling in the adaptive training module, and by installing a pressure sensing unit at the bottom inner side of the sling, the sling can support the patient's lower leg. The pressure sensing unit can detect changes in pressure exerted by the patient's lower leg on the sling. The control unit can control the first telescopic mechanism to raise and lower the transverse support plate based on the pressure changes detected by the pressure sensing unit. This allows the support height of the sling to be adjusted according to the patient's lower leg raising or lowering movements, improving the following performance and auxiliary stability during lower leg raising and lowering training.

[0073] By setting preset low and high thresholds, the control unit can distinguish between the raised and lowered states of the lower leg based on the pressure changes of the patient's lower leg on the sling, and accordingly control the first telescopic mechanism to move the transverse support plate up or down. This forms a feedback coordination relationship between pressure detection, action judgment, telescopic adjustment and sling support, improving the adaptability of supine lower leg training.

[0074] By setting the second telescopic mechanism into two sets, and connecting the two sets of second telescopic mechanisms to the left and right slings respectively via connecting ropes, the control unit can adjust the effective length of the left and right connecting ropes respectively, so as to realize single-leg training, double-leg coordinated training or left and right leg differential training, adapting to the patient's uneven muscle strength in the left and right lower limbs and the training needs at different rehabilitation stages.

[0075] By setting up a thigh support module, which includes a mounting base, a thigh support plate, a guide platform, a hydraulic rod, and a sliding block, the hydraulic rod pushes the sliding block to move horizontally. The sliding block moves vertically by pushing the guide platform through the inclined plane, thereby lifting the thigh support plate to support the patient's thigh. This can reduce thigh sinking, deviation, or traction during lower limb sling training and improve postural stability during segmented lower limb training.

[0076] By setting up an EEG signal decoding unit and an EEG signal acquisition headgear, the device can acquire the patient's lower limb training intention signal and start, stop, or switch training modes according to the lower limb training intention signal. This allows the acquisition of EEG training intention, pressure signal feedback, adjustment of the telescopic mechanism, and thigh support structure to work together, which is beneficial to improve the active participation and training adaptability of spinal cord injury patients in supine rehabilitation training.

[0077] By setting safety pressure thresholds, travel limiters, or travel sensors, the control unit can limit the continued operation of the first telescopic mechanism, the second telescopic mechanism, or the hydraulic rod when the pressure is abnormal or the mechanism moves to its limit position. This reduces the risk of excessive traction of the sling, local compression of the lower leg, or excessive lifting of the thigh support, thereby improving safety during training.

[0078] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0079] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device, characterized in that, It includes a horizontal rehabilitation training device (1), a control unit, an adaptive training module (5), and a thigh support module (4). The adaptive training module (5) includes a suspension frame (501) fixed to the horizontal rehabilitation training equipment (1), a first telescopic mechanism (502) set on the suspension frame (501), a transverse support plate (503) connected to the moving end of the first telescopic mechanism (502), a second telescopic mechanism (504) set on the transverse support plate (503), a connecting rope (505) connected to the moving end of the second telescopic mechanism (504), and a sling (506) connected to the connecting rope (505) and used to support the patient's lower leg. The inner bottom of the sling (506) is provided with a pressure sensing unit (508). The pressure sensing unit (508) and the first telescopic mechanism (502) are both electrically connected to the control unit. The control unit controls the first telescopic mechanism (502) to drive the horizontal support plate (503) to rise and fall according to the pressure change of the patient's calf on the sling (506) detected by the pressure sensing unit (508), so as to adjust the support height of the sling (506). The thigh support module (4) is installed on the supine rehabilitation training device (1) and has a thigh support plate (403) for lifting and supporting the patient's thigh when performing calf training in the sling (506).

2. The closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device according to claim 1, characterized in that, The pressure sensing unit (508) has a preset low threshold and a preset high threshold. When the detection value of the pressure sensing unit (508) is lower than the preset low threshold, the control unit controls the first telescopic mechanism (502) to move the transverse support plate (503) upward. When the detection value of the pressure sensing unit (508) is higher than the preset high threshold, the control unit controls the first telescopic mechanism (502) to move the transverse support plate (503) downward.

3. The closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device according to claim 1, characterized in that, The second telescopic mechanism (504) is configured in two sets. The two sets of second telescopic mechanisms (504) are respectively set on both sides of the transverse support plate (503). Each set of second telescopic mechanisms (504) is connected to a sling (506) through a corresponding connecting rope (505) and is used to adjust the effective length of the corresponding connecting rope (505) so as to drive the corresponding sling (506) to rise and fall relative to the transverse support plate (503).

4. The closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device according to claim 3, characterized in that, The two sets of second telescopic mechanisms (504) are electrically connected to the control unit. The control unit is used to control the two sets of second telescopic mechanisms (504) to adjust the effective length of the corresponding connecting rope (505) so that the two slings (506) are in a synchronous support state or a unilateral release state, so as to form a two-leg coordinated training mode or a single-leg independent training mode.

5. The closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device according to claim 1, characterized in that, The sling (506) has a fixing strap (507) inside for fixing the patient's lower leg. The fixing strap (507) is located above or to the side of the pressure sensing unit (508) so that the patient's lower leg remains in contact with the pressure sensing unit (508) during training.

6. The closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device according to claim 1, characterized in that, The thigh support module (4) includes a mounting base, a guide platform (405), a hydraulic rod (408), and a sliding block (409). The thigh support plate (403) is disposed above the guide platform (405). The hydraulic rod (408) is connected to the sliding block (409) and is used to push the sliding block (409) to move relative to the guide platform (405).

7. The closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device according to claim 6, characterized in that, The bottom of the guide platform (405) is provided with a first inclined surface, and the upper part of the sliding block (409) is provided with a second inclined surface that cooperates with the first inclined surface. When the hydraulic rod (408) pushes the sliding block (409) to move horizontally, the sliding block (409) pushes the guide platform (405) to move vertically through the second inclined surface, so as to drive the thigh support plate (403) to rise.

8. The closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device according to claim 6, characterized in that, The guide platform (405) is provided with guide plates (406) on both sides. The mounting base is provided with a vertically extending first guide groove (407). The guide plate (406) is slidably disposed in the first guide groove (407) to limit the lifting direction of the guide platform (405).

9. The closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device according to claim 6, characterized in that, Guide blocks (410) are provided on both sides of the sliding block (409), and a second guide groove (411) extending horizontally is provided in the mounting base. The guide block (410) is slidably disposed in the second guide groove (411) to limit the horizontal movement direction of the sliding block (409).

10. The closed-loop neural modulation brain-computer interface spinal cord injury rehabilitation training device according to any one of claims 1-9, characterized in that, It also includes an EEG signal decoding unit (2) and an EEG signal acquisition headgear (3) connected to the EEG signal decoding unit (2). The EEG signal decoding unit (2) is electrically connected to the control unit and is used to acquire the patient's lower limb training intention signal. The control unit controls the closed-loop neuromodulation brain-computer interface spinal cord injury rehabilitation training device to start training, stop training, or switch training modes according to the lower limb training intention signal.

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