Physiotherapy control method and system based on a flexible electrode patch

Abstract

The application relates to a physiotherapy control method and system based on a flexible electrode sheet, which comprises the following steps: acquiring a physiotherapy area and a physiotherapy type, and extracting muscle group space parameters and muscle group physiological parameters corresponding to each target muscle group in the physiotherapy area from a human anatomy knowledge base. A pre-constructed muscle group function chain is called, and the initial main stimulation path of each target muscle group in the physiotherapy area is planned according to the muscle group space parameters. Each node on the initial main stimulation path is matched with the initial electric stimulation parameters of the corresponding muscle group through the electric signal conduction law to generate an initial stimulation sequence. A synergistic enhancement anchor point is selected in the initial main stimulation path, and time overlapping is generated on the electric stimulation time sequence of multiple muscle groups in the muscle group function chain through the synergistic enhancement anchor point. The muscle group contraction response delay time is extracted, and a synergistic enhancement instruction is generated at the synergistic enhancement path position according to the muscle group contraction response delay time, and the synergistic enhancement instruction is embedded in the initial stimulation sequence to output an electric stimulation execution strategy.

Description

Technical Field

[0001] This invention relates to the field of physiotherapy control technology, and in particular to a physiotherapy control method and system based on flexible electrode sheets. Background Technology

[0002] Flexible electrode pads are deformable therapeutic electrode devices made from flexible polymer materials as a base, combined with flexible conductive functional layers such as conductive polymers, metal nanomaterials, and conductive pastes. Unlike traditional rigid metal electrodes, they possess the mechanical properties of being bendable, stretchable, and conforming to the curved surfaces of the human skin. They can adapt to the surface shapes of various parts of the body, including limbs, torso, and joints. They are mainly used in medical and health applications such as transcutaneous electrical nerve stimulation (TENS), electromuscular therapy, and rehabilitation therapy, and are a core functional component of wearable therapeutic devices. The waveform shape, output timing, and waveguide progression of the electrical stimulation are crucial in determining the level, range, and therapeutic effect of the electrotherapy, directly affecting the transmission efficiency and uniformity of the electrical signal in subcutaneous tissue, muscle layer, and nerve endings.

[0003] Currently, existing flexible electrode physiotherapy control technologies typically rely on fixed single waveform and synchronous output control logic, which can adapt to basic standardized physiotherapy scenarios. Firstly, existing physiotherapy control technologies use a single fixed waveform continuous output mode, with no dynamic adaptation or combination variation in waveform morphology. However, human muscle tissue exhibits layered differences between superficial, intermediate, and deep layers, and the sensitivity and tolerance of muscle and nerve tissue at different depths to electrical stimulation waveforms vary significantly. A single steady-state waveform has a fixed penetration depth and stimulation form, only acting on superficial muscle tissue, making it difficult to adapt to the differentiated physiotherapy needs of superficial and deep tissues, and hindering layered targeted stimulation. This easily leads to physiotherapy waveforms failing to match the layered distribution characteristics of human muscles, resulting in limited physiotherapy coverage. Secondly, existing physiotherapy control technologies generally employ multi-channel synchronous output timing logic, but the physiotherapy areas of the limbs and trunk are mostly multi-muscle group interconnected structures, with differences in the degree of strain and nerve distribution density among different muscle groups. Synchronous electrical stimulation can cause local areas to experience overlapping or missing stimulation, making it difficult to match the physiological rhythm of multi-muscle group step-by-step conditioning. This can easily lead to uneven stimulation in the treatment area and insufficient intervention in key strain areas, resulting in the electrical stimulation output sequence being difficult to adapt to the working rhythm of multi-muscle group synergistic conditioning. Therefore, there are certain limitations in the synergistic adaptation of physiotherapy.

[0004] Therefore, existing flexible electrode sheet physiotherapy control technology is difficult to adapt to the hierarchical structure of human muscles and nerves and the distribution characteristics of multiple muscle groups. Moreover, when faced with complex physiotherapy needs such as deep and superficial layer graded physiotherapy and multi-muscle group synergistic conditioning, the physiotherapy synergistic adaptation has certain limitations. Summary of the Invention

[0005] Therefore, it is necessary to provide a physiotherapy control method and system based on flexible electrode sheets that can adapt to the hierarchical structure and multi-muscle group distribution characteristics of human muscles and nerves and has a good physiotherapy synergistic adaptation effect, in order to address the above-mentioned technical problems.

[0006] This invention provides a physiotherapy control method based on flexible electrode pads, the method comprising:

[0007] The physical therapy area and type of physical therapy are obtained, and the spatial parameters and physiological parameters of the target muscle groups in the physical therapy area are extracted from the human anatomy knowledge base.

[0008] Retrieve the pre-constructed muscle group functional chain, and plan the initial main stimulation path for each target muscle group in the physiotherapy area according to the muscle group spatial parameters;

[0009] Based on the physiological parameters of the muscle groups and the type of physical therapy, the initial electrical stimulation parameters of the corresponding muscle groups are matched to each node on the initial main stimulation path through the electrical signal conduction rules of different deep and superficial muscles in the human body, so as to generate an initial stimulation sequence.

[0010] In the initial master stimulation path, a co-enhancing anchor point is selected, and a temporal overlap is generated on the electrical stimulation sequence of multiple muscle groups in the functional chain of the muscle group through the co-enhancing anchor point to obtain the location of the co-enhancing path;

[0011] The muscle group contraction response delay time is extracted from the muscle group physiological parameters, and a synergistic enhancement instruction is generated at the location of the synergistic enhancement path based on the muscle group contraction response delay time. At the same time, the synergistic enhancement instruction is embedded in the initial stimulation sequence to output an electrical stimulation execution strategy.

[0012] In one embodiment, the step of acquiring the physiotherapy area and physiotherapy type, and extracting the spatial and physiological parameters of the target muscle groups within the physiotherapy area from a human anatomy knowledge base, includes:

[0013] The three-dimensional spatial distribution morphology and geometric features of the target muscle group in the physiotherapy area under the human skin are calibrated using the human anatomy knowledge base, and the three-dimensional spatial distribution morphology and geometric features are integrated into the muscle group spatial parameters.

[0014] The neural distribution density, tissue conductivity, muscle endurance threshold, and muscle fatigue characteristics of the target muscle group are extracted from the human anatomy knowledge base, and the neural distribution density, tissue conductivity, muscle endurance threshold, and muscle fatigue characteristics are integrated into the physiological parameters of the muscle group.

[0015] In one embodiment, the retrieval of the pre-constructed muscle group functional chain and the planning of the initial primary stimulation path for each target muscle group within the therapeutic area based on the muscle group spatial parameters include:

[0016] Based on the spatial parameters of the muscle groups, the spatial distribution hierarchy and relative positional relationship of each target muscle group in the physiotherapy area are determined, and a three-dimensional spatial distribution topology map is constructed based on the spatial distribution hierarchy and relative positional relationship.

[0017] The relative positional relationships and functional attributes of each muscle group within the three-dimensional spatial distribution topology map are extracted, and the stimulation timing and electrical signal progression reversal of each muscle group are determined through the muscle group functional chain, so as to plan the initial main stimulation path according to the stimulation timing and electrical signal progression reversal.

[0018] In one embodiment, the method further includes:

[0019] Based on the three-dimensional spatial distribution topology map and the human anatomy knowledge base, the functional chain affiliation and functional attributes of each target muscle group in the physiotherapy area are identified, and the muscle group activation sequence is determined according to the functional chain affiliation and functional attributes of each target muscle group.

[0020] The stimulation sequence of each muscle group is determined by the activation sequence of the muscle groups, and the progression and reversal of the electrical signal are determined according to the relative positional relationship of each muscle group in the three-dimensional spatial distribution topology map and the direction of the functional chain of the muscle groups.

[0021] In one embodiment, the step of matching initial electrical stimulation parameters of the corresponding muscle group to each node on the initial main stimulation path based on the physiological parameters of the muscle group and the type of physical therapy, according to the electrical signal conduction patterns of different superficial and deep muscles in the human body, to generate an initial stimulation sequence, includes:

[0022] The anatomical layers of each muscle group within the three-dimensional spatial distribution topology map are extracted from the human anatomy knowledge base, and the electrical signal conduction law is retrieved based on the anatomical layers and the corresponding physiological parameters of the muscle groups.

[0023] The initial electrical stimulation parameters corresponding to each level of muscle group are determined by the electrical signal conduction law, and the initial electrical stimulation parameters are mapped to the corresponding nodes in the initial master stimulation path to generate the initial stimulation sequence.

[0024] The electrical signal conduction rules include the correspondence between penetration depth and stimulation frequency, the order of deep and superficial muscle fiber recruitment, and the frequency response characteristics of tissue impedance; the initial electrical stimulation parameters include the initial pulse frequency, initial current intensity, and initial pulse width.

[0025] In one embodiment, the synergistic enhancement anchor points include superimposed enhancement anchor points of agonist and synergist muscles, reflexive inhibition enhancement anchor points of agonist and antagonist muscles, and multi-node chain enhancement anchor points.

[0026] The step of selecting a co-enhancing anchor point in the initial master stimulation path and generating temporal overlap on the electrical stimulation sequence of multiple muscle groups within the muscle group functional chain through the co-enhancing anchor point to obtain the location of the co-enhancing path includes:

[0027] Determine whether the activation time interval between the agonist and synergist in the functional chain of the muscle group in the initial main stimulation path is less than the contraction peak half-life of the agonist. If so, mark the corresponding node as the superimposed enhancement anchor point of the agonist and synergist.

[0028] Determine whether the activation time interval between the agonist and antagonist muscles in the functional chain of the muscle group in the initial master stimulation path is greater than the peak contraction half-life of the agonist muscle and less than the half-recovery period of the agonist muscle. If so, mark the corresponding node as the reflex inhibition enhancement anchor point of the agonist and antagonist muscles.

[0029] When the agonist, synergist, and antagonist muscles in the muscle group functional chain respectively meet the criteria for the superimposed enhancement anchor point of agonist and synergist muscles and the reflexive inhibition enhancement anchor point of agonist and antagonist muscles, the corresponding node is marked as the multi-node chain enhancement anchor point.

[0030] In one embodiment, the step of extracting the muscle group contraction response delay time from the muscle group physiological parameters, generating a synergistic enhancement instruction at the location of the synergistic enhancement path based on the muscle group contraction response delay time, and embedding the synergistic enhancement instruction into the initial stimulation sequence to output an electrical stimulation execution strategy includes:

[0031] Extract the muscle group code and muscle group contraction response delay time of each muscle group node within the collaborative enhancement anchor point, and use the earliest activated muscle group node in the collaborative enhancement anchor point as the time reference to calculate the trigger time compensation amount of other muscle group nodes within the collaborative enhancement anchor point.

[0032] Based on the trigger time compensation amount, a trigger time fine-tuning instruction is generated for each electrode plate, and in response to the trigger time fine-tuning instruction, the trigger time compensation amount is written into the corresponding node in the initial stimulation sequence;

[0033] Based on the enhancement type and intensity coefficient of the synergistic enhancement anchor, an output intensity increment command is generated for each electrode, and the output intensity increment command is written into the corresponding node in the initial stimulation sequence.

[0034] The present invention also provides a physiotherapy control system based on flexible electrode pads, for implementing the physiotherapy control method based on flexible electrode pads described in any of the above claims, the system comprising:

[0035] The muscle group parameter extraction module is used to obtain the physiotherapy area and physiotherapy type, and extract the spatial parameters and physiological parameters of the target muscle groups in the physiotherapy area from the human anatomy knowledge base.

[0036] The stimulation path planning module is used to retrieve the pre-constructed muscle group functional chain and plan the initial main stimulation path for each target muscle group in the physiotherapy area according to the muscle group spatial parameters.

[0037] The stimulation sequence generation module is used to match the initial electrical stimulation parameters of the corresponding muscle group to each node on the initial main stimulation path based on the physiological parameters of the muscle group and the type of physical therapy, and through the electrical signal conduction rules of different deep and superficial muscles in the human body, so as to generate an initial stimulation sequence.

[0038] The path location enhancement module is used to select a co-enhancing anchor point in the initial main stimulation path, and generate a temporal overlap on the electrical stimulation sequence of multiple muscle groups in the muscle group functional chain through the co-enhancing anchor point to obtain the co-enhancing path location.

[0039] The execution strategy output module is used to extract the muscle group contraction response delay time from the muscle group physiological parameters, generate a synergistic enhancement instruction at the synergistic enhancement path position based on the muscle group contraction response delay time, and embed the synergistic enhancement instruction into the initial stimulation sequence to output an electrical stimulation execution strategy.

[0040] The present invention also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the physiotherapy control method based on flexible electrode sheets as described above.

[0041] The present invention also provides a computer storage medium storing a computer program, which, when executed by a processor, implements the physiotherapy control method based on flexible electrode sheets as described above.

[0042] The above-mentioned physiotherapy control method and system based on flexible electrode sheets have the following advantages compared with existing technologies:

[0043] (1) This invention establishes a digital mapping basis from human anatomical structure to electrical stimulation parameters by extracting the spatial and physiological parameters of each muscle group in the target physiotherapy area. Subsequently, by planning the basic main stimulation path covering each muscle group in the target physiotherapy area based on the muscle group spatial parameters and the functional chain relationship of agonist, synergist and antagonist muscles, the orderly progressive transmission of electrical signals along the muscle group functional chain is realized, thereby overcoming the technical problems of local stimulation superposition and local stimulation deficiency caused by multi-channel synchronous output in the prior art, and enabling the electrical stimulation timing to adapt to the physiological law of multi-muscle group step-by-step conditioning. Furthermore, by matching the basic electrical stimulation parameters of each node on the main stimulation path based on the physiological parameters of muscle groups and the type of physiotherapy, combined with the electrical signal conduction patterns of different deep and superficial muscles in the human body, and adapting them to the corresponding muscle groups, differentiated frequency and intensity layered configurations for superficial, intermediate, and deep muscle groups are achieved. This ensures that the electrical signal energy is evenly distributed at each depth level, ensuring that deep muscle groups receive sufficient penetrating stimulation and that superficial muscle groups are not overstimulated. This effectively overcomes the technical problems of existing technologies where a single fixed waveform has a fixed penetration depth and is difficult to adapt to the differentiated physiotherapy needs of deep and superficial tissues.

[0044] (2) This invention determines the synergistic enhancement anchor point in the basic main stimulation path based on the functional chain relationship and physiological parameters of muscle groups. After generating synergistic incremental instructions at the synergistic enhancement anchor point based on the muscle group contraction response delay time, it orderly embeds them into the basic stimulation sequence. This achieves precise alignment and intensity-directed enhancement of agonist, synergist, and antagonist muscles in the same functional chain in the time dimension, enabling each muscle group to form a synchronous and synergistic contraction pattern at the actual physiological response level. At the same time, it further upgrades the electrostimulation therapy from a wave-like progressive mode of "sequential activation" to a functional chain integrated stimulation mode of "distinct primary and secondary, synergistic enhancement", which can more accurately simulate the systematic synergistic mechanism of neuromuscular movement in the human body and improve the overall therapeutic effect under complex therapeutic conditions. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in this 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 some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0046] Figure 1 This is a schematic flowchart of the physiotherapy control method based on flexible electrode sheets provided by the present invention.

[0047] Figure 2 This is one of the schematic diagrams of the physiotherapy control architecture of the physiotherapy control method based on flexible electrode sheets in a specific embodiment of the present invention.

[0048] Figure 3 The second schematic diagram of the physiotherapy control architecture of the physiotherapy control method based on flexible electrode sheets is provided in a specific embodiment of the present invention.

[0049] Figure 4 This is a three-dimensional spatial distribution topology diagram of the physiotherapy control method based on flexible electrode sheets in a specific embodiment of the present invention.

[0050] Figure 5 This is a schematic diagram of the structure of the physiotherapy control system based on flexible electrode sheets provided by the present invention.

[0051] Figure 6 This is a diagram of the internal structure of the electronic device provided by the present invention. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, 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.

[0053] The following is combined with Figures 1 to 6 The present invention describes a physiotherapy control method and system based on flexible electrode sheets.

[0054] like Figure 1 As shown, in one embodiment, a physiotherapy control method based on flexible electrode sheets includes the following steps:

[0055] Step S110: Obtain the physiotherapy area and physiotherapy type, and extract the spatial parameters and physiological parameters of the target muscle groups within the physiotherapy area from the human anatomy knowledge base.

[0056] In some embodiments, the physiotherapy control method based on flexible electrode sheets provided by the present invention includes the following steps in step S110:

[0057] Step S111: The three-dimensional spatial distribution morphology and geometric features of the target muscle group in the physiotherapy area under the human skin are calibrated by the human anatomy knowledge base, and the three-dimensional spatial distribution morphology and geometric features are integrated into muscle group spatial parameters.

[0058] Step S112: Extract the nerve distribution density, tissue conductivity, muscle endurance threshold, and muscle fatigue characteristics of the target muscle group from the human anatomy knowledge base, and integrate the nerve distribution density, tissue conductivity, muscle endurance threshold, and muscle fatigue characteristics into muscle group physiological parameters.

[0059] Combination Figures 2 to 4 As shown in the specific embodiment, the physiotherapy control method based on flexible electrode sheets provided by the present invention includes step 1, receiving the target physiotherapy area and physiotherapy type input by the user. The target physiotherapy area refers to the body part where the user wishes to receive electrical stimulation physiotherapy, including but not limited to the neck, shoulders, waist, back, knee joint, elbow joint, wrist joint, ankle joint, abdominal and leg muscle groups. Physiotherapy type refers to the therapeutic goal or somatosensory mode that the user expects to achieve, including but not limited to: deep therapy mode (acting on deep muscle tissue and nerve endings to relieve deep tissue pain and inflammation), superficial soothing mode (acting on the skin surface and superficial nerves to relieve local muscle tension and surface pain), massage mode (simulating physical massage techniques such as acupressure, kneading, and tapping to relax superficial and middle muscles), rehabilitation training mode (inducing muscle contraction through regular electrical stimulation to assist in muscle strength recovery and prevent atrophy), and analgesia mode (blocking pain signal transmission through high-frequency or low-frequency electrical stimulation to achieve immediate or cumulative analgesic effects), etc. Different physiotherapy types correspond to different electrical stimulation parameters, including waveform morphology, pulse frequency, pulse width, current intensity, and stimulation cycle.

[0060] In this embodiment, the implementation architecture of the physiotherapy control method based on flexible electrode sheets provided by the present invention is as follows: Figure 2 and Figure 3 As shown, the system includes a main control circuit board, a human-computer interaction module, and several electrode pads. The electrode pads are flexible, comprising a flexible substrate and a conductive layer disposed on the substrate. Each electrode pad is placed on a specific area within the target treatment region of the human body and outputs an electrical stimulation pulse signal to the area. Each electrode pad is detachably electrically connected to the main control circuit board via a connecting wire. The main control circuit board controls the electrical stimulation operation of each electrode pad based on the target treatment area and treatment type input by the user. The human-computer interaction module communicates with the main control circuit board to enable information interaction between the user and the system.

[0061] In this embodiment, the human-computer interaction module is a touch screen or physical button embedded in the host housing where the main control circuit board is located; the human-computer interaction module is an intelligent terminal independent of the host, such as a smartphone or tablet computer, etc. The intelligent terminal runs a corresponding control application and establishes a communication connection with the main control circuit board through wired or wireless communication methods, such as Bluetooth or Wi-Fi.

[0062] Step 2: Extract the spatial parameters and physiological parameters of each muscle group within the target physiotherapy area from the preset human anatomy knowledge base.

[0063] Specifically, the intelligent physiotherapy platform is connected to the main control circuit board. The intelligent physiotherapy platform includes a theoretical knowledge base module for storing human anatomy knowledge. The human anatomy knowledge base is a structured and digital physiotherapy target database built based on human anatomical structure. This knowledge base uses the hierarchical anatomical structure of each part of the human body, i.e., each target physiotherapy area, as an index to map the human anatomical structure into a set of formatted physiotherapy muscle group parameters that can be called by the intelligent physiotherapy platform. The human anatomy knowledge base includes at least the spatial parameters and physiological parameters of each muscle group in each target physiotherapy area of ​​the human body.

[0064] In this embodiment, the main control circuit board includes a muscle group parameter acquisition module, which is communicatively connected to the theoretical knowledge base module. This module facilitates information exchange between the local server (i.e., the user's electrical stimulation therapy device) and the cloud server (i.e., the smart therapy platform). It is used to execute step 2, which involves initiating a parameter query request to the theoretical knowledge base module based on the user-inputted target therapy area, and receiving the spatial and physiological parameters of each muscle group within the corresponding target therapy area returned by the theoretical knowledge base module. These parameters are then used by the main control circuit board to calculate and output electrode control parameters. The muscle group parameter acquisition module is a wireless communication module built into the main control circuit board, including but not limited to Wi-Fi, Bluetooth, 4G / 5G cellular communication modules, or Ethernet communication interfaces. It establishes a secure and encrypted transmission link with the smart therapy platform through a preset data communication protocol.

[0065] The data service invocation module is a software service middleware running on the main control circuit board. It is used to perform consistency verification and synchronization management between local cached data and real-time data in the cloud. When the muscle group parameters corresponding to the target physiotherapy area already exist in the local cache, the local data is used first. When the local data is missing or the version is outdated, an update request is automatically sent to the cloud to balance response speed and data timeliness. The human anatomy knowledge base adopts a multi-level index storage structure. The first-level index uses the regional code of each target physiotherapy area of ​​the human body as the key value, and the second-level index uses the muscle group code of the muscle group contained in each area as the key value. Each muscle group entry independently stores the corresponding muscle group spatial parameters and muscle group physiological parameters.

[0066] In this embodiment, the muscle groups within the target physiotherapy area refer to muscle tissue units distributed in corresponding human body parts, possessing independent motor function, and exhibiting a hierarchical distribution. The same target physiotherapy area may contain one or more muscle groups. Different muscle groups show significant differences in subcutaneous depth, tissue thickness, nerve innervation density, and tolerance characteristics. For example, the muscles in the lumbar region include the iliocostalis, quadratus lumborum, and multifidus muscles; the muscles around the knee joint include the quadriceps femoris, hamstrings, and proximal gastrocnemius muscles. In the human anatomy knowledge base, each muscle group within the target physiotherapy area has its own independent spatial and physiological parameters. The spatial parameters characterize the muscle group's subcutaneous distribution depth, lateral extension range, and longitudinal extension range, used to subsequently determine the placement position and stimulation depth of each electrode within the target physiotherapy area. The physiological parameters characterize the muscle group's nerve distribution density, tissue conductivity, muscle tolerance threshold, and muscle fatigue characteristics, used to subsequently determine the output current intensity, pulse frequency, and stimulation duration of each electrode.

[0067] It should be noted that the muscle group spatial parameters are structured spatial data obtained based on human anatomical calibration, used to characterize the three-dimensional spatial distribution morphology and geometric features of the target muscle group under the skin within the target physiotherapy area. Specifically, these include subcutaneous distribution depth, lateral extension range, and longitudinal extension range. Subcutaneous distribution depth refers to the vertical distance from the upper surface of the muscle group (near the skin) to the skin surface; in this embodiment, it is represented by the anatomical layer where the target muscle group is located. Lateral extension range refers to the width and boundary contour of the muscle group in the coronal plane (horizontal direction); longitudinal extension range refers to the origin, insertion, and course of the muscle group in the sagittal plane or axial direction (length direction).

[0068] In this embodiment, the spatial parameters of the muscle group are expressed as follows:

[0069]

[0070] In the formula, This represents the spatial parameters of muscle group i within the target physical therapy area M. The anatomical layer of muscle group i is represented by the corresponding subcutaneous distribution depth code, which in this example is... These correspond to three levels: superficial (subcutaneous depth <5mm), intermediate (subcutaneous depth 5mm~15mm), and deep (subcutaneous depth ≥15mm), respectively, to characterize the vertical distribution range of the muscle group under the skin and the corresponding stimulation penetration depth requirements. This represents the two-dimensional projection boundary coordinates of muscle group i in the coronal plane of the human body. , The two-dimensional coordinates of the kth boundary point forming the surface projection contour of the target muscle group are obtained by using mm as the unit. The boundary points are arranged in counterclockwise order to form a closed curve, which is used to define the coverage and geometric shape of the muscle group on the human body surface. The two adjacent points are fitted by linear interpolation. n is the total number of boundary points of the contour. The coordinates are obtained after the surface projection of the target muscle group is calibrated based on the standard human anatomy database.

[0071] Muscle group physiological parameters are dynamic or static indicators characterizing the bioelectrical properties, nerve innervation attributes, and functional state of the target muscle group. These include nerve distribution density, tissue conductivity, muscle tolerance threshold, and muscle fatigue characteristics. Nerve distribution density refers to the distribution of the number of motor nerve endings and neuromuscular junctions per unit volume or area of ​​the muscle group. Tissue conductivity refers to the impedance and admittance characteristics of the muscle tissue to electrical signals, which is expressed as equivalent impedance in this embodiment. Muscle tolerance threshold refers to the maximum electrical stimulation intensity that the target muscle group can withstand without causing tissue damage, severe pain, or discomfort. Muscle fatigue characteristics refer to the rate at which the contractile force of the muscle group decreases with the extension of stimulation time and the time required to recover to the initial state under continuous or intermittent electrical stimulation.

[0072] In this embodiment, the physiological parameters of the muscle group are expressed as follows:

[0073] ,

[0074] In the formula, The physiological parameters of muscle group i within the target physical therapy area M are represented. The neural distribution density of muscle group i is expressed as the corresponding motor endplate density, using "number / mm²". 2 " as the unit; This represents the equivalent electrical impedance of muscle group i. This represents the upper limit of the current tolerance of muscle group i; This represents the peak contraction half-life of muscle group i; This represents the half-recovery period of muscle group i. The specific values ​​of the above parameters are all obtained by pre-calibration based on the human anatomy and electrophysiology database and stored in the system's human anatomy knowledge base for subsequent calculation and retrieval of the control parameters of each electrode.

[0075] Step S120: Retrieve the pre-constructed muscle group functional chain and plan the initial main stimulation path for each target muscle group in the physiotherapy area according to the muscle group spatial parameters.

[0076] In some embodiments, the physiotherapy control method based on flexible electrode sheets provided by the present invention includes the following steps in step S120:

[0077] Step S121: Determine the spatial distribution hierarchy and relative positional relationship of each target muscle group in the physiotherapy area based on the spatial parameters of the muscle group, and construct a three-dimensional spatial distribution topology map based on the spatial distribution hierarchy and relative positional relationship.

[0078] Step S122: Extract the relative positional relationships and functional attributes of each muscle group in the three-dimensional spatial distribution topology map, and determine the stimulation timing and electrical signal progression reversal of each muscle group through the muscle group functional chain, so as to plan the initial main stimulation path according to the stimulation timing and electrical signal progression reversal.

[0079] In some embodiments, the physiotherapy control method based on flexible electrode sheets provided by the present invention further includes the following steps:

[0080] Step S210: Based on the three-dimensional spatial distribution topology map and human anatomy knowledge base, the functional chain affiliation and functional attributes of each target muscle group in the physiotherapy area are identified, and the muscle group activation sequence is determined according to the functional chain affiliation and functional attributes of each target muscle group.

[0081] Step S220: Determine the stimulation sequence of each muscle group by the muscle group activation sequence, and determine the forward and reverse electrical signal progression based on the relative positional relationship of each muscle group in the three-dimensional spatial distribution topology map and the direction of the muscle group functional chain.

[0082] Combination Figures 2 to 4 As shown in the specific embodiment, the physiotherapy control method based on flexible electrode pads provided by the present invention, in step 3, retrieves and combines the preset functional chain relationship of agonist-synergist-antagonist muscle groups according to the spatial parameters of the muscle groups, and plans the basic main stimulation path covering each muscle group in the target physiotherapy area.

[0083] In this embodiment, the basic master stimulation path refers to the spatial path planning of the electrical signal propagating sequentially and in a specific direction among the muscle groups in the target treatment area when electrical stimulation therapy is applied. This path planning is based on the fundamental constraint of covering all target muscle groups within the target treatment area, and uses the physiological laws of electrical signal propagation and the functional chain relationship of muscle groups as the decision-making basis to determine the stimulation sequence of each electrode pad, i.e., the order in which each muscle group is activated; the stimulation direction, i.e., the progressive direction of the electrical signal among the muscle groups; and the spatial distribution gradient of stimulation intensity, i.e., the output intensity ratio of electrode pads at different locations. This provides spatial path constraints for the subsequent independent control parameter calculation of each electrode pad.

[0084] The functional chain relationship of muscle groups refers to the functional coupling relationship formed between multiple muscle groups involved in a specific movement when the human body performs that movement. The agonist muscle is the main force-generating muscle group that directly produces that specific movement; the synergist muscle plays an auxiliary role in the contraction of the agonist muscle, assisting in completing the movement; and the antagonist muscle acts in the opposite direction to the agonist muscle, playing a balancing and coordinating role in the movement. Together, these three constitute a complete functional chain of muscle groups, working collaboratively in a specific temporal sequence of "agonist muscle → synergist muscle → antagonist muscle" during normal physiological movement. This relationship originates from the basic theories of human movement anatomy and neuromuscular physiology, and is extracted from the human anatomy knowledge base stored in the theoretical knowledge base module based on the specific muscle group composition of the target physiotherapy area. In this example, the system determines the activation sequence and electrical signal propagation direction of each muscle group based on this functional chain relationship: activating each muscle group sequentially according to the physiological conduction direction of the functional chain, so that the electrical stimulation forms a coordinated wave-like progressive effect in time, simulating the neuromuscular recruitment sequence in natural human movement.

[0085] Specifically, firstly, based on the spatial parameters of each muscle group extracted in step 2... ,in, This indicates the anatomical layer (superficial / intermediate / deep) of muscle group i. Represents the two-dimensional projection contour of muscle group i on the human body surface; the system is based on The value of divides all muscle groups in the target physiotherapy area into superficial muscle groups ( =1), Middle layer muscle groups ( =2) and deep muscle groups ( =3) Three hierarchical groups; secondly, based on the boundary coordinate data, determine the coverage range of each muscle group in the coronal plane, the overlapping area between adjacent muscle groups, and the relative orientation relationship between muscle groups (such as upper / lower, inner / outer, proximal / distal, etc.), thereby constructing a three-dimensional spatial distribution topology map of each muscle group in the target physiotherapy area. The three-dimensional spatial distribution topology map is a digital model used to describe the position, hierarchy, boundary, and interrelationship of each muscle group in three-dimensional space within the target physiotherapy area, which can be calculated using coordinate space transformation and adjacency relationship.

[0086] Subsequently, based on the spatial relationships of each muscle group within the target physiotherapy area, and in conjunction with a pre-defined human movement anatomy functional database, the functional attributes of each muscle group within the target physiotherapy area are labeled, identifying the role (agonist, synergist, or antagonist) of each muscle group in its functional chain. Based on this, the activation sequence and electrical signal propagation direction of each muscle group during electrical stimulation therapy are determined. During execution, based on the spatial position and adjacency relationships of each muscle group in the three-dimensional spatial distribution topology map, each muscle group i within the target physiotherapy area is traversed. Using the muscle group code as an index, the human movement anatomy functional database stored in the theoretical knowledge base module is retrieved. This functional database, organized by the movement function of each target physiotherapy area, pre-stores a list of muscle group codes and their spatial affiliations for each function, including agonist, synergist, and antagonist muscles involved. The system matches the codes of each muscle group actually existing in the current target physiotherapy area with the list of muscle groups in each functional chain in the functional database, identifies all functional chain entries contained in the target physiotherapy area, and assigns corresponding functional attribute labels to the muscle groups involved in each functional chain. The labels include, but are not limited to, agonist muscles, synergist muscles, and antagonist muscles.

[0087] For example, taking the lumbar region as the target physiotherapy area and performing trunk lateral flexion as an example, the system matches the corresponding functional chain from the functional database as the iliocostalis lumborum (agonist muscle) — quadratus lumborum (synergist muscle) — contralateral quadratus lumborum (antagonist muscle), and labels the corresponding functional attributes of the above muscle groups. If a muscle group participates in multiple functional chains simultaneously (such as the multifidus muscle participating in both spinal extension and spinal rotation functional chains), the system prioritizes matching and labeling the dominant functional chain most relevant to the physiotherapy purpose based on the user's current input physiotherapy type, and records its subordinate functional chain information as an auxiliary reference.

[0088] Then, based on the neuromuscular recruitment sequence of agonist, synergist, and antagonist muscles in normal physiological movement within the functional chain, the activation sequence of each muscle group is determined. For each functional chain, the system divides the activation sequence into three consecutive phases: Phase 1 (Agonist activation phase): The agonist muscle in the functional chain is activated first, serving as the starting point of the electrical stimulation sequence. The stimulation intensity corresponding to the activation time of the agonist muscle is set to the baseline current intensity. Phase 2 (Synergist activation phase): After a first delay interval following the activation of the agonist muscle, the synergist muscle is activated. The value of the first delay interval is determined based on the physiological conduction delay time of the functional chain (pre-calibrated in the functional database), ranging from 10ms to 50ms. The stimulation intensity of the synergist muscle is set to its baseline current intensity. And less than or equal to the baseline current intensity of the agonist muscle To simulate the auxiliary rather than dominant physiological role of synergistic muscles; the third phase (antagonistic muscle activation phase): after a second delay interval following synergistic muscle activation, the antagonistic muscle is activated with inhibitory low intensity. The second delay interval is usually longer than the first delay interval (ranging from 30ms to 80ms), and the stimulation intensity of the antagonistic muscle is set to its baseline current intensity. And usually set To avoid producing movement effects that antagonize the agonist muscles, only low-intensity stimulation is used to induce a moderate inhibitory response in the antagonist muscles, thus maintaining joint stability and movement accuracy during exercise.

[0089] When the target treatment area contains multiple functional chains, the system globally coordinates the activation sequence of each functional chain according to its spatial distribution priority within the target treatment area (determined by the type of treatment, such as prioritizing the activation of deep functional chains in deep treatment mode), generating a timing schedule covering all muscle groups. Subsequently, based on the spatial orientation defined by the projected boundary coordinates of each muscle group in the three-dimensional spatial distribution topology map, the spatial positional relationship between muscle groups within the same functional chain is determined, and the spatial progression direction of the electrical signal is planned in conjunction with the physiological conduction direction of the functional chain. The progression direction is expressed as a vector. This means that the vector points from the projection center of the currently activated muscle group i to the projection center of the next activated muscle group j, and is normalized to a unit direction vector. During execution, the direction of the electrical signal progression is consistent with the physiological conduction direction of the functional chain, that is, the electrical signal starts from the spatial location of the agonist muscle, passes through the region of the synergist muscle, and finally conducts to the region of the antagonist muscle, forming a directed conduction path that traverses the functional chain.

[0090] Then, the activation times of each muscle group are fused with the progressive direction vectors between each muscle group to generate temporal-directional control metadata for each muscle group i. ,in, This represents the absolute activation time of muscle group i (i.e., the offset relative to the stimulus initiation time). This represents the direction vector of the electrical signal proceeding from muscle group i to the next muscle group. The aforementioned metadata is mapped to the corresponding muscle group nodes in the 3D spatial distribution topology, forming a spatial path topology with temporal attributes. Subsequently, the temporal-directional control metadata of each muscle group is mapped to the corresponding muscle group nodes in the 3D spatial distribution topology, using each muscle group node as a path node and the proceeding direction vector... The direction of the path edge, with absolute activation time Assuming the temporal attributes of the path nodes, construct a directed path sequence covering all muscle groups within the target physiotherapy area.

[0091] During execution, the basic master stimulation pathway constructs a complete directed path using each muscle group node in the three-dimensional spatial distribution topology as a path node, the progressive direction vector as the direction of the path edge, and the activation sequence of each muscle group as the temporal attribute of the path node. Each node in this path corresponds to a target muscle group, and the node attributes include the following three dimensions:

[0092] Spatial attributes: The spatial coordinates and anatomical layer codes of this muscle group in the three-dimensional spatial distribution topology map are used to determine the placement position of the corresponding electrode pads and the required stimulation penetration depth.

[0093] Temporal attribute: The absolute activation time of this muscle group, used to determine the stimulation trigger time of the corresponding electrode pad. The nodes are arranged in a clear temporal order according to the value of the absolute activation time.

[0094] Directional attribute: The progressive direction vector of this muscle group to the next muscle group is used to determine the spatial progression of the electrical signal in the electrode array.

[0095] Based on the node attributes mentioned above, all nodes are sorted in ascending order according to their temporal attributes, generating a path starting from the initial node ( =0) to the terminal node ( A directed path sequence (taking the maximum value). This path sequence simultaneously satisfies the following constraints: it covers all target muscle groups within the target physiotherapy area, ensuring no omissions; adjacent nodes in the path are spatially continuous and reachable, that is, there is spatial proximity between the projected boundary coordinates of adjacent muscle groups, guaranteed by the adjacency relationship in the three-dimensional spatial distribution topology map; the directional attribute of the path is consistent with the physiological conduction direction of each functional chain, that is, the progression direction of the path strictly follows the functional chain conduction direction of agonist muscle → synergist muscle → antagonist muscle.

[0096] After the path planning is completed, the basic main stimulus path is represented as structured data. ,in, The total number of muscle groups within the target physiotherapy area. For the k-th node in the path, arranged sequentially according to activation time, each node... It includes the corresponding muscle group code, activation time, and progression direction vector.

[0097] For example, taking the lumbar region as the target treatment area and the deep treatment mode as the treatment type, the planned basic main stimulation pathway is: lumbocostalis muscle (superficial layer, (starting node) → quadratus lumborum (middle layer) (intermediate nodes) → multifidus muscle (deep layer) The overall path (terminal node) presents as a directed temporal chain that progresses from superficial to deep layers, from agonist muscles to synergist muscles, and then to antagonist muscles. This path enables the electrical stimulation signal to form a wave conduction effect in time, progressively from superficial to deep layers, and spatially, a directed conduction that progresses from the agonist muscle region to the synergist muscle region and then to the antagonist muscle region.

[0098] It should be noted that in actual configuration, the number of electrode pads does not need to strictly correspond one-to-one with the number of muscle groups in the target treatment area. The specific configuration is determined comprehensively based on the anatomical characteristics of the target treatment area, treatment needs, maximum equipment capacity, and electrode array arrangement strategy. For areas with clear muscle group boundaries and a small number of muscle groups, a one-to-one configuration is used, with one electrode pad for each muscle group. For muscle groups with a large area or long course, a multiple-to-one configuration is used, with multiple electrode pads arranged in an array along the muscle fiber direction to cover the same muscle group. For adjacent muscle groups that are small in size or highly coordinated in space, a one-to-many configuration can be used, with one electrode pad covering multiple muscle groups, provided that effective coverage is ensured.

[0099] Step S130: Based on the physiological parameters of the muscle group and the type of physical therapy, the initial electrical stimulation parameters of the corresponding muscle group are matched to each node on the initial main stimulation path through the electrical signal conduction law of different deep and superficial muscles in the human body, so as to generate the initial stimulation sequence.

[0100] In some embodiments, the physiotherapy control method based on flexible electrode sheets provided by the present invention includes the following steps in step S130:

[0101] Step S131: Extract the anatomical layers of each muscle group in the three-dimensional spatial distribution topology map from the human anatomy knowledge base, and retrieve the electrical signal conduction law according to the anatomical layers and the corresponding physiological parameters of the muscle groups.

[0102] Step S132: Determine the initial electrical stimulation parameters corresponding to each level of muscle group through the electrical signal transmission law, and map the initial electrical stimulation parameters to the corresponding nodes in the initial master stimulation path to generate the initial stimulation sequence.

[0103] Among them, the electrical signal conduction law includes the correspondence between penetration depth and stimulation frequency, the order of deep and superficial muscle fiber recruitment, and the frequency response characteristics of tissue impedance; the initial electrical stimulation parameters include the initial pulse frequency, initial current intensity, and initial pulse width.

[0104] Combination Figures 2 to 4 As shown in the specific embodiment, the physiotherapy control method based on flexible electrode sheets provided by the present invention, in step 4, based on the physiological parameters of muscle groups and the type of physiotherapy, retrieves and combines the preset electrical signal conduction rules of different deep and superficial muscles of the human body as the basic main stimulation path to match the basic electrical stimulation parameters with the corresponding muscle groups to obtain the basic stimulation sequence.

[0105] Herein, the electrical signal conduction rule refers to the physiological rule that the conduction characteristics of a transcutaneous electrical stimulation signal change with tissue depth, tissue composition and frequency response when it penetrates muscle tissues at different anatomical layers. This rule at least covers the following three aspects: the corresponding rule between penetration depth and stimulation frequency, the sequence rule of recruiting muscle fibers from superficial to deep layers, and the frequency response characteristic of tissue impedance. In this step, the system determines the stimulation parameter configuration strategy corresponding to each level of muscle groups according to the electrical signal conduction rule: based on the differentiated responses of superficial and deep tissues to frequency and intensity, a gradient of frequency and intensity that increases step by step from the superficial to the deep layer is set, so that the electrical signal energy is evenly distributed at all depth levels, ensuring that the deep muscle groups obtain sufficient penetrating stimulation and the superficial muscle groups avoid over-stimulation. The above rule is obtained by summarizing the published academic research results and clinical physiotherapy practice experience in the fields of human anatomy and electrophysiology, and is pre-stored in the theoretical knowledge base module in the form of a rule base.

[0106] In this embodiment, the basic electrical stimulation parameters corresponding to each level of muscle groups are determined according to the anatomical layer of each muscle group in the three-dimensional spatial distribution topological map and the physiological parameters of the muscle groups, by retrieving and combining the preset electrical signal conduction rules of different superficial and deep muscles of the human body. The basic electrical stimulation parameters refer to the reference electrical stimulation parameters initially configured for muscle groups at different anatomical layers, including basic pulse frequency, basic current intensity and basic pulse width. First, for each divided level group, combined with the physiological parameters of each muscle group in this level, the pre-stored electrical signal conduction rule base in the theoretical knowledge base module is called to calculate the basic electrical stimulation parameters corresponding to each level respectively.

[0107] During execution, according to the corresponding rule between penetration depth and stimulation frequency, that is, high-frequency electrical signals can penetrate into deep tissues more effectively because tissue impedance decreases as frequency increases, the system adopts a layered frequency configuration strategy of low frequency for superficial layers, medium frequency for middle layers, and high frequency for deep layers, configures a first basic frequency f1 for the superficial muscle group set, a second basic frequency f2 for the middle muscle group set, and a third basic frequency f3 for the deep muscle group set, which satisfies f1<f2<f3. On this basis, the system further performs personalized correction on the reference frequency according to the equivalent impedance rate of each muscle group: for muscle groups with relatively high impedance in the same level, a compensation amount is added on the basis of the reference frequency of the level to which they belong, so as to overcome the attenuation of signal penetration caused by high tissue impedance; for muscle groups with relatively low impedance, the compensation amount is correspondingly reduced or no adjustment is made, and finally a personalized basic pulse frequency for each muscle group is formed. The specific values of each basic frequency are pre-calibrated based on clinical physiotherapy experience data, for example, the superficial basic frequency is set to 2Hz~20Hz, the middle basic frequency is set to 20Hz~60Hz, and the deep basic frequency is set to 60Hz~120Hz. However, the above numerical ranges are not fixed, and adjustments need to be made according to the differentiated requirements of physiotherapy types in practical applications.

[0108] According to the deep-shallow sequence rule of muscle fiber recruitment, that is, during the gradual increase of percutaneous electrical stimulation intensity, the recruitment sequence of motor units expands gradually from superficial muscle fibers to deep muscle fibers, the system adopts a layered intensity configuration strategy of low intensity for the superficial layer, medium intensity for the middle layer, and high intensity for the deep layer, and configures different basic current intensities for the muscle groups at each level respectively. For example, a lower first basic current intensity I1 is configured for the superficial muscle group to avoid epidermal stinging and overstimulation; a higher third basic current intensity I3 is configured for the deep muscle group to ensure that the effective stimulation depth can reach the target muscle layer; the middle muscle group is configured with a second basic current intensity I2 between the two, which satisfies I1<I2<I3. On this basis, the system further imposes safety constraints on the reference current intensity of each muscle group according to the muscle tolerance threshold of each muscle group, that is, the upper limit of current magnitude tolerance: the set value of the basic current intensity of any muscle group shall not exceed the safe upper current limit converted from its corresponding upper limit of current magnitude tolerance according to the effective contact area of the electrode pad. At the same time, the system performs sensitivity correction on the reference current intensity according to the nerve distribution density of each muscle group, that is, the motor endplate density: for muscle groups with a relatively high motor endplate density (i.e., rich nerve endings and high sensitivity to electrical stimulation), the set value of current intensity is appropriately reduced within the safe upper limit range; for muscle groups with a relatively low motor endplate density, the current intensity is appropriately increased on the premise of not exceeding the safe upper limit, so as to ensure that the effective muscle contraction threshold is reached, and finally a personalized basic current intensity for each muscle group is formed.

[0109] According to the frequency response characteristic of tissue impedance, that is, there are significant differences in the equivalent electrical impedance rates of muscle groups at different anatomical levels, there is a matching relationship between pulse width and impedance characteristics. In general, deep dense muscle groups have higher impedance, and a wider pulse width needs to be configured to ensure sufficient charge injection; superficial muscle groups have lower impedance, and a narrower pulse width can be configured to achieve effective stimulation. The system first determines the reference pulse width range corresponding to each level according to the anatomical level to which each muscle group belongs, combined with the preset pulse width-impedance matching curve; then, for each muscle group, fine interpolation positioning is performed within the reference width range of this level according to the real part component (i.e., the resistance component) of its equivalent electrical impedance rate: the higher the impedance, the wider the pulse width value; the lower the impedance, the narrower the pulse width value, and finally a personalized basic pulse width for each muscle group is formed.

[0110] Subsequently, the baseline pulse frequency, baseline current intensity, and baseline pulse width were independently calculated for each muscle group. However, these parameters were still discrete data suspended below each muscle group entry and had not yet been integrated with the planned baseline master stimulation path. Currently, each node in the baseline master stimulation path only contains spatial attributes (muscle group location and hierarchy), temporal attributes (activation time), and directional attributes (progressive direction), lacking the electrical parameter information necessary for executing electrical stimulation output. The two were then correlated and fused: using the muscle group code as a unique index, the baseline electrical stimulation parameters for each muscle group were matched one by one and appended to nodes in the baseline master stimulation path with the same muscle group code. After fusion, each node in the baseline master stimulation path possessed complete five-dimensional attributes: space, temporal, directional, frequency, current, and pulse width, thus forming the baseline stimulation sequence. This sequence retains the spatial and temporal constraints of the path planning stage while injecting electrical parameter information based on finely adapted muscle group physiological parameters, becoming the complete data foundation for subsequent steps of collaborative enhancement anchor point identification and labeling.

[0111] Step S140: Select a co-enhancing anchor point in the initial main stimulation path, and generate temporal overlap in the electrical stimulation sequence of multiple muscle groups within the muscle functional chain through the co-enhancing anchor point to obtain the location of the co-enhancing path.

[0112] In some embodiments, the physiotherapy control method based on flexible electrode sheets provided by the present invention includes the following steps in step S140:

[0113] Step S141: Determine whether the activation time interval between the agonist and synergist muscles in the initial master stimulation path of the muscle group functional chain is less than the peak contraction half-life of the agonist muscle. If so, mark the corresponding node as the superimposed enhancement anchor point of the agonist and synergist muscles.

[0114] Step S142: Determine whether the activation time interval between the agonist and antagonist muscles in the initial master stimulation pathway in the muscle group functional chain is greater than the peak contraction half-life of the agonist muscle and less than the half-recovery period of the agonist muscle. If so, mark the corresponding node as the anchor point for the reflexive inhibition enhancement of the agonist and antagonist muscles.

[0115] Step S143: When the agonist, synergist, and antagonist muscles in the muscle group functional chain satisfy the criteria for the superimposed enhancement anchor point of agonist and synergist muscles and the reflexive inhibition enhancement anchor point of agonist and antagonist muscles, respectively, the corresponding nodes are marked as multi-node chain enhancement anchor points.

[0116] Combination Figures 2 to 4As shown in the specific embodiment, the physiotherapy control method based on flexible electrode pads provided by the present invention, in step 5, determines at least one synergistic enhancement anchor point in the main stimulation path according to the functional chain relationship of muscle groups and the physiological parameters of muscle groups. A synergistic enhancement anchor point refers to a path location in the basic main stimulation path where the electrical stimulation sequences of two or more muscle groups within the same functional chain superimpose or partially overlap in the time dimension, thereby creating a synergistic enhancement effect in both space and time for the electrical stimulation responses of each muscle group. A synergistic enhancement anchor point is not a single node on the path, but a combination of nodes composed of nodes from two or more muscle groups within the same functional chain. The nodes of each muscle group within this combination satisfy a preset time overlap condition in their activation sequence, causing the electrical stimulation signal to converge energy or superimpose effects at a specific spatial location in the target physiotherapy area, thereby achieving a strengthening physiotherapy effect on the functional chain of the target muscle group.

[0117] Specifically, based on the physiological synergistic mechanism between agonist, synergist, and antagonist muscles in the muscle group functional chain, and combined with the physiological parameters of each muscle group (mainly the peak contraction half-life and half-recovery period), muscle group node combinations that meet the synergistic enhancement conditions are identified and marked in the basic master stimulation pathway. When the activation time interval between the agonist and synergist muscles in the same functional chain in the basic master stimulation pathway is less than the peak contraction half-life of the agonist muscle, it is determined that there is a temporal contraction superposition window between the agonist and synergist muscles, and the two nodes mentioned above are marked as agonist-synergist superposition enhancement anchor points. At this anchor point, the system multiplies the baseline current intensity of the synergist muscle by a first enhancement coefficient (taken from 1.2-1.5) on the original set value, so that the synergist muscle exerts force synchronously before the peak contraction of the agonist muscle has decayed, realizing the superposition enhancement effect of agonist muscle dominating force exertion and synergist muscle synchronous strengthening.

[0118] When the activation time interval between the agonist and antagonist muscles in the same functional chain along the basic master stimulation pathway is greater than the peak contraction half-life of the agonist muscle but less than its half-recovery period, the antagonist muscle is considered to be activated during the agonist muscle's recovery period, indicating an enhanced condition for reflexive inhibition. These two nodes are marked as agonist-antagonist reflexive inhibition enhancement anchor points. At these anchor points, the system multiplies the baseline current intensity of the antagonist muscle by a second enhancement coefficient (between 0.5 and 0.7) to moderately enhance the antagonist muscle's balancing effect with inhibitory stimulation, thereby improving motor coordination and joint stability.

[0119] When the agonist, synergist, and antagonist muscles in the same functional chain sequentially meet the above conditions in their activation sequence, they are collectively marked as a multi-node chain-like enhancement anchor point. At this anchor point, the system applies corresponding enhancement coefficients to the current intensity of the synergist and antagonist muscles, forming a complete functional chain synergistic enhancement effect of strong agonist output, synchronous synergist assistance, and antagonist counterbalancing coordination.

[0120] After the synergistic enhancement anchors are determined, the system appends the muscle group node information marked with anchor attributes to the corresponding node positions in the basic stimulation sequence, forming a basic stimulation sequence containing enhancement markers. Because different muscle groups have different contraction response delay times, if the synchronous triggering of each electrode is controlled solely based on the temporal attributes in the basic master stimulation path, the actual mechanical contraction times of each muscle group will be misaligned due to the different response delays, resulting in the synergistic enhancement effect not being precisely aligned in time. Therefore, at each synergistic enhancement anchor, the system must perform precise temporal compensation on the triggering time of the electrode pads based on the contraction response delay times of each muscle group within the anchor point, and generate corresponding intensity increment commands to ensure that the contraction responses of each muscle group are precisely aligned in time.

[0121] Step S150: Extract the muscle group contraction response delay time from the muscle group physiological parameters, and generate a co-enhancement instruction at the co-enhancement path position based on the muscle group contraction response delay time. At the same time, embed the co-enhancement instruction into the initial stimulation sequence to output an electrical stimulation execution strategy.

[0122] In some embodiments, the physiotherapy control method based on flexible electrode sheets provided by the present invention includes the following steps in step S150:

[0123] Step S151: Extract the muscle group encoding and muscle group contraction response delay time of each muscle group node within the collaborative enhancement anchor point, and use the earliest activated muscle group node in the collaborative enhancement anchor point as the temporal reference to calculate the trigger time compensation amount of other muscle group nodes within the collaborative enhancement anchor point.

[0124] Step S152: Generate trigger time fine-tuning instructions for each electrode based on the trigger time compensation amount, and in response to the trigger time fine-tuning instructions, write the trigger time compensation amount into the corresponding node in the initial stimulation sequence.

[0125] Step S153: Based on the enhancement type and intensity coefficient of the synergistic enhancement anchor, generate the output intensity increment command for each electrode and write the output intensity increment command into the corresponding node in the initial stimulation sequence.

[0126] Combination Figures 2 to 4As shown in the specific embodiment, the physiotherapy control method based on flexible electrode pads provided by the present invention, in step 6, generates a synergistic incremental command at the synergistic enhancement anchor point based on the muscle group contraction response delay time in the physiological parameters of the muscle group. The muscle group contraction response delay time refers to the physiological delay time between the application of an electrical stimulation pulse to the surface of the muscle group and the generation of a measurable contraction response. This parameter characterizes the total time delay of the complete electromechanical coupling process from the electrode pad transdermally to the target muscle group, inducing action potentials, transmitting through the neuromuscular junction, and activating muscle fiber contraction. Muscle groups with different anatomical layers, different nerve innervation densities, and different tissue conductivity characteristics exhibit significant differences in their contraction response delay time. Superficial muscle groups have shorter response delays due to shorter electrical signal conduction paths; deep muscle groups have longer response delays due to longer conduction paths and higher tissue impedance; and muscle groups with high motor endplate density have shorter response delays due to higher neuromuscular junction transmission efficiency.

[0127] During execution, all marked synergistic enhancement anchors are traversed. For each anchor, the muscle group codes of its constituent muscle group nodes (such as agonist, synergist, and antagonist nodes) are extracted. Using these muscle group codes as indexes, the contraction response delay times of each muscle group are retrieved from the human anatomy knowledge base. This parameter is pre-calibrated based on electrophysiological experimental data and stored in a muscle group physiological parameter set. Subsequently, the muscle group node with the smallest temporal attribute value among all synergistic enhancement anchors (usually the agonist node in the functional chain) is selected as the temporal baseline node for that anchor. The basic temporal intervals of each muscle group within that anchor are then used as the basis for the timing of the signal. (i.e., each node relative to the starting node) The original offset is used to calculate the actual mechanical contraction time (numerically equal to the sum of the basic timing interval and the contraction response delay time) by combining the contraction response delay time of each muscle group.

[0128] In this embodiment, to achieve temporal alignment of the actual mechanical contraction times of each muscle group within the synergistic enhancement anchor point (i.e., target synchronous contraction), the system calculates the trigger time compensation amount for each muscle group node relative to the temporal reference node. Numerically, this compensation amount is equal to the sum of the original trigger offset and contraction response delay time of the temporal reference node, minus the actual mechanical contraction time. Then, the trigger time compensation amount for each muscle group node is mapped to each electrode covering that muscle group, generating a fine-tuning instruction for the trigger time of each electrode relative to the base temporal sequence. This fine-tuning instruction is appended to the temporal attribute field of the corresponding muscle group node in the base stimulation sequence in the form of a time offset, forming the finely tuned trigger time. Based on the synergistic enhancement anchor point type (agonist-synergist superimposed enhancement anchor point, agonist-antagonist reflex inhibition enhancement anchor point, or multi-node chain enhancement anchor point) and its corresponding enhancement coefficient, an output intensity increment instruction for the electrode covering each muscle group within the anchor point is generated. For muscle group nodes that need enhancement, the fine-tuned current intensity is multiplied by the base current intensity by the enhancement coefficient corresponding to the anchor type; for muscle group nodes within the anchor that do not need enhancement, the current intensity remains unchanged, and all intensity increment instructions are also added to the electrical parameter attribute field of the corresponding muscle group node in the base stimulation sequence.

[0129] At the synergistic enhancement anchor point, precise temporal alignment and targeted intensity enhancement of the contraction responses of various muscle groups were achieved, thereby further optimizing the basic stimulation sequence into a finely tuned stimulation sequence with temporal synchronization and synergistic intensity enhancement. This optimization enables the various muscle groups within the functional chain to truly form a synchronous and synergistic contraction pattern at the actual physiological response level, rather than merely remaining at the temporal arrangement level of electrical signal triggering. This maximizes the simulation of the systemic synergistic mechanism of neuromuscular movement in natural human movement, further enhancing the therapeutic effect under complex physiotherapy conditions.

[0130] Finally, the cooperative incremental instructions are systematically embedded into the basic stimulation sequence, with the muscle group code of each muscle group node as the unique association index. The compensation amount of the trigger time and the output intensity increment instruction corresponding to each generated cooperative enhancement anchor point are matched one by one and superimposed on the node attribute fields with the same muscle group code in the basic stimulation sequence. At the same time, the arrangement order of each node in the sequence and the original spatial attributes, directional attributes and electrical parameters such as pulse frequency and pulse width of each node remain unchanged. Only the temporal attributes (trigger time) and current intensity fields of electrical parameters of the nodes affected by the cooperative incremental instructions are updated in a targeted manner, thereby forming a complete stimulation control sequence that is finely tuned in time and enhanced in intensity.

[0131] During execution, the basic stimulus sequence is traversed. For each node in the sequence, its muscle group code, current temporal attributes, current electrical parameter attributes, and information on the marked co-enhancing anchor points (such as whether the node belongs to a certain co-enhancing anchor point, anchor point ID, and anchor point type) are extracted. For each node, the system uses its muscle group code as an index to search the co-incremental instruction set for the existence of a trigger time compensation amount and intensity enhancement coefficient for that muscle group. If a corresponding co-incremental instruction is found, the following attributes are updated:

[0132] Timing attribute update: The basic trigger offset is added together with the trigger time compensation to obtain the fine-tuned trigger time;

[0133] Electrical parameter attribute update: If the type of synergistic enhancement anchor to which the muscle group node belongs is an enhancement anchor (such as an agonist-synergist superimposed enhancement anchor or a multi-node chain enhancement anchor), then the base current intensity is multiplied by the enhancement coefficient to obtain the fine-tuned current intensity; if the type of anchor to which the node belongs is an inhibitory anchor (such as an agonist-antagonist reflexive inhibitory enhancement anchor), then the enhancement coefficient is less than 1, and the intensity is reduced to simulate inhibitory control; if the node does not belong to any synergistic enhancement anchor or no corresponding incremental instruction is found, then its timing and electrical parameter attributes remain unchanged;

[0134] The pulse frequency and pulse width remain unchanged: The basic pulse frequency and basic pulse width, determined based on anatomical layers and muscle group physiological parameters, remain unchanged during the embedding process to ensure the stability of the electrical signal penetration depth and charge injection amount.

[0135] After the above attributes are updated, the updated fine-tuning points are formed. Then, all the updated nodes are traversed and rearranged in ascending order according to the fine-tuned trigger times, generating the final electrical stimulation execution sequence. The subscript order represents the actual execution order of each node in the time dimension. Each node in this execution sequence contains complete control parameter fields, including at least: muscle group code, electrode channel number (obtained from the electrode spatial matching result), trigger time (absolute time offset, in ms), stimulation duration (automatically calculated based on the peak contraction half-life and half-recovery period in the muscle group physiological parameters), pulse frequency (in Hz), current intensity (in mA), and pulse width (in μs). These fields constitute all the parameters required for each electrode channel to independently execute electrical stimulation output.

[0136] It should be noted that the main control circuit board is equipped with an instruction output module, which is electrically connected to the driving channels of each electrode pad on the main control circuit board. This module is used to convert the electrical stimulation execution plan into hardware control signals that can be recognized by each electrode pad driving channel after the system obtains the electrical stimulation execution plan, and then send them out for execution.

[0137] The following describes the physiotherapy control system based on flexible electrode sheets provided by the present invention. The physiotherapy control system based on flexible electrode sheets described below can be referred to in correspondence with the physiotherapy control method based on flexible electrode sheets described above.

[0138] like Figure 5 As shown, in one embodiment, a physiotherapy control system based on flexible electrode pads includes a muscle group parameter extraction module 510, a stimulation path planning module 520, a stimulation sequence generation module 530, a path position enhancement module 540, and an execution strategy output module 550.

[0139] The muscle group parameter extraction module 510 is used to obtain the physiotherapy area and physiotherapy type, and extract the spatial parameters and physiological parameters of the target muscle groups in the physiotherapy area from the human anatomy knowledge base.

[0140] The stimulation path planning module 520 is used to retrieve the pre-constructed muscle group functional chain and plan the initial main stimulation path for each target muscle group in the physiotherapy area according to the muscle group spatial parameters.

[0141] The stimulation sequence generation module 530 is used to match the initial electrical stimulation parameters of the corresponding muscle group to each node on the initial main stimulation path based on the physiological parameters of the muscle group and the type of physical therapy, and through the electrical signal conduction law of different deep and superficial muscles in the human body, so as to generate the initial stimulation sequence.

[0142] The path location enhancement module 540 is used to select a co-enhancing anchor point in the initial main stimulation path, and generate temporal overlap in the electrical stimulation sequence of multiple muscle groups within the muscle group functional chain through the co-enhancing anchor point to obtain the co-enhancing path location.

[0143] The execution strategy output module 550 is used to extract the muscle group contraction response delay time from the muscle group physiological parameters, and generate a synergistic enhancement instruction at the synergistic enhancement path position according to the muscle group contraction response delay time. At the same time, the synergistic enhancement instruction is embedded into the initial stimulation sequence to output the electrical stimulation execution strategy.

[0144] Figure 6 This example illustrates a schematic diagram of the physical structure of an electronic device, which can be a smart terminal. Its internal structure diagram can be as follows: Figure 6As shown, the electronic device includes a processor, internal memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium 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 medium. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements the aforementioned physiotherapy control method based on flexible electrode pads.

[0145] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the electronic device to which the present invention is applied. A specific electronic device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0146] On the other hand, the present invention also provides a computer storage medium storing a computer program, which, when executed by a processor, implements the above-described physiotherapy control method based on flexible electrode sheets.

[0147] In another aspect, a computer program product or computer program is provided, which includes computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and when the processor executes the computer instructions, it implements the aforementioned physiotherapy control method based on flexible electrode sheets.

[0148] 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. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory.

[0149] By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0150] 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 specification.

[0151] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A physiotherapy control method based on flexible electrode sheets, characterized in that, The method includes: The physical therapy area and type of physical therapy are obtained, and the spatial parameters and physiological parameters of the target muscle groups in the physical therapy area are extracted from the human anatomy knowledge base. Retrieve the pre-constructed muscle group functional chain, and plan the initial main stimulation path for each target muscle group in the physiotherapy area according to the muscle group spatial parameters; Based on the physiological parameters of the muscle groups and the type of physical therapy, the initial electrical stimulation parameters of the corresponding muscle groups are matched to each node on the initial main stimulation path according to the electrical signal conduction rules of different deep and superficial muscles in the human body, so as to generate an initial stimulation sequence. In the initial master stimulation path, a co-enhancing anchor point is selected, and a temporal overlap is generated on the electrical stimulation sequence of multiple muscle groups in the functional chain of the muscle group through the co-enhancing anchor point to obtain the location of the co-enhancing path; The muscle group contraction response delay time is extracted from the muscle group physiological parameters, and a synergistic enhancement instruction is generated at the location of the synergistic enhancement path based on the muscle group contraction response delay time. At the same time, the synergistic enhancement instruction is embedded in the initial stimulation sequence to output an electrical stimulation execution strategy.

2. The physiotherapy control method based on flexible electrode sheets according to claim 1, characterized in that, The process of acquiring the physiotherapy area and type, and extracting the spatial and physiological parameters of the target muscle groups within the physiotherapy area from the human anatomy knowledge base, includes: The three-dimensional spatial distribution morphology and geometric features of the target muscle group in the physiotherapy area under the human skin are calibrated using the human anatomy knowledge base, and the three-dimensional spatial distribution morphology and geometric features are integrated into the muscle group spatial parameters. The neural distribution density, tissue conductivity, muscle endurance threshold, and muscle fatigue characteristics of the target muscle group are extracted from the human anatomy knowledge base, and the neural distribution density, tissue conductivity, muscle endurance threshold, and muscle fatigue characteristics are integrated into the physiological parameters of the muscle group.

3. The physiotherapy control method based on flexible electrode sheets according to claim 2, characterized in that, The process of retrieving the pre-constructed muscle group functional chain and planning the initial primary stimulation pathway for each target muscle group within the therapeutic area based on the muscle group spatial parameters includes: Based on the spatial parameters of the muscle groups, the spatial distribution hierarchy and relative positional relationship of each target muscle group in the physiotherapy area are determined, and a three-dimensional spatial distribution topology map is constructed based on the spatial distribution hierarchy and relative positional relationship. The relative positional relationships and functional attributes of each muscle group within the three-dimensional spatial distribution topology map are extracted, and the stimulation timing and electrical signal progression reversal of each muscle group are determined through the muscle group functional chain, so as to plan the initial main stimulation path according to the stimulation timing and electrical signal progression reversal.

4. The physiotherapy control method based on flexible electrode sheets according to claim 3, characterized in that, The method further includes: Based on the three-dimensional spatial distribution topology map and the human anatomy knowledge base, the functional chain affiliation and functional attributes of each target muscle group in the physiotherapy area are identified, and the muscle group activation sequence is determined according to the functional chain affiliation and functional attributes of each target muscle group. The stimulation sequence of each muscle group is determined by the activation sequence of the muscle groups, and the progression and reversal of the electrical signal are determined according to the relative positional relationship of each muscle group in the three-dimensional spatial distribution topology map and the direction of the functional chain of the muscle groups.

5. The physiotherapy control method based on flexible electrode sheets according to claim 3, characterized in that, Based on the physiological parameters of the muscle group and the type of physical therapy, the initial electrical stimulation parameters of the corresponding muscle group are matched to each node on the initial main stimulation path according to the electrical signal conduction patterns of different deep and superficial muscles in the human body, so as to generate an initial stimulation sequence, including: The anatomical layers of each muscle group within the three-dimensional spatial distribution topology map are extracted from the human anatomy knowledge base, and the electrical signal conduction law is retrieved based on the anatomical layers and the corresponding physiological parameters of the muscle groups. The initial electrical stimulation parameters corresponding to each level of muscle group are determined by the electrical signal conduction law, and the initial electrical stimulation parameters are mapped to the corresponding nodes in the initial master stimulation path to generate the initial stimulation sequence. The electrical signal conduction rules include the correspondence between penetration depth and stimulation frequency, the order of deep and superficial muscle fiber recruitment, and the frequency response characteristics of tissue impedance; the initial electrical stimulation parameters include the initial pulse frequency, initial current intensity, and initial pulse width.

6. The physiotherapy control method based on flexible electrode sheets according to claim 1, characterized in that, The synergistic enhancement anchors include superimposed enhancement anchors of agonist and synergist muscles, reflexive inhibition enhancement anchors of agonist and antagonist muscles, and multi-node chain enhancement anchors. The step of selecting a co-enhancing anchor point in the initial master stimulation path and generating temporal overlap on the electrical stimulation sequence of multiple muscle groups within the muscle group functional chain through the co-enhancing anchor point to obtain the location of the co-enhancing path includes: Determine whether the activation time interval between the agonist and synergist in the functional chain of the muscle group in the initial main stimulation path is less than the contraction peak half-life of the agonist. If so, mark the corresponding node as the superimposed enhancement anchor point of the agonist and synergist. Determine whether the activation time interval between the agonist and antagonist muscles in the functional chain of the muscle group in the initial master stimulation path is greater than the peak contraction half-life of the agonist muscle and less than the half-recovery period of the agonist muscle. If so, mark the corresponding node as the reflex inhibition enhancement anchor point of the agonist and antagonist muscles. When the agonist, synergist, and antagonist muscles in the muscle group functional chain respectively meet the criteria for the superimposed enhancement anchor point of agonist and synergist muscles and the reflexive inhibition enhancement anchor point of agonist and antagonist muscles, the corresponding node is marked as the multi-node chain enhancement anchor point.

7. The physiotherapy control method based on flexible electrode sheets according to claim 6, characterized in that, The step of extracting the muscle group contraction response delay time from the muscle group physiological parameters, generating a synergistic enhancement instruction at the location of the synergistic enhancement path based on the muscle group contraction response delay time, and embedding the synergistic enhancement instruction into the initial stimulation sequence to output an electrical stimulation execution strategy includes: Extract the muscle group code and muscle group contraction response delay time of each muscle group node within the collaborative enhancement anchor point, and use the earliest activated muscle group node in the collaborative enhancement anchor point as the time reference to calculate the trigger time compensation amount of other muscle group nodes within the collaborative enhancement anchor point. Based on the trigger time compensation amount, a trigger time fine-tuning instruction is generated for each electrode plate, and in response to the trigger time fine-tuning instruction, the trigger time compensation amount is written into the corresponding node in the initial stimulation sequence; Based on the enhancement type and intensity coefficient of the synergistic enhancement anchor, an output intensity increment command is generated for each electrode, and the output intensity increment command is written into the corresponding node in the initial stimulation sequence.

8. A physiotherapy control system based on flexible electrode sheets, characterized in that, The system is used to implement the physiotherapy control method based on flexible electrode sheets according to any one of claims 1 to 7, the system comprising: The muscle group parameter extraction module is used to obtain the physiotherapy area and physiotherapy type, and extract the spatial parameters and physiological parameters of the target muscle groups in the physiotherapy area from the human anatomy knowledge base; The stimulation path planning module is used to retrieve the pre-constructed muscle group functional chain and plan the initial main stimulation path for each target muscle group in the physiotherapy area according to the muscle group spatial parameters. The stimulation sequence generation module is used to match the initial electrical stimulation parameters of the corresponding muscle group to each node on the initial main stimulation path based on the physiological parameters of the muscle group and the type of physical therapy, and through the electrical signal conduction law of different deep and superficial muscles in the human body, so as to generate an initial stimulation sequence. The path location enhancement module is used to select a co-enhancing anchor point in the initial main stimulation path, and generate a temporal overlap on the electrical stimulation sequence of multiple muscle groups in the muscle group functional chain through the co-enhancing anchor point to obtain the co-enhancing path location. The execution strategy output module is used to extract the muscle group contraction response delay time from the muscle group physiological parameters, generate a synergistic enhancement instruction at the synergistic enhancement path position based on the muscle group contraction response delay time, and embed the synergistic enhancement instruction into the initial stimulation sequence to output an electrical stimulation execution strategy.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the physiotherapy control method based on flexible electrode sheets as described in any one of claims 1 to 7.

10. A computer storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the physiotherapy control method based on flexible electrode sheets as described in any one of claims 1 to 7.

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