Peripheral nerve signal collection and regulation system and method

Abstract

A peripheral nerve signal collection and regulation system and method, which belong to the technical field of medical devices. An electrode module (100) is placed in a peripheral nerve tube, and the electrode module (100) is used for collecting and receiving human nerve signals in the vicinity of the electrode module (100) and releasing a current to stimulate human nerves in the vicinity of the electrode module (100); and during a nerve growth process, by means of the stimulation of the current, the human nerves grow in the direction of the electrode module (100) and come into contact with and are stably connected to the electrode module (100), and an effective channel between the nerves and the electrode module (100) is established after a stable connection is established, such that the electrode module (100) can collect the human nerve signals more comprehensively and accurately. Compared with conventional human electromyographic signal collection, the signal collection in the present invention is more comprehensive and accurate, such that an external effector (700) is better controlled. Moreover, during the nerve growth process, the electrode module (100) is controlled to release a corresponding induction or inhibition signal on the basis of nerve growth conditions, thereby avoiding the formation of a neuroma resulting from disorganized growth of a distal nerve end during the healing of an amputated limb, and avoiding phantom limb pain or other complications created by the presence of the neuroma.

Description

A peripheral nerve signal acquisition and modulation system and method Technical Field

[0001] This invention belongs to the field of medical device technology, specifically a peripheral nerve signal acquisition and regulation system and method. Background Technology

[0002] There are still millions of amputees worldwide, and the only way to restore limbs is through prostheses. The history of prostheses spans thousands of years, evolving from decorative to functional limbs. Currently, intelligent prostheses based on the Human-Machine Interface (HMI) concept have emerged. The concept of intelligent prostheses typically refers to "intentional control," meaning that users control the prosthesis through their brain or healthy body movements, making the prosthesis feel like an integral part of their own body, providing a positive user experience both physically and psychologically.

[0003] Currently, the recognition of a user's control intention is mainly achieved by detecting the electromyographic (EMG) signals of the closest undamaged limb to the user's body. When a user wants to control the prosthesis, they can control the movement of their undamaged limb as if it were their normal limb, based on their conscious will. Clearly, this movement is based on muscle activity, and different movements of the limb correspond to different muscle activity patterns. This can be used as a basis for identifying the type of limb movement and controlling the prosthesis accordingly. However, the effectiveness is limited by unreliable EMG data acquisition and the uncontrollable quantity and quality of residual muscle tissue.

[0004] In addition, there are brain-computer interface devices that collect central nervous system signals. However, the central nervous system is non-regenerative, and surgically cutting and implanting it into a non-regenerative system can cause irreversible damage to the surgical procedure and the implant itself. The surgery and implantation are high-risk, and there is virtually no possibility of a second surgery. Therefore, there is an urgent need for a safer and more stable neural signal acquisition and regulation system. Summary of the Invention

[0005] 1. The technical problem that the invention aims to solve

[0006] The purpose of this invention is to solve the problems of insecurity, incompleteness, instability, and inaccuracy in existing neural signal acquisition methods.

[0007] 2. Technical Solution

[0008] To achieve the above objectives, the technical solution provided by the present invention is as follows:

[0009] The present invention provides a peripheral nerve signal acquisition and modulation system, comprising:

[0010] An electrode module placed within a peripheral nerve canal, the electrode module being used to receive nerve signals from nearby human bodies and / or to release electrical currents to stimulate nearby human nerves;

[0011] A processing module that is communicatively connected to the electrode module, the processing module being further connected to an external effector;

[0012] The processing module is used to process the acquired human nerve signals and control the electrode module to execute electrical stimulation according to the electrical stimulation command, or the processing module processes the acquired human nerve signals and generates action commands to send to the external effector.

[0013] The external effector is used to send sensory signals to the processing module or receive control signals from the processing module and execute them. The external effector is an action execution mechanism or a sensory simulation mechanism.

[0014] Preferably, it further includes a puncture delivery module connected to the electrode module and delivering the electrode module into the body;

[0015] A signal acquisition and electrical stimulation driving module is connected to the puncture delivery module and performs signal acquisition and electrical stimulation application. The signal acquisition and electrical stimulation driving module is used to receive the nerve signals acquired by the electrode module and / or to power the electrode module.

[0016] The processing module is communicatively connected to the acquisition and electrical stimulation drive module.

[0017] Preferably, the electrode module is a deployable multi-electrode structure that is directly connected to a nerve, including a bidirectional umbrella structure, a unidirectional umbrella structure, a bidirectional balloon structure, a unidirectional balloon structure, or a combination of a proximal umbrella structure and a distal balloon structure.

[0018] Preferably, the bidirectional umbrella-shaped structure includes a proximal umbrella-shaped structure and a distal umbrella-shaped structure, with the proximal umbrella-shaped structure close to human nerves; both the proximal and distal umbrella-shaped structures include a mesh structure and multiple blades, with several electrode groups on each blade; after unfolding, both the proximal and distal umbrella-shaped structures form a three-dimensional electrode matrix, which is controlled by the acquisition and electrical stimulation driving module to perform electrical stimulation or acquire nerve electrical signals.

[0019] Preferably, the electrode module is coated with a drug coating, the drug coating being coated with drugs and growth factors, and the drug coating is configured such that the release direction of the drugs and growth factors is located near the electrode module.

[0020] Preferably, the acquisition and electrical stimulation driving module is communicatively connected to the processing module through mutually cooperating in-vivo wireless coupling coils and external wireless coupling coils. The in-vivo wireless coupling coil is electrically connected to the acquisition and electrical stimulation driving module, and the external wireless coupling coil is electrically connected to the processing module.

[0021] Preferably, the main functions of the processing module include:

[0022] During the nerve growth phase, corresponding electrical stimulation signals are sent to the acquisition and electrical stimulation drive module according to the nerve growth status. The acquisition and electrical stimulation drive module controls the unfolded electrode module to simulate muscle and provide feedback electrical signals according to the electrical stimulation signals, inducing the nerve to stop growing and maintain a stable connection with the electrode module.

[0023] During the stable connection period, the nerve has formed a stable connection with the electrode module. The processing module sends the corresponding electrical stimulation signal to the acquisition and electrical stimulation driving module. The acquisition and electrical stimulation driving module controls the unfolded electrode module to simulate sensory signal input according to the electrical stimulation signal. By stimulating the sensory nerve connected to it, it transmits simulated touch or simulated pain to the central nervous system.

[0024] Preferably, the processing module further includes

[0025] During the growth process, nerves release electrical signals. When the nerve is about to come into contact with or has already come into contact with the umbrella-shaped electrode module, the electrode module receives the nerve signal and transmits the waveform of the electrical signal to the processing module. The processing module adjusts the waveform of the electrical stimulation signal released to the nerve according to the pre-set calculation model, thereby realizing the induction of nerve growth and growth cessation.

[0026] When the received neural electrical signal is weak, the processing module will provide a strong electrical stimulation signal; when the received neural electrical signal gradually increases in strength, the processing module will gradually reduce the intensity of the electrical stimulation signal; when the received neural electrical signal exceeds a certain threshold, the processing module will stop releasing electrical stimulation signals or release reverse signals to inhibit nerve growth and migration.

[0027] Preferably, when the external effector is an action execution mechanism, the electrode module acquires the electrical signals of the peripheral nerves and sends them to the processing module. The processing module analyzes and identifies the acquired electrical signals and generates corresponding action commands, which are then sent to the external effector. The external effector then executes the action according to the received action command.

[0028] When the external effector is a sensory simulation mechanism, the external effector sends the sensory data to be simulated to the processing module. The processing module sends the corresponding electrical stimulation signal to the acquisition and electrical stimulation driving module. The acquisition and electrical stimulation driving module controls the deployed electrode module to simulate the sensory signal input according to the electrical stimulation signal, and completes the sensory stimulation by stimulating the sensory nerves connected to it.

[0029] Preferably, the external wireless coupling coil and processing module are disposed inside the prosthesis sleeve, and the prosthesis sleeve is fixedly connected to the external effector.

[0030] A method for peripheral nerve signal acquisition and modulation, wherein the method employs the aforementioned system, and the method is as follows:

[0031] During the nerve growth phase, the processing module sends corresponding electrical stimulation signals to the acquisition and electrical stimulation drive module according to the nerve growth status. When the nerve is about to contact or has already contacted the electrode module, the processing module controls the acquisition and electrical stimulation drive module to control the unfolded electrode module to simulate muscle and provide feedback electrical signals according to the electrical stimulation signals, inducing the nerve to stop growing and maintain a stable connection with the electrode module.

[0032] During the stable connection period, the nerve has formed a stable connection with the electrode module. The processing module sends the corresponding electrical stimulation signal to the acquisition and electrical stimulation driving module. The acquisition and electrical stimulation driving module controls the unfolded electrode module to simulate sensory signal input according to the electrical stimulation signal. By stimulating the sensory nerve connected to it, it transmits simulated touch or simulated pain to the central nervous system.

[0033] During the stable connection period, the electrode module receives the action signals generated by the nerve and sends them to the processing module. The processing module generates corresponding action instructions and sends them to the external effector. The external effector then executes the action according to the received action instructions.

[0034] 3. Beneficial effects

[0035] Compared with the prior art, the technical solution provided by this invention has the following advantages:

[0036] This invention discloses a peripheral nerve signal acquisition and control system and method. An electrode module placed within a peripheral nerve canal collects and receives nearby human nerve signals and releases electrical currents to stimulate nearby nerves. During nerve growth, electrical stimulation causes the nerve to grow towards the electrode module and make stable contact with it, establishing an effective channel between the nerve and the electrode module. This allows the electrode module to acquire human nerve signals more comprehensively and accurately compared to traditional electromyography (EMG) signal acquisition, thus enabling better control of external effectors. Furthermore, the electrode module in this application is implanted within the peripheral nerve. During nerve growth, the peripheral nerve directly contacts the electrode module. Compared to non-invasive brain-computer interfaces, a single electrode channel directly connects to one or more peripheral nerves within the nerve canal. The signal-to-noise ratio and dimensionality of this connection are orders of magnitude higher than signals acquired through the skin, resulting in better signal quality. Moreover, during nerve growth, the electrode module releases corresponding induction or inhibition signals based on the nerve's growth status, preventing the formation of neuromas due to disordered distal nerve growth during limb healing and avoiding phantom limb pain or other complications caused by neuromas. Attached Figure Description

[0037] Figure 1 is a schematic diagram of the peripheral nerve signal acquisition and modulation system of the present invention.

[0038] Figure 2 is a schematic diagram of the nerve regulation by a peripheral nerve signal acquisition and regulation system according to the present invention;

[0039] Figure 3 is a schematic diagram of the electrical stimulation process of the system of the present invention;

[0040] Figure 4 is a schematic diagram of the process of nerve signal acquisition and electrical stimulation modulation of the system of the present invention;

[0041] Figure 5 is a schematic diagram of the hardware structure and connection of the system in Example 1.

[0042] Explanation of the labels in the diagram: 100, Electrode module; 200, Puncture delivery module; 300, Acquisition and electrical stimulation drive module; 400, In-vivo wireless coupling coil; 500, Out-of-vivo wireless coupling coil; 600, Processing module; 700, External effector; 810, Amputated limb; 820, Prosthetic cannula; 900, Nerve. Detailed Implementation

[0043] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0044] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0045] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0046] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0047] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0048] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0049] Example 1

[0050] Referring to Figures 1-4, this embodiment of a peripheral nerve signal acquisition and modulation system includes...

[0051] An electrode module 100 is placed in a peripheral nerve canal. The electrode module 100 is used to receive nerve signals from nearby human bodies and / or release current to stimulate nearby human body nerves.

[0052] A processing module 600 is communicatively connected to the electrode module 100, and the processing module 600 is also connected to an external effector 700;

[0053] The processing module 600 is used to process the acquired human nerve signals. The control electrode module 100 executes electrical stimulation according to the electrical stimulation command, or the processing module 600 processes the acquired human nerve signals and generates action commands to send to the external effector 700.

[0054] The external effector 700 is used to send sensory signals to the processing module 600 or to receive control signals from the processing module 600 and execute them. The external effector 700 is an action execution mechanism or a sensory simulation mechanism.

[0055] This embodiment of a peripheral nerve signal acquisition and control system uses an electrode module 100 placed within a peripheral nerve canal to collect and receive nearby human nerve signals and release electrical currents to stimulate nearby human nerves. During nerve growth, the electrical stimulation causes the human nerve to grow towards the electrode module 100 and make contact with and stably connect to it. After stable connection, an effective channel is established between the nerve and the electrode module 100, allowing the electrode module 100 to acquire human nerve signals more comprehensively and accurately than traditional human electromyography signal acquisition, thus providing better control over the external effector 700. Furthermore, the electrode module 100 of this application is implanted within the peripheral nerve. During the growth process, the peripheral nerve will directly contact the electrode module 100. Compared to non-invasive brain-computer interfaces, a single electrode channel directly connects to one or more peripheral nerves within the nerve canal. The signal-to-noise ratio and dimensionality of this connection are several orders of magnitude higher than signals acquired through the skin, resulting in better signal quality. The result is that users can operate mechanical prostheses or other external effectors 700 with greater sensitivity and accuracy, shorter user learning cycles, and stronger applicability and anti-interference capabilities. It is more effective and stable, truly meeting the needs of users in daily use.

[0056] Furthermore, during nerve growth, the control electrode module 100 releases corresponding induction or inhibition signals according to the nerve growth status, which can prevent the formation of neuromas due to disordered distal nerve growth during limb healing, and avoid phantom limb pain or other complications caused by the presence of neuromas.

[0057] Specifically, it also includes a puncture delivery module 200 that is connected to the electrode module 100 and delivers the electrode module 100 into the body;

[0058] A signal acquisition and electrical stimulation driving module 300 is connected to the puncture delivery module 200 and performs signal acquisition and electrical stimulation application. The signal acquisition and electrical stimulation driving module 300 is used to receive the nerve signals acquired by the electrode module 100 and / or to power the electrode module 100.

[0059] The processing module 600 is communicatively connected to the acquisition and electrical stimulation drive module 300.

[0060] The electrode module 100 is a deployable multi-electrode structure that is directly connected to a nerve, including a bidirectional umbrella structure, a unidirectional umbrella structure, a bidirectional balloon structure, a unidirectional balloon structure, or a combination of a proximal umbrella structure and a distal balloon structure.

[0061] Furthermore, the electrode module 100 has self-deploying capabilities, utilizing the natural canal structure of the neural tube for fixation after deployment, preventing electrode slippage or rotation. When used in conjunction with the puncture delivery module 200, it allows even untrained trauma surgeons, and even orthopedic surgeons, to quickly and conveniently perform this surgery. In contrast, brain-computer interface implants require specialized craniotomy operating rooms, specialized neurosurgeons, and the assistance of expensive, large, and difficult-to-learn surgical robots. The surgical risks are extremely high, with patients facing the risk of intraoperative stroke or cerebral hemorrhage and death. Peripheral nerve implantation carries a much lower risk, allows for a larger surgical incision with a significant visual advantage, and can be minimally invasive, using a trocar inserted through a minimally invasive channel.

[0062] The electrode module 100 in this embodiment preferably has an expandable bidirectional umbrella-shaped structure, which includes a proximal umbrella-shaped structure and a distal umbrella-shaped structure, with the proximal umbrella-shaped structure close to human nerves.

[0063] Both the proximal and distal umbrella-shaped structures include a mesh structure and multiple blades, with several electrode groups on each blade. When unfolded, both the proximal and distal umbrella-shaped structures form a three-dimensional electrode matrix. The three-dimensional electrode matrix is ​​controlled by the acquisition and electrical stimulation driving module 300 to perform electrical stimulation or acquire neural electrical signals.

[0064] The electrode module 100 is coated with a drug coating. In this embodiment, the drug coating is preferably applied to the distal umbrella-shaped structure of the electrode module 100. The drug coating contains drugs and growth factors, and the drug coating is configured such that the release direction of the drugs and growth factors is located near the distal umbrella-shaped structure. Because the release of drugs and growth factors is located near the backward umbrella-shaped structure, through the diffusion effect of substances from high concentration to low concentration, the drugs and growth factors will gradually diffuse to the gap in the nerve tissue, thereby naturally forming a concentration gradient from near to far. This induces axonal cells and Schwann cells to grow and migrate distally, ultimately leading to the growth of the nerve cell target electrode.

[0065] After the electrode module 100 is implanted into the human body, both the proximal and distal umbrella-shaped structures unfold. Simultaneously, drugs and growth factors on the distal umbrella-shaped structure begin to be released, promoting nerve growth. The proximal and distal umbrella-shaped structures send corresponding electrical stimulation signals to the nerve based on its growth, simulating a "handshake" interaction between the nerve and muscle. When the nerve grows to the required level, the acquisition and electrical stimulation drive module 300 controls the unfolded electrode module 100 to simulate muscle and provide feedback electrical signals, inducing the nerve to stop growing and maintain a stable connection with the electrode module 100. At this point, a stable signal channel between the nerve and the electrode module 100 is established. Subsequently, more comprehensive and accurate signal acquisition and motion control can be achieved based on the established stable connection between the nerve and the electrode module 100.

[0066] The acquisition and electrical stimulation drive module 300 is communicatively connected to the processing module 600 through an in-vivo wireless coupling coil 400 and an external wireless coupling coil 500 that cooperate with each other. The in-vivo wireless coupling coil 400 is electrically connected to the acquisition and electrical stimulation drive module 300, and the external wireless coupling coil 500 is electrically connected to the processing module 600.

[0067] The main functions of the processing module 600 include:

[0068] During the nerve growth phase, a corresponding electrical stimulation signal is sent to the acquisition and electrical stimulation driving module 300 according to the nerve growth status. The acquisition and electrical stimulation driving module 300 controls the unfolded electrode module 100 to simulate muscle and provide feedback electrical signals according to the electrical stimulation signal, inducing the nerve to stop growing and maintain a stable connection with the electrode module 100.

[0069] During the stable connection period, the nerve has formed a stable connection with the electrode module 100. The processing module 600 sends the corresponding electrical stimulation signal to the acquisition and electrical stimulation driving module 300. The acquisition and electrical stimulation driving module 300 controls the unfolded electrode module 100 to simulate sensory signal input according to the electrical stimulation signal. By stimulating the sensory nerve connected to it, it transmits simulated touch or simulated pain to the central nervous system.

[0070] Processing module 600 also includes

[0071] During the growth process, the nerve releases nerve electrical signals. When the nerve is about to come into contact with or has already come into contact with the umbrella-shaped electrode module 100, the electrode module 100 receives the nerve signal and transmits the waveform of the nerve electrical signal to the processing module 600. The processing module 600 adjusts the waveform of the electrical stimulation signal released to the nerve according to the pre-set calculation model, thereby realizing the induction of nerve growth and growth cessation.

[0072] When the received neural electrical signal is weak, the processing module 600 will provide a strong electrical stimulation signal; when the received neural electrical signal gradually increases in strength, the processing module 600 will gradually reduce the intensity of the electrical stimulation signal; when the received neural electrical signal exceeds a certain threshold, the processing module 600 will stop releasing the electrical stimulation signal or release a reverse signal to inhibit nerve growth and migration.

[0073] The processing module 600 is also connected to an external effector 700, which is used to send sensory signals to the processing module 600 or receive control signals from the processing module 600 and execute them. The external effector 700 is an action execution mechanism or a sensory simulation mechanism.

[0074] When the external effector 700 is an action execution mechanism, the electrode module 100 acquires the electrical signals of the peripheral nerves and sends them to the processing module 600. The processing module 600 analyzes and identifies the acquired electrical signals and generates corresponding action commands, which are then sent to the external effector 700. The external effector 700 then executes the action according to the received action command.

[0075] When the external effector 700 is a sensory simulation mechanism, the external effector 700 sends the sensory data to be simulated to the processing module 600. The processing module 600 sends the corresponding electrical stimulation signal to the acquisition and electrical stimulation driving module 300. The acquisition and electrical stimulation driving module 300 controls the deployed electrode module 100 to simulate the sensory signal input according to the electrical stimulation signal, and completes the sensory stimulation by stimulating the sensory nerves connected to it.

[0076] The external wireless coupling coil 500 and the processing module 600 are disposed inside the prosthetic sleeve 820, and the prosthetic sleeve 820 is fixedly connected to the external effector 700.

[0077] The hardware structure of a peripheral nerve signal acquisition and regulation system in this embodiment is shown in Figure 5. The motor module 100, the puncture delivery module 200, the acquisition and electrical stimulation drive module 300, and the in vivo wireless coupling coil are placed inside the human amputated limb 810. The human amputated limb 810 is covered with a prosthesis sleeve 820. The motor module 100 is placed near the nerve 900 and the proximal umbrella-shaped structure is close to the nerve 900. The prosthesis sleeve 820 is equipped with a processing module 600 and an external wireless coupling coil 500. When the prosthesis sleeve 820 is covered with the human amputated limb 810, the in vivo wireless coupling coil 400 and the external wireless coupling coil 500 work together to perform their functions.

[0078] Example 2

[0079] This embodiment of a peripheral nerve signal acquisition and regulation method uses the system described in Embodiment 1. During the nerve growth period, the processing module 600 sends a corresponding electrical stimulation signal to the acquisition and electrical stimulation driving module 300 according to the nerve growth. When the nerve is about to contact or has already contacted the electrode module 100, the processing module 600 controls the acquisition and electrical stimulation driving module 300 to control the unfolded electrode module 100 to simulate muscle and provide feedback electrical signals according to the electrical stimulation signal, thereby inducing the nerve to stop growing and maintain a stable connection with the electrode module 100.

[0080] During the stable connection period, the nerve has formed a stable connection with the electrode module 100. The processing module 600 sends the corresponding electrical stimulation signal to the acquisition and electrical stimulation driving module 300. The acquisition and electrical stimulation driving module 300 controls the unfolded electrode module 100 to simulate sensory signal input according to the electrical stimulation signal. By stimulating the sensory nerve connected to it, it transmits simulated touch or simulated pain to the central nervous system.

[0081] During the stable connection period, the electrode module 100 receives the action signal generated by the nerve and sends it to the processing module 600. The processing module 600 generates the corresponding action instruction and sends it to the external effector 700. The external effector 700 executes the action according to the received action instruction.

[0082] The above-described embodiments are merely illustrative of certain implementations of the present invention, and are described in a relatively specific and detailed manner. However, 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 are all within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A peripheral nerve signal acquisition and modulation system, characterized in that: include An electrode module (100) placed in a peripheral nerve canal, the electrode module (100) being used to receive nerve signals from nearby human bodies and / or release current to stimulate nearby human body nerves; A processing module (600) is communicatively connected to the electrode module (100), and the processing module (600) is also connected to an external effector (700); The processing module (600) is used to process the acquired human nerve signals and control the electrode module (100) to perform electrical stimulation according to the electrical stimulation command, or the processing module (600) processes the acquired human nerve signals and generates action commands to send to the external effector (700). The external effector (700) is used to send sensory signals to the processing module (600) or receive control signals from the processing module (600) and execute them. The external effector (700) is an action execution mechanism or a sensory simulation mechanism.

2. [Corrected according to detailed rule 91, 03.03.2026] A peripheral nerve signal acquisition and modulation system according to claim 1, characterized in that: It also includes a puncture delivery module (200) that is connected to the electrode module (100) and delivers the electrode module (100) into the body; A signal acquisition and electrical stimulation driving module (300) is connected to the puncture delivery module (200) and performs signal acquisition and electrical stimulation application. The signal acquisition and electrical stimulation driving module (300) is used to receive the nerve signals acquired by the electrode module (100) and / or to power the electrode module (100). The processing module (600) is communicatively connected to the acquisition and electrical stimulation drive module (300).

3. The peripheral nerve signal acquisition and modulation system according to claim 2, characterized in that: The electrode module (100) is a deployable multi-electrode structure that is directly connected to the nerve, including a bidirectional umbrella structure, a unidirectional umbrella structure, a bidirectional balloon structure, a unidirectional balloon structure, and a combination of a proximal umbrella structure and a distal balloon structure.

4. The peripheral nerve signal acquisition and modulation system according to claim 3, characterized in that: The bidirectional umbrella-shaped structure includes a proximal umbrella-shaped structure and a distal umbrella-shaped structure, with the proximal umbrella-shaped structure close to human nerves; both the proximal and distal umbrella-shaped structures include a mesh structure and multiple blades, with several electrode groups on each blade; after unfolding, both the proximal and distal umbrella-shaped structures form a three-dimensional electrode matrix, which is controlled by the acquisition and electrical stimulation driving module (300) to perform electrical stimulation or acquire nerve electrical signals.

5. The peripheral nerve signal acquisition and modulation system according to claim 3, characterized in that: The electrode module (100) is coated with a drug coating containing drugs and growth factors, and the drug coating is configured such that the release direction of the drugs and growth factors is located near the electrode module (100).

6. The peripheral nerve signal acquisition and modulation system according to claim 3, characterized in that: The acquisition and electrical stimulation drive module (300) is communicatively connected to the processing module (600) through mutually cooperating in-vivo wireless coupling coil (400) and external wireless coupling coil (500). The in-vivo wireless coupling coil (400) is electrically connected to the acquisition and electrical stimulation drive module (300), and the external wireless coupling coil (500) is electrically connected to the processing module (600).

7. The peripheral nerve signal acquisition and modulation system according to claim 6, characterized in that, The main functions of the processing module (600) include: During the nerve growth period, a corresponding electrical stimulation signal is sent to the acquisition and electrical stimulation driving module (300) according to the nerve growth. The acquisition and electrical stimulation driving module (300) controls the unfolded electrode module (100) to simulate muscle and provide feedback electrical signals according to the electrical stimulation signal, so as to induce the nerve to stop growing and maintain a stable connection with the electrode module (100). During the stable connection period, the nerve has formed a stable connection with the electrode module (100). The processing module (600) sends the corresponding electrical stimulation signal to the acquisition and electrical stimulation driving module (300). The acquisition and electrical stimulation driving module (300) controls the unfolded electrode module (100) to simulate sensory signal input according to the electrical stimulation signal. By stimulating the sensory nerve connected to it, it transmits simulated touch or simulated pain to the central nervous system.

8. The peripheral nerve signal acquisition and modulation system according to claim 7, characterized in that: The processing module (600) also includes During the growth process, the nerve releases nerve electrical signals. When the nerve is about to come into contact with or has already come into contact with the umbrella-shaped electrode module (100), the electrode module (100) receives the nerve signal and transmits the waveform of the nerve electrical signal to the processing module (600). The processing module (600) adjusts the waveform of the electrical stimulation signal released to the nerve according to the pre-set calculation model, thereby realizing the induction of nerve growth and growth cessation. When the received neural electrical signal is weak, the processing module (600) will provide a strong electrical stimulation signal; when the received neural electrical signal gradually increases, the processing module (600) will gradually reduce the intensity of the electrical stimulation signal; when the received neural electrical signal exceeds a certain threshold, the processing module (600) will no longer release the electrical stimulation signal or release a reverse signal to inhibit nerve growth and migration.

9. A peripheral nerve signal acquisition and modulation system according to claim 7, characterized in that: When the external effector (700) is an action execution mechanism, the electrode module (100) acquires the electrical signals of the peripheral nerves and sends them to the processing module (600). The processing module (600) analyzes and identifies the acquired electrical signals and generates corresponding action commands, which are then sent to the external effector (700). The external effector (700) executes the action according to the received action command. When the external effector (700) is a sensory simulation mechanism, the external effector (700) sends the sensory data to be simulated to the processing module (600), the processing module (600) sends the corresponding electrical stimulation signal to the acquisition and electrical stimulation driving module (300), the acquisition and electrical stimulation driving module (300) controls the deployed electrode module (100) to simulate the sensory signal input according to the electrical stimulation signal, and completes the sensory stimulation by stimulating the sensory nerves connected to it.

10. A peripheral nerve signal acquisition and modulation system according to claim 7, characterized in that: The external wireless coupling coil (500) and processing module (600) are disposed inside the prosthetic sleeve (820), and the prosthetic sleeve (820) is fixedly connected to the external effector (700).

11. A method for acquiring and modulating peripheral nerve signals, wherein the method employs the system described in any one of claims 2-10, characterized in that: During the nerve growth phase, the processing module (600) sends a corresponding electrical stimulation signal to the acquisition and electrical stimulation drive module (300) according to the nerve growth situation. When the nerve is about to contact or has already contacted the electrode module (100), the processing module (600) controls the acquisition and electrical stimulation drive module (300) to control the unfolded electrode module (100) to simulate muscle and provide feedback electrical signals according to the electrical stimulation signal, so as to induce the nerve to stop growing and maintain a stable connection with the electrode module (100). During the stable connection period, the nerve has formed a stable connection with the electrode module (100). The processing module (600) sends the corresponding electrical stimulation signal to the acquisition and electrical stimulation driving module (300). The acquisition and electrical stimulation driving module (300) controls the unfolded electrode module (100) to simulate sensory signal input according to the electrical stimulation signal. By stimulating the sensory nerve connected to it, it transmits simulated touch or simulated pain to the central nervous system. During the stable connection period, the electrode module (100) receives the action signal generated by the nerve and sends it to the processing module (600). The processing module (600) generates the corresponding action instruction and sends it to the external effector (700). The external effector (700) performs the action according to the received action instruction.

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