Electrical stimulation tactile evaluation method and system and wearable device for neurogenic bladder treatment

Abstract

Disclosed in the present invention are an electrical stimulation tactile evaluation method and system and wearable device for neurogenic bladder treatment. The system relates to the technical fields of non-invasive neuromodulation treatment and electrical stimulation tactile evaluation for neurogenic bladder. The method comprises: acquiring and analyzing neurogenic bladder treatment data, comprehensively analyzing same, and performing optimization adjustment. In the present invention, electrical pulses output by a stimulator unit are applied to specific neural electrodes, plantar motion signal features are acquired and decoded, neurogenic bladder treatment data is acquired and analyzed and the positions and stimulation parameters of the neural electrodes are thus adaptively adjusted, realizing non-invasive treatment of the neurogenic bladder, and solving the deficiencies of existing therapeutic technology.

Description

Methods, systems, and wearable devices for electrical stimulation tactile assessment in the treatment of neurogenic bladder Technical Field

[0001] This invention relates to the field of electrical stimulation tactile assessment technology, and in particular to methods, systems and wearable devices for electrical stimulation tactile assessment in the treatment of neurogenic bladder. Background Technology

[0002] Neurogenic bladder presents with varying clinical manifestations depending on the severity and location of the neuropathy. Different segments and degrees of spinal cord injury can lead to different types of lower urinary tract dysfunction. 42% of patients with central spinal cord injury syndrome also have neurogenic bladder. In patients with non-traumatic spinal cord injury, detrusor overactivity and detrusor-sphincter dyssynergia are the leading causes of severe upper urinary tract damage. Approximately 77.6% of patients with hereditary spastic paraplegia and 61% of patients with caudal degeneration syndrome develop neurogenic bladder. Lower urinary tract symptoms of neurogenic bladder include storage, voiding, and postvoiding symptoms, indicating a poor prognosis. Storage symptoms include urgency, frequency, nocturia, incontinence, and enuresis; voiding symptoms include difficulty urinating, incomplete bladder emptying, urinary retention, and dysuria. It can cause various long-term complications, the most serious being upper urinary tract damage and renal failure. Current treatment options include assisted voiding techniques, such as Valsalva maneuver, but the effects are inconsistent; oral medications, including drugs to treat detrusor overactivity and drugs to reduce urine production, have limited efficacy and side effects; and surgical procedures, such as bladder capacity expansion surgery, to reconstruct urine storage function, and detrusor myoplasty and sacral nerve implantation, to reconstruct voiding function. These procedures are high-risk and expensive, and there is currently no non-invasive treatment or assessment protocol for neurogenic bladder.

[0003] Existing methods for bladder therapeutic electrical stimulation tactile assessment use wearable ultrasound bladder volume monitors for continuous bladder volume monitoring; integrated flexible ultrasound devices are used for continuous bladder volume monitoring, combining flexible, inflatable ultrasound transducers and miniaturized control electronics with wireless data transmission capabilities.

[0004] For example, the wearable device and haptic feedback method, apparatus, and storage medium disclosed in patent announcement CN111399645B include: a touch panel, touch electrodes, a controller, and an adjustment module; wherein, the touch panel is used to detect touch operations and generate touch signals based on the touch operations; the controller is connected to the touch panel and is used to receive touch signals, obtain haptic parameters based on the touch signals, and output control signals based on the haptic parameters; the adjustment module is connected to the controller and the haptic electrodes respectively, and is used to generate an electrical stimulation signal matching the haptic parameters based on the control signal, and output the electrical stimulation signal through the haptic electrodes.

[0005] For example, the wearable system for haptic feedback with electrostimulation and haptic hybrid rendering disclosed in patent application CN117666778A includes: a host computer, a stimulation output module, a haptic feedback glove, and a VR external device; the host computer is used to provide a virtual reality scene and to generate haptic information by interacting with digital content based on the VR external device; the haptic feedback glove includes a glove body, a fingertip haptic electrode array, and a finger kinematic electrode array disposed on the glove body; the stimulation output module is connected to the haptic feedback glove and outputs stimulation current to the haptic feedback glove according to the haptic information, activating some or all of the stimulation electrodes to stimulate the fingers to generate kinematic feedback, thereby realizing the hybrid rendering of kinematic and haptic sensations.

[0006] However, in the process of implementing the inventive technical solution in the embodiments of this application, it was found that the above-mentioned technology has at least the following technical problems:

[0007] This system, applied in the context of non-invasive external treatment of neurogenic bladder, lacks target coverage of the thoracic, lumbar, lumbosacral, and iliac wing segments of the spinal cord. Due to the complexity of neurogenic bladder disease, target coverage of the neural electrodes is crucial. As patients move, the relative position between the electrodes and the skin changes, affecting the accuracy of nerve stimulation and signal stability, thus leading to unstable treatment effects. Transmission delays occur during signal transmission from the stimulator unit to the neural electrode unit. When multiple channels operate simultaneously, the signal frequency characteristics between electronic components cause pulse waveform distortion or mutual interference between channels, affecting synchronization and resulting in insufficient accuracy of tactile assessment of electrical stimulation in bladder treatment. Summary of the Invention

[0008] This application provides a method, system, and wearable device for electrical stimulation tactile assessment in the treatment of neurogenic bladder, which solves the problem of insufficient accuracy of wearable treatment in the prior art and improves the accuracy of wearable treatment in the treatment of neurogenic bladder.

[0009] This application provides a wearable electrical stimulation device for treating neurogenic bladder, comprising the following steps: a stimulator unit, a neural electrode unit, a motion capture unit, a signal decoding unit, and a stimulation strategy unit. The motion capture unit monitors the patient's physiological activities and sends the data to the signal decoding unit. The signal decoding unit analyzes the data to determine whether stimulation is needed and the stimulation parameters. The stimulation strategy unit formulates a stimulation plan based on the output of the signal decoding unit and sends the plan to the stimulator unit. The stimulator unit generates corresponding electrical pulses based on the received stimulation plan and sends the electrical pulses to the neural electrode unit via wires or wirelessly. The neural electrode unit covers the thoracic vertebrae, lumbar vertebrae, sacrum, and iliac wing, transmitting the electrical pulses to the patient's nervous system to complete the stimulation process. The stimulator unit provides synchronous and asynchronous output of multi-channel stimulation pulses. The multiple electrical pulses output by the stimulator are independently controllable, and the amplitude parameters, pulse width parameters, and stimulation frequency parameters of the multi-channel electrical pulses are independently adjustable. During stimulation, target selection and related motion capture are completed through the first layer of electrode sites and the second layer of electrode sites.

[0010] Furthermore, the electrostimulation tactile evaluation method of the wearable electrostimulation tactile device for treating neurogenic bladder includes the following steps: acquiring and processing neurogenic bladder treatment data through the neural electrode unit and motion capture unit in the wearable electrostimulation tactile device for treating neurogenic bladder; analyzing the neurogenic bladder treatment data through the signal decoding unit in the wearable electrostimulation tactile device for treating neurogenic bladder to obtain a neurogenic bladder treatment signal quality assessment value and a neurogenic bladder treatment signal synchronization assessment value; and comprehensively analyzing the data through the signal decoding unit in the wearable electrostimulation tactile device for treating neurogenic bladder to obtain a neurogenic bladder treatment signal accuracy assessment value. The following methods were used to optimize and adjust the neurogenic bladder treatment signal quality assessment value by comparing it with a first threshold value using the stimulator unit and stimulation strategy unit in the neurogenic bladder treatment electrical stimulation tactile wearable device; the neurogenic bladder treatment signal synchronization assessment value was compared with a second threshold value using the stimulator unit and stimulation strategy unit; and the neurogenic bladder treatment signal accuracy assessment value was compared with a comprehensive threshold value using the neurogenic bladder treatment signal accuracy assessment value.

[0011] Furthermore, the specific steps for collecting and processing neurogenic bladder treatment data are as follows: collecting raw neurogenic bladder treatment data by contacting the soles, toes, palms, and dorsum of the feet with a neurogenic bladder treatment electrical stimulation tactile wearable device; cleaning and denoising the raw neurogenic bladder treatment data to obtain neurogenic bladder treatment data, which includes neurogenic bladder treatment signal quality data and neurogenic bladder treatment signal synchronization data.

[0012] Furthermore, the specific process for obtaining the neurogenic bladder treatment signal synchronization evaluation value is as follows: The motion amplitude and angular characteristics of a preset neurogenic bladder treatment signal synchronization time detection point are obtained through sensing devices on the sole, toes, ball of the foot, and instep; the signal frequency characteristics of the preset neurogenic bladder treatment signal synchronization time detection point are obtained through a signal decoding unit; the signal transmission delay of the preset neurogenic bladder treatment signal synchronization time detection point is obtained through a signal decoding unit; the signal drift rate of the preset neurogenic bladder treatment signal synchronization time detection point is obtained through a signal decoding unit; the maximum phase of the signal at the preset neurogenic bladder treatment signal synchronization time detection point is obtained through a signal decoding unit; the minimum phase of the signal at the preset neurogenic bladder treatment signal synchronization time detection point is obtained through a signal decoding unit; and the timestamp of the preset neurogenic bladder treatment signal synchronization time detection point is obtained through a signal decoding unit. The neurogenic bladder treatment signal synchronization data includes motion amplitude, signal frequency characteristics, signal transmission delay, signal drift rate, maximum phase, minimum phase, and timestamp. The neurogenic bladder treatment signal synchronization evaluation value is obtained based on the analysis of the neurogenic bladder treatment signal synchronization data.

[0013] Furthermore, the specific steps for obtaining the accuracy assessment value of the neurogenic bladder treatment signal through comprehensive analysis are as follows: obtaining the signal transmission rate of the preset neurogenic bladder treatment signal accuracy time detection point through the signal decoding unit; obtaining the accuracy assessment value of the neurogenic bladder treatment signal through comprehensive analysis of the neurogenic bladder treatment signal synchronization assessment value, signal transmission rate, and neurogenic bladder treatment signal quality assessment value.

[0014] Furthermore, the specific steps of the method for optimizing and adjusting the treatment signal quality of neurogenic bladder are as follows: if the treatment signal quality assessment value of neurogenic bladder is lower than or equal to the first threshold value of the treatment signal quality assessment value of neurogenic bladder, then there is no need to optimize and adjust the treatment signal quality of neurogenic bladder; if the treatment signal quality assessment value of neurogenic bladder is higher than the first threshold value of the treatment signal quality assessment value of neurogenic bladder, then the adjustment scheme corresponding to it in the neurogenic bladder treatment database is matched by the difference between the treatment signal quality assessment value of neurogenic bladder and the first threshold value of the treatment signal quality assessment value of neurogenic bladder.

[0015] Furthermore, the specific steps of the method for optimizing and adjusting the synchronization of neurogenic bladder treatment signals are as follows: if the neurogenic bladder treatment signal synchronization assessment value is greater than or equal to the second threshold of the neurogenic bladder treatment signal synchronization assessment value, then there is no need to optimize and adjust the neurogenic bladder treatment signal synchronization method; if the neurogenic bladder treatment signal synchronization assessment value is lower than the second threshold of the neurogenic bladder treatment signal synchronization assessment value, then the adjustment scheme corresponding to it in the neurogenic bladder treatment database is matched by the difference between the neurogenic bladder treatment signal synchronization assessment value and the second threshold of the neurogenic bladder treatment signal synchronization assessment value.

[0016] Furthermore, the specific steps of the method for optimizing and adjusting the accuracy of neurogenic bladder treatment signals are as follows: Extract the comprehensive threshold value for the accuracy assessment of neurogenic bladder treatment signals from the neurogenic bladder treatment database; compare the accuracy assessment value of the neurogenic bladder treatment signals with the comprehensive threshold value; if the accuracy assessment value of the neurogenic bladder treatment signals is greater than or equal to the comprehensive threshold value, then no optimization or adjustment of the neurogenic bladder treatment signal accuracy method is required; if the accuracy assessment value of the neurogenic bladder treatment signals is lower than the comprehensive threshold value, then the adjustment scheme corresponding to it in the neurogenic bladder treatment database is matched by the difference between the accuracy assessment value of the neurogenic bladder treatment signals and the comprehensive threshold value.

[0017] This application provides an electrical stimulation tactile assessment system for neurogenic bladder treatment, comprising: a neurogenic bladder treatment data acquisition module, a neurogenic bladder treatment data analysis module, a comprehensive analysis module, and an optimization adjustment module. The neurogenic bladder treatment data acquisition module is used to acquire and process neurogenic bladder treatment data through the neural electrode unit and motion capture unit in the neurogenic bladder treatment electrical stimulation tactile wearable device. The neurogenic bladder treatment data analysis module is used to analyze the neurogenic bladder treatment data through the signal decoding unit in the neurogenic bladder treatment electrical stimulation tactile wearable device to obtain a neurogenic bladder treatment signal quality assessment value and a neurogenic bladder treatment signal synchronization assessment value. The comprehensive analysis module is used to analyze the neurogenic bladder treatment data through the neural electrode unit and motion capture unit in the neurogenic bladder treatment electrical stimulation tactile wearable device. The signal decoding unit in the wearable device comprehensively analyzes and obtains the accuracy assessment value of the neurogenic bladder treatment signal; the optimization and adjustment module is used to compare and analyze the quality assessment value of the neurogenic bladder treatment signal with the first threshold of the quality assessment value of the neurogenic bladder treatment signal through the stimulator unit and stimulation strategy unit in the neurogenic bladder treatment electrical stimulation tactile wearable device, and optimize and adjust the method of neurogenic bladder treatment signal quality; it compares and analyzes the synchronization assessment value of the neurogenic bladder treatment signal with the second threshold of the synchronization assessment value of the neurogenic bladder treatment signal, and optimizes and adjusts the synchronization method of the neurogenic bladder treatment signal; it compares and analyzes the accuracy assessment value of the neurogenic bladder treatment signal with the comprehensive threshold of the accuracy assessment value of the neurogenic bladder treatment signal, and optimizes and adjusts the accuracy method of the neurogenic bladder treatment signal.

[0018] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0019] 1. It solves the technical challenge of non-invasive external treatment for neurogenic bladder, and adopts an external wearable non-invasive treatment plan to achieve non-contact and non-invasive treatment of nerves related to bladder function regulation, which is easy to apply.

[0020] 2. By collecting and analyzing treatment data of neurogenic bladder, the quality assessment value and synchronicity assessment value of neurogenic bladder treatment signal are obtained. Through comprehensive analysis and optimization, the accuracy of wearable application of electrical stimulation therapy for neurogenic bladder is improved, and the shortcomings of existing technologies are solved.

[0021] 3. By collecting and analyzing treatment data for neurogenic bladder, the quality assessment value and synchronicity assessment value of the treatment signal for neurogenic bladder are obtained, ensuring the effectiveness and reliability of the treatment signal, thereby improving the treatment effect. The equipment is simple and convenient to use, and is safer and has no side effects compared with traditional treatment methods.

[0022] 4. By comprehensively analyzing and optimizing the accuracy assessment value of treatment signals for neurogenic bladder, the treatment effect can be improved, discomfort during the treatment process can be reduced, and the patient's treatment experience can be enhanced. Attached Figure Description

[0023] Figure 1 is a schematic diagram of the structure of the wearable electrical stimulation device for treating neurogenic bladder provided in an embodiment of this application;

[0024] Figure 2 is a flowchart illustrating the electrical stimulation tactile assessment method for treating neurogenic bladder provided in an embodiment of this application;

[0025] Figure 3 is a schematic diagram of the structure of the electrical stimulation tactile assessment system for the treatment of neurogenic bladder provided in an embodiment of this application;

[0026] Figure 4 is a rear view of the wearable electrical stimulation device for treating neurogenic bladder provided in an embodiment of this application;

[0027] Figure 5 is a schematic diagram of finding the optimal electrode position and capturing motion in the wearable electrical stimulation device for treating neurogenic bladder provided in the embodiments of this application.

[0028] Figure 6 is a schematic diagram of motion capture of the wearable electrical stimulation device for neurogenic bladder treatment provided in the embodiments of this application;

[0029] Figure 7 is a schematic diagram of the stimulation strategy and motion capture of the electrical stimulation tactile wearable device for neurogenic bladder treatment provided in the embodiments of this application;

[0030] Figure 8 is a schematic diagram of the fast slope discrimination of the signal decoding unit of the wearable electrical stimulation device for treating neurogenic bladder provided in the embodiments of this application;

[0031] Figure 9 is a schematic diagram of the 1 / 4 cycle integration method and rapid slope discrimination of the signal decoding unit of the electrical stimulation tactile wearable device for treating neurogenic bladder provided in the embodiments of this application;

[0032] Figure 10 is a rear view of the wearable electrical stimulation device for treating neurogenic bladder provided in the embodiments of this application.

[0033] Figure 11 is a side view of the wearable electrical stimulation device for treating neurogenic bladder provided in the embodiments of this application. Detailed Implementation

[0034] This application provides a method, system, and wearable device for evaluating the tactile sensation of electrical stimulation in the treatment of neurogenic bladder. This addresses the limitation of existing technologies lacking non-invasive external treatment techniques for neurogenic bladder and solves the problem of insufficient accuracy in nerve target coverage during electrical stimulation therapy for neurogenic bladder. By collecting and analyzing treatment data for neurogenic bladder, it obtains signal quality assessment values ​​and signal synchronicity assessment values ​​for neurogenic bladder treatment. Through comprehensive analysis and optimization, it improves the accuracy of wearable applications of electrical stimulation therapy for neurogenic bladder, thus overcoming the shortcomings of existing technologies.

[0035] The technical solution in this application embodiment aims to address the aforementioned problem of insufficient accuracy in wearable treatments for neurogenic bladder. The overall approach is as follows:

[0036] By employing multi-target neural electrode coverage technology and an optimal neural target rotation strategy, treatment data for neurogenic bladder are simultaneously collected and analyzed. This yields a quality assessment value for neurogenic bladder treatment signals and a synchronicity assessment value for neurogenic bladder treatment signals. These values ​​are then comprehensively analyzed and optimized, thereby improving the accuracy of wearable applications of electrical stimulation therapy for neurogenic bladder.

[0037] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0038] Figure 1 shows a schematic diagram of the structure of the wearable electrical stimulation device for treating neurogenic bladder provided in this embodiment of the application. The wearable electrical stimulation device for treating neurogenic bladder provided in this embodiment of the application includes the following steps: a stimulator unit, a neural electrode unit, a motion capture unit, a signal decoding unit, and a stimulation strategy unit. The motion capture unit monitors the patient's physiological activities and sends the data to the signal decoding unit. The signal decoding unit analyzes the data to determine whether stimulation is needed and the stimulation parameters. The stimulation strategy unit formulates a stimulation plan based on the output of the signal decoding unit and sends the plan to the stimulator unit. The stimulator unit generates corresponding electrical pulses based on the received stimulation plan and sends the electrical pulses to the neural electrode unit via wires or wireless means. The neural electrode unit transmits the electrical pulses to the patient's nervous system to complete the stimulation process. The stimulator unit provides synchronous and asynchronous output of multi-channel stimulation pulses. The multi-channel electrical pulses output by the stimulator are independently controllable, and the amplitude parameters, pulse width parameters, and stimulation frequency parameters of the multi-channel electrical pulses are independently adjustable.

[0039] In this embodiment, the neural electrode unit is a surface electrode array containing multiple contact electrodes with different electrode spacings. The electrodes are not connected to the stimulator unit by leads. The electrode unit includes a thoracic electrode unit acting on the T11-T12 segment of the thoracic spine, with an electrode spacing of h1; a lumbar electrode unit acting on the L1-L5 segment of the lumbar spine, with an electrode spacing of h2; a sacral electrode unit acting on the S1-S5 segment of the sacrum, with an electrode spacing of h3; and a transverse iliac crest electrode unit acting on the iliac crest. The neural stimulation signal is generated between the corresponding gated electrodes. During motion capture, the electrodes from T11 to S5 are rapidly rotated. The rotation strategy uses the T11 electrode, L2 electrode, L5 electrode, and S3 electrode as the first... The first layer of electrode sites is used to determine the plantar movement characteristics induced by stimulation signals at the aforementioned sites, using plantar flexion response as a marker. Then, electrodes T12, L1, L3, L4, S1, S2, S4, and S5 are used as the second layer of electrode sites to determine the plantar movement characteristics induced by stimulation signals at the aforementioned sites, again using plantar flexion response as a marker, as shown in Figures 4, 10, and 11. T11-T12 represent the thoracic spine region; h1 represents the intervertebral space between thoracic vertebrae; L1-L5 represent the lumbar spine region; h2 represents the intervertebral space between lumbar vertebrae; S1-S5 represent the sacral region; h3 represents the intervertebral space between sacral vertebrae; Q1 represents the iliac crest; Q2 represents the iliac crest. The neural electrode unit is an electrode array containing multiple contact electrodes with different electrode spacings, used to transmit the stimulator signal. The multi-channel electrical pulses output by the unit are delivered to specific areas of the human body. The electrodes are in contact with the skin and are not connected to the stimulator unit by leads. The electrode units include thoracic electrode units acting on the T11-T12 segment of the thoracic spine (electrode spacing h1), lumbar electrode units acting on the L1-L5 segment of the lumbar spine (electrode spacing h2), sacral electrode units acting on the S1-S5 segment of the sacrum (electrode spacing h3), and transverse iliac crest electrode units acting on the iliac crest. During application, the location of the iliac wing can be easily seen by touching the position of the iliac crest, making it easy to see the projection of the highest point of the iliac crest onto the body surface. After selecting the iliac crest position, align the iliac crest electrodes of the nerve electrode unit horizontally with the iliac wing, and attach the remaining electrodes along the direction of the spine. Spinal cord, lumbosacral region The electrodes on the segment and the iliac side are integrated, which facilitates nerve localization. The multi-point electrode coverage design can avoid the need for re-removal and re-attachment due to electrode attachment displacement deviation. As shown in Figures 5, 6 and 7, the motion capture unit consists of a motion acquisition unit distributed at the big toe on the sole of the foot and motion acquisition units distributed at the ball of the foot and the instep. It is used to collect the foot motion response after nerve stimulation. The captured signals include the flexion and extension of the big toe, and the plantar flexion and eversion of the instep and ball of the foot. These movements are captured in parallel. The information elements include the time of movement, the instantaneous acceleration of the movement, the rotation angle, etc. This information is transmitted to the signal decoding unit wirelessly, avoiding the inconvenience caused by physical leads in the waist and foot.Foot movement is a reflex movement, triggered by an externally worn neural stimulation signal. This signal is generated between corresponding gated electrodes. During motion capture, electrodes T11-S5 are rapidly rotated. The rotation strategy uses T11, L2, L5, and S3 as the first layer of electrode sites, judging the foot movement characteristics triggered by stimulation at these sites, using plantar flexion response as a marker. Then, electrodes T12, L1, L3, L4, S1, S2, S4, and S5 are used as the second layer of electrode sites, judging the foot movement characteristics triggered by stimulation at these sites, again using plantar flexion response as a marker. The electrode gate time during electrode site rotation is recorded as t0, and the stimulation pulse starts at electrode T11, recorded as t1. The pulse width is t2-t1, and the pulse end time at electrode S5 is t13. Stimulation triggers a plantar reflex, with a reflex period ranging from hundreds of milliseconds to several seconds. Wireless transmission is asynchronous, specifically divided into event frames and data frames. The captured signal is tagged with different event types. Event types trigger event frames, which in turn trigger data frames. The interval between event frames is several milliseconds to tens of milliseconds. Data frames use a short frame data structure with an interval of approximately 1 millisecond, ensuring complete transmission of all information from the motion capture unit. The purpose here is to induce biomarker phenomena after stimulation of different ganglia from T11 to S5. The movement characteristics of the human foot, etc., are a type of biomarker. These movements are identified using a non-invasive method attached to the body surface to obtain the desired signal. Traditionally, evoked potentials are frequently used to evaluate neurological function, requiring monitoring of distal nerve potentials after stimulation. However, to reduce signal interference, needle-type electrodes are often inserted subcutaneously for monitoring, which is inconvenient and the equipment is not portable; as shown in Figures 8 and 9. , and This is the maximum phase angle of the signal at 1 / 4 of the cycle, which can be equivalently understood as the signal phase slope, used to eliminate false signals. Ref1, Ref2, and Ref3 are three preset comparison thresholds used to eliminate false signals. They are used in conjunction with the phase slope. If some false signals meet the amplitude requirement but the phase slope requirement, they can be quickly eliminated. The signal decoding unit performs decoding analysis based on the information collected by the motion capture unit. The wireless transmission link has already marked the type of the collected signals. The signal energy value in the [0-1 / 4] cycle is calculated using the 1 / 4 cycle integration method. Using fast slope discrimination, the discrete point slope difference is calculated at discrete points in the [0-1 / 4] cycle. By comparing the energy value and the slope change, false foot motion signals can be quickly eliminated. Subsequently, the numerical calculations of the motion generation time, instantaneous acceleration, and rotation angle are performed. The collected values ​​can be understood as discrete points such as x1, x2, ..., xn. By combining the slope difference calculation of discrete points mentioned by comparing energy values ​​and slope changes, the slope difference value is obtained. Based on the slope difference, the movement characteristics are reflected, and the relative part of the foot movement is determined to be the big toe, the sole of the foot, or the ankle joint. This enables rapid, efficient, and highly accurate discrimination of movement characteristics, breaking through the conventional analysis method that requires a complete cycle signal. The signal decoding stage performs decoding calculations according to the position and time sequence of the first and second layer electrode sites. If the information elements analyzed are incomplete after removing pseudo-signals, the stimulator will send an additional frame of neural stimulation signal to the electrode site corresponding to the pseudo-signal based on the position and time markers of the first and second layer electrode sites. This allows the motion capture unit to re-capture the motion, and the captured information elements are only those missing after removal. After data acquisition is completed, signal decoding is performed again until all information elements are decoded.

[0040] Figure 2 shows a flowchart of the tactile evaluation method for electrical stimulation in the treatment of neurogenic bladder provided in this embodiment of the application. The tactile evaluation method for electrical stimulation in the treatment of neurogenic bladder provided in this embodiment includes: acquiring and processing neurogenic bladder treatment data through the neural electrode unit and motion capture unit in the wearable device for electrical stimulation in the treatment of neurogenic bladder; analyzing the neurogenic bladder treatment data through the signal decoding unit in the wearable device for electrical stimulation in the treatment of neurogenic bladder to obtain a neurogenic bladder treatment signal quality assessment value and a neurogenic bladder treatment signal synchronization assessment value; and comprehensively analyzing the data through the signal decoding unit in the wearable device for electrical stimulation in the treatment of neurogenic bladder to obtain the neurogenic bladder treatment signal quality assessment value and the neurogenic bladder treatment signal synchronization assessment value. The accuracy assessment value of neurogenic bladder treatment signal; by comparing and analyzing the quality assessment value of neurogenic bladder treatment signal with the first threshold of neurogenic bladder treatment signal quality assessment value through the stimulator unit and stimulation strategy unit in the neurogenic bladder treatment electrical stimulation tactile wearable device, the method for optimizing and adjusting the quality of neurogenic bladder treatment signal is optimized; by comparing and analyzing the synchronization assessment value of neurogenic bladder treatment signal with the second threshold of neurogenic bladder treatment signal synchronization assessment value, the method for optimizing and adjusting the synchronization of neurogenic bladder treatment signal is optimized; by comparing and analyzing the accuracy assessment value of neurogenic bladder treatment signal with the comprehensive threshold of neurogenic bladder treatment signal accuracy assessment value, the method for optimizing and adjusting the accuracy of neurogenic bladder treatment signal is optimized.

[0041] In this embodiment, the implementation process is as follows: The stimulator unit provides synchronous and asynchronous multi-channel stimulation pulse output, with up to 16 stimulation channels. The multiple electrical pulses output by the stimulator are independently controllable. The stimulation pulses act on a specific electrode array in the neuroelectrode unit to transmit the multiple electrical pulses output by the stimulator unit to specific areas of the human body. The electrodes are in contact with the skin and are not connected to the stimulator unit by wires. During application, by touching the iliac crest, the projection of the highest point of the iliac crest onto the body surface can be easily seen. After selecting the iliac crest position, the iliac crest electrodes of the neuroelectrode unit are horizontally aligned with the iliac crest, and the remaining electrodes are attached along the direction of the spine. After the stimulation pulses are output at specific locations, motion acquisition units are distributed at the big toe and the sole and instep, respectively, and are attached to the skin surface in a non-invasive manner to collect and capture foot movements after nerve stimulation. The captured signals include flexion and extension of the big toe, plantar flexion and eversion of the instep and sole. Information elements include the time of movement, instantaneous acceleration, rotation angle, amplitude of movement, signal frequency characteristics, signal transmission delay, signal drift rate, maximum phase, minimum phase, and timestamp. This information highly corresponds to the location of the neural electrodes and stimulation parameters. The information is decoded and analyzed by the signal decoding unit. The analysis method uses the 1 / 4 cycle integration method and fast slope discrimination to quickly eliminate pseudo-plantar motion signals, achieving rapid, efficient, and high-accuracy discrimination of motion features, breaking through the conventional analysis method that requires a complete cycle signal. The final analysis results are fed back to the stimulation strategy unit, which optimizes the strategy by adaptively adjusting the stimulation parameters and electrode positions based on the output of the stimulator unit, so that the user is in the optimal state of stimulation output and clinical benefit.

[0042] Furthermore, the specific steps for collecting and processing neurogenic bladder treatment data are as follows: raw data of neurogenic bladder treatment is collected by contacting the soles, toes, palms, and dorsum of the feet with a neurogenic bladder treatment electrical stimulation tactile wearable device; the raw data of neurogenic bladder treatment is cleaned and denoised to obtain neurogenic bladder treatment data, which includes neurogenic bladder treatment signal quality data and neurogenic bladder treatment signal synchronization data.

[0043] In this embodiment, the wearable electrical stimulation device for treating neurogenic bladder is placed on the sole of the foot or other parts of the body, and the collected motion characteristics are wirelessly transmitted to the wearable device for treating neurogenic bladder for decoding and analysis.

[0044] Further, the specific steps for obtaining the neurogenic bladder treatment signal quality assessment value are as follows: The motion amplitude and angular characteristics of the preset neurogenic bladder treatment signal quality time detection point are obtained through sensing devices on the sole, toes, ball of the foot, and dorsum of the foot; the signal frequency characteristics of the preset neurogenic bladder treatment signal quality time detection point are obtained through a signal decoding unit; the stimulation frequency of the preset neurogenic bladder treatment signal quality time detection point is obtained through a neurostimulator signal decoding unit; the amplitude value of the signal waveform center point of the preset neurogenic bladder treatment signal quality time detection point is obtained through a signal decoding unit; and the timestamp of the preset neurogenic bladder treatment signal quality time detection point is obtained through a signal decoding unit. The neurogenic bladder treatment signal quality data includes motion amplitude, signal frequency characteristics, stimulation frequency, amplitude value of the signal waveform center point, and timestamp. The neurogenic bladder treatment signal quality assessment value is obtained based on the analysis of the neurogenic bladder treatment signal quality data.

[0045] In this embodiment, the specific method for obtaining the treatment signal quality assessment value for neurogenic bladder is as follows:

[0046] ;

[0047] ; ;

[0048] ; ;

[0049] ;

[0050] The preset time-based detection points for neurogenic bladder treatment signal quality are numbered sequentially. Indicates the first The numbering of the time detection points for neurogenic bladder treatment signal quality within each time detection segment. , This represents the total number of time-based detection points for signal quality monitoring during neurogenic bladder treatment.

[0051] The preset time frame for neurogenic bladder treatment signal quality is divided into neurogenic bladder treatment signal quality detection segments of equal length. This indicates the number of the signal quality detection segment for neurogenic bladder treatment. , This indicates the total number of signal quality detection segments for neurogenic bladder treatment.

[0052] Indicates the first Neurogenic bladder treatment signal quality assessment values ​​at time-series detection points.

[0053] Indicates the first Motion artifact influence coefficient at a time detection point for the treatment signal quality of neurogenic bladder.

[0054] Indicates the first Influence coefficient of signal frequency characteristics at a time detection point for neurogenic bladder treatment signal quality.

[0055] Indicates the first The stimulation frequency at a time point for detecting the signal quality of neurogenic bladder treatment refers to the rate at which current / voltage is turned on and off at a specific number of times per second during neurogenic bladder electrical stimulation treatment. For example, a stimulation frequency of 20 Hz means 20 current / voltage pulses per second.

[0056] The standard value of stimulation frequency is a preset standard value of stimulation frequency obtained from the neurogenic bladder treatment database. It can be the average value of stimulation frequency at preset time detection points of neurogenic bladder treatment signal quality from the historical database.

[0057] Indicates the first Signal fluctuation coefficient under time detection segment for neurogenic bladder treatment signal quality.

[0058] Indicates the first Timestamps at the time points for detecting the signal quality of neurogenic bladder treatment.

[0059] The timestamp standard value is a preset timestamp standard value obtained from the neurogenic bladder treatment database. It can be the average timestamp value at preset neurogenic bladder treatment signal quality time detection points in the historical database.

[0060] Indicates the first The amplitude value of the center point of the signal waveform under the time detection segment of the signal quality for neurogenic bladder treatment.

[0061] The standard value of the amplitude at the center point of the signal waveform is a preset standard value of the amplitude at the center point of the signal waveform obtained from the neurogenic bladder treatment database. Alternatively, it can be the average value of the amplitude at the center point of the signal waveform under the preset neurogenic bladder treatment signal quality time detection segment from the historical database.

[0062] The standard value for signal waveform deviation is a preset standard value for signal waveform deviation obtained from the neurogenic bladder treatment database. It can be the average value of signal waveform deviation under the preset time detection segment of neurogenic bladder treatment signal quality from the historical database.

[0063] Indicates the first The amplitude of motion at a time point for detecting the signal quality of neurogenic bladder treatment.

[0064] The standard value for the amplitude of motion is a preset standard value for the amplitude of motion obtained from the neurogenic bladder treatment database. It can be the average value of the amplitude of motion under the preset time detection segment of neurogenic bladder treatment signal quality from the historical database.

[0065] Indicates the first Signal frequency characteristics at a time-series detection point for neurogenic bladder treatment signal quality.

[0066] The standard value of signal frequency characteristics is a preset standard value of signal frequency characteristics obtained from the neurogenic bladder treatment database. It can be the average value of signal frequency characteristics at preset time detection points of neurogenic bladder treatment signal quality from the historical database.

[0067] The preset stimulation frequency weighting factor is obtained from the neurogenic bladder treatment database.

[0068] The preset signal fluctuation coefficient weighting factor is obtained from the neurogenic bladder treatment database.

[0069] The preset timestamp weighted influence factor is obtained from the neurogenic bladder treatment database.

[0070] The preset motion artifact impact factor is obtained from the neurogenic bladder treatment database.

[0071] The preset signal frequency characteristic influence factor is obtained from the neurogenic bladder treatment database.

[0072] The preset stimulus frequency weight influence factor, preset signal fluctuation coefficient weight influence factor, and preset timestamp weight influence factor are obtained through mapping relationships. For example, by establishing mapping sets of stimulus frequency, signal fluctuation coefficient, and timestamp with their corresponding weights based on the relationship between stimulus frequency, signal fluctuation coefficient, and timestamp in historical data, the preset stimulus frequency weight influence factor, preset signal fluctuation coefficient weight influence factor, and preset timestamp weight influence factor corresponding to the mapping set are obtained by inputting the real-time stimulus frequency, signal fluctuation coefficient, and timestamp.

[0073] The preset motion artifact influence factor and preset signal frequency feature influence factor are obtained through mapping relationships. For example, by establishing mapping sets of motion artifacts and signal frequency features and their corresponding weights based on the relationship between motion artifacts and signal frequency features and stimulus frequencies in historical data, the preset motion artifact influence factor and preset signal frequency feature influence factor corresponding to the mapping set are obtained by inputting real-time motion artifacts and signal frequency features.

[0074] Specifically, as shown in Table 1, in the treatment of neurogenic bladder, wearable devices for neurogenic bladder treatment regulate bladder function through electrical pulse stimulation. The design of its stimulation strategy unit is to optimize the stimulation effect and improve the signal quality of neurogenic bladder treatment. For example, the neurogenic bladder signal quality assessment value is related to the patient's response to electrical stimulation. Mn reflects the motor characteristics induced by the electrical pulse. If Mn can effectively induce muscle activity that aids urination, the signal quality of the neurogenic bladder improves. The stimulation strategy is as follows: STRn is the strategy for the nth pair of stimulation pulses. The T11-S5 region has multiple electrode combinations. Selecting different combinations brings different motor behaviors. The value of Mn is assigned different factor coefficients based on the running characteristics generated after different electrode combinations, with a value range of [0, 1]. Mn is the coefficient corresponding to the motor characteristics captured after the nth pair of stimulation pulses. En is the coefficient corresponding to the nth pair of electrode regions. The T11-S5 region has multiple electrode combinations. The value of En will give different proportional coefficients based on different combinations, which is a proportional factor in the range of [0, 1]. An is the output stimulation intensity between the nth pair of electrodes. Fn is the output stimulation frequency between the nth pair of electrodes. Pwn is the output stimulation pulse width between the nth pair of electrodes. The stimulation pulse width refers to the pulse width in the electrical stimulation signal. The duration of a single pulse, Syn is the synchronization / asynchronization factor, An is the stimulation intensity between different electrodes, with a value of [0, 100], Fn is the output frequency between different electrodes, with a value of [0, 50K], Pwn is the pulse width between different electrodes, with a value of [0, 1000], Syn is the stimulation synchronization / asynchronization factor, which is the compensation coefficient in the algorithm, with a value of [0, 1], Num is the number of working electrodes, and multiple pairs of electrodes between T11-S5 can output electrical pulses synchronously or asynchronously, STRn=Mn×En×An×Fn×Pwn×Syn×Num. The stimulation intensity, stimulation frequency, and stimulation pulse width between each electrode are independently adjustable. The adjustment strategy is as follows: when the signal decoding unit result indicates that the ankle joint has dorsiflexion response characteristics, the indication electrode stimulation area is at the lumbar spine, and the priority control electrodes are L4-L5; when the decoding result indicates that the big toe is plantarflexed, the indication electrode stimulation area is at the sacrum, and the priority control electrodes are S1-S2.

[0075] Specifically, functional weight factors were pre-assigned to different parts of the body and characteristics of movement. , , , , , First, electrodes T11, L2, L5, and S3 are used as the first layer of electrode sites. These electrodes are distributed at approximately equal intervals within the span of electrodes T11-S5, allowing for rapid initial screening of the effective electrode area. The plantar movement characteristics triggered by the stimulation signal at the above sites are denoted as M1. In the M1 matrix, An_m represents the motion characteristic coefficients induced by the operation of the n and m electrodes. These coefficients are related to the function weighting factor λ. The M1 matrix is ​​normalized by each row and column to obtain the M1' matrix. The eigenvectors corresponding to the M1' matrix are then calculated. , The maximum value of the eigenvector is the preferred working electrode site.

[0076] Subsequently, electrodes T12, L1, L3, L4, S1, S2, S4, and S5 are used as the second layer of electrode sites, with motion characteristics denoted as M2. This is used for fine selection of electrode positions within the effective electrode region initially screened by matrix M1. In the M2 matrix, An_m represents the motion characteristic coefficients induced by the operation of the n and m electrodes. These coefficients are related to the functional weighting factor. That is to say The M2 matrix is ​​normalized by each row and column to obtain the M2' matrix. The eigenvectors corresponding to the M2' matrix are then calculated. The maximum value of the eigenvector is the preferred working electrode site.

[0077] Substitute the discrete An_m values ​​from matrices M1' and M2' according to their electrode distribution positions into the matrix to form matrix M'. Matrix M' is the coefficient matrix corresponding to the motion features captured between the T11-S5 electrode arrays. In matrix M', Mn_m represents the motion characteristic coefficients between electrodes n and m. The multiplication value of each row in matrix M' is calculated. The En coefficient is generated based on the product result, and then weighted by factors. and , The coefficients An, Fn, and Pwn are generated, and the final regulatory strategy transmitted to the stimulator is STRn = M' × En × An × Fn × Pwn × Syn × Num.

[0078]

[0079] Table 1. Treatment and Regulation Strategies for Neurogenic Bladder

[0080] The greater the amplitude of motion, the greater the action potential caused by nerve innervation, and the stronger the signal characteristics. Stimulation frequency refers to the frequency of the stimulation signal applied to the neuromuscular site. The stimulation frequency is related to the dynamic range of the innervated neuromuscular activity. Changes in signal frequency characteristics reflect the stability of the amplitude at the center point of the signal waveform. The timestamp is related to the dynamic range of the amplitude of motion and reflects the characteristics of the amplitude of motion.

[0081] The square of the difference between the amplitude of motion and the standard value of the amplitude of motion is positively correlated with the signal quality assessment value for neurogenic bladder treatment; the larger the square of the difference, the higher the signal quality assessment value for neurogenic bladder treatment. Similarly, the square of the difference between the signal frequency characteristic and the standard value of the signal frequency characteristic is positively correlated with the signal quality assessment value for neurogenic bladder treatment; the larger the square of the difference, the higher the signal quality assessment value for neurogenic bladder treatment. The absolute value of the difference between the stimulation frequency and the standard value of the stimulation frequency is also positively correlated with the signal quality assessment value for neurogenic bladder treatment. The mismatch between the rate and the characteristics of foot movement leads to poorer signal quality in neurogenic bladder treatment. The greater the absolute value of the difference between the stimulation frequency and the standard stimulation frequency value, the higher the signal quality assessment value for neurogenic bladder treatment. A positive correlation exists between the square of the difference between the amplitude value at the center point of the signal waveform and the signal quality assessment value for neurogenic bladder treatment. Significant signal drift or shift, with a greater square of the difference between the amplitude values ​​at the center point of the signal waveform and the signal quality assessment value for neurogenic bladder treatment, also indicates a higher signal quality assessment value for neurogenic bladder treatment. Furthermore, a positive correlation exists between the absolute value of the difference between the timestamp and the standard timestamp value for neurogenic bladder treatment.

[0082] Furthermore, the specific process for obtaining the neurogenic bladder treatment signal synchronization assessment value is as follows: The motion amplitude and angular characteristics of the preset neurogenic bladder treatment signal synchronization time detection point are obtained through sensing devices on the sole, toes, ball of the foot, and instep; the signal frequency characteristics of the preset neurogenic bladder treatment signal synchronization time detection point are obtained through a signal decoding unit; the signal transmission delay of the preset neurogenic bladder treatment signal synchronization time detection point is obtained through a signal decoding unit; the signal drift rate of the preset neurogenic bladder treatment signal synchronization time detection point is obtained through a signal decoding unit; the maximum phase of the signal at the preset neurogenic bladder treatment signal synchronization time detection point is obtained through a signal decoding unit; the minimum phase of the signal at the preset neurogenic bladder treatment signal synchronization time detection point is obtained through a signal decoding unit; and the timestamp of the preset neurogenic bladder treatment signal synchronization time detection point is obtained through a signal decoding unit. The neurogenic bladder treatment signal synchronization data includes motion amplitude, signal frequency characteristics, signal transmission delay, signal drift rate, maximum phase, minimum phase, and timestamp. The neurogenic bladder treatment signal synchronization assessment value is obtained based on the analysis of the neurogenic bladder treatment signal synchronization data.

[0083] In this embodiment, the specific method for obtaining the synchronous assessment value of the treatment signal for neurogenic bladder is as follows:

[0084] ;

[0085] ; ;

[0086] ; ;

[0087] ;

[0088] The preset synchronous time detection points for neurogenic bladder treatment signals are numbered sequentially. Indicates the first The numbering of the synchronous time detection points of neurogenic bladder treatment signals under the synchronous time detection segment. , This indicates the total number of time-synchronous detection points for neurogenic bladder treatment signals.

[0089] The preset neurogenic bladder treatment signal synchronization time is divided into neurogenic bladder treatment signal synchronization detection segments of equal length. This indicates the number of the signal synchronization detection segment for neurogenic bladder treatment. , This indicates the total number of the synchronous detection segments for the treatment signal of neurogenic bladder.

[0090] Indicates the first Synchronization assessment values ​​of neurogenic bladder treatment signal at time detection points.

[0091] Indicates the first Motion artifact correction coefficient at synchronous time detection points for neurogenic bladder treatment signals.

[0092] Indicates the first Signal frequency characteristic correction coefficient at a synchronous time detection point for neurogenic bladder treatment signal.

[0093] The signal transmission delay threshold is a preset signal transmission delay threshold obtained from the neurogenic bladder treatment database. It can be the average signal transmission delay at preset neurogenic bladder treatment signal synchronization time detection points in the historical database.

[0094] Indicates the first Transmission delay at synchronous time detection point for neurogenic bladder treatment signal.

[0095] The standard value for signal drift deviation is a preset standard value for signal drift deviation obtained from the neurogenic bladder treatment database. It can be the average value of signal drift deviation at preset time detection points for neurogenic bladder treatment signals in the historical database.

[0096] Indicates the first Signal drift rate at synchronous time detection points for neurogenic bladder treatment signals. In the process of treating neurogenic bladder, signal drift rate refers to the unexpected and slow change of the signal baseline over time due to instrument or biological reasons during signal acquisition.

[0097] The standard value of signal drift rate is a preset standard value of signal drift rate obtained from the neurogenic bladder treatment database. It can be the average value of signal drift rate at preset neurogenic bladder treatment signal synchronization time detection points in the historical database.

[0098] Indicates the first Signal phase synchronization coefficient under the synchronous time detection segment of neurogenic bladder treatment signal.

[0099] The timestamp standard value is a preset timestamp standard value obtained from the neurogenic bladder treatment database. It can be the average timestamp value at preset neurogenic bladder treatment signal synchronization time detection points in the historical database.

[0100] Indicates the first The timestamp at the synchronous time detection point of the neurogenic bladder treatment signal.

[0101] Indicates the first The amplitude of motion at synchronous time detection points for neurogenic bladder treatment signals.

[0102] The standard value for the amplitude of movement is a preset standard value for the amplitude of movement obtained from the neurogenic bladder treatment database. It can be the average value of the amplitude of movement under the preset synchronous time detection segment of neurogenic bladder treatment signals from the historical database.

[0103] Indicates the first Signal frequency characteristics at synchronous time detection points for neurogenic bladder treatment signals.

[0104] The standard value of signal frequency characteristics is a preset standard value of signal frequency characteristics obtained from the neurogenic bladder treatment database. It can be the average value of signal frequency characteristics at preset time detection points of neurogenic bladder treatment signals in the historical database.

[0105] Indicates the first The maximum phase of the signal under the synchronous time detection segment of the neurogenic bladder treatment signal.

[0106] Indicates the first The minimum phase of the signal under the synchronous time detection segment of the neurogenic bladder treatment signal.

[0107] The standard value for signal phase deviation is a preset standard value for signal phase deviation obtained from the neurogenic bladder treatment database. It can be the average value of signal phase deviation under the preset neurogenic bladder treatment signal synchronization time detection segment from the historical database.

[0108] The preset signal transmission delay weighting factor is obtained from the neurogenic bladder treatment database.

[0109] The preset signal drift rate weighting factor is obtained from the neurogenic bladder treatment database.

[0110] The weighting factor is a preset signal phase synchronization coefficient obtained from the neurogenic bladder treatment database.

[0111] The preset timestamp weighted influence factor is obtained from the neurogenic bladder treatment database.

[0112] This is a preset motion artifact correction factor obtained from a neurogenic bladder treatment database.

[0113] This is a preset signal frequency characteristic correction factor obtained from a neurogenic bladder treatment database.

[0114] The preset signal transmission delay weight influence factor, preset signal drift rate weight influence factor, preset signal phase synchronization coefficient weight influence factor, and preset timestamp weight influence factor are obtained through mapping relationships. For example, by using the relationship between signal transmission delay, signal drift rate, signal phase synchronization coefficient, and timestamp and signal amplitude in historical data, mapping sets of signal transmission delay, signal drift rate, signal phase synchronization coefficient, and timestamp and their corresponding weights are established respectively. By inputting real-time signal transmission delay, signal drift rate, signal phase synchronization coefficient, and timestamp, the corresponding preset signal transmission delay weight influence factor, preset signal drift rate weight influence factor, preset signal phase synchronization coefficient weight influence factor, and preset timestamp weight influence factor in the mapping set are obtained.

[0115] The preset motion artifact correction factor and the preset signal frequency feature correction factor are obtained through mapping relationships. For example, by establishing mapping sets between motion artifacts and signal frequency features and their corresponding weights based on the relationship between motion artifacts and signal frequency features and signal drift rate in historical data, the preset motion artifact correction factor and the preset signal frequency feature correction factor corresponding to the mapping set are obtained by inputting real-time motion artifacts and signal frequency features.

[0116] Specifically, in the treatment of neurogenic bladder, the synchronous assessment value of neurogenic bladder treatment signal involves the synchronousity of stimulation signals, that is, whether the electrical pulses of different channels can be accurately output according to the preset synchronization strategy. This is directly related to the function of the stimulator unit. Synchronous output means that the electrical pulses of all channels are emitted at the same time or in a specific order.

[0117] The greater the amplitude of motion, the greater the action potential caused by neural control, and the stronger the signal characteristics. Signal transmission delay refers to the time difference between the generation of the signal and its recording by the detection system. The timestamp provides information about the time of signal occurrence; the larger the timestamp, the greater the signal transmission delay. Signal drift rate refers to the rate of change of the signal baseline over time, which affects the amplitude of motion. The greater the signal drift rate, the greater the impact on the amplitude of motion. The maximum and minimum phases of the signal provide information about how the signal waveform changes over time.

[0118] The square of the difference between the amplitude of movement and the standard value of the amplitude of movement is negatively correlated with the synchronous assessment value of the treatment signal for neurogenic bladder; the larger the square of the difference, the smaller the synchronous assessment value. Similarly, the square of the difference between the signal frequency characteristic and the standard value of the signal frequency characteristic is also negatively correlated with the synchronous assessment value; the larger the square of the difference, the smaller the synchronous assessment value. Signal transmission delay is also negatively correlated with the synchronous assessment value of the treatment signal for neurogenic bladder, indicating a mismatch between the treatment signal and the characteristics of foot movements; the greater the signal transmission delay, the smaller the synchronous assessment value. The signal drift rate and the standard value of the signal drift rate are also negatively correlated. The absolute value of the difference is negatively correlated with the synchronous assessment value of the neurogenic bladder treatment signal, indicating that the signal baseline is unstable and affects the synchronousity of the signal. The larger the absolute value of the difference between the signal drift rate and the standard value of the signal drift rate, the smaller the synchronous assessment value of the neurogenic bladder treatment signal. The square of the difference between the maximum phase and the minimum phase of the signal is negatively correlated with the synchronous assessment value of the neurogenic bladder treatment signal. The larger the square of the difference between the maximum phase and the minimum phase of the signal, the smaller the synchronous assessment value of the neurogenic bladder treatment signal. The absolute value of the difference between the timestamp and the standard value of the timestamp is negatively correlated with the synchronous assessment value of the neurogenic bladder treatment signal. The larger the absolute value of the difference between the timestamp and the standard value of the timestamp, the more it affects the synchronousity of the signal, and the smaller the synchronous assessment value of the neurogenic bladder treatment signal.

[0119] Furthermore, the specific steps for obtaining the accuracy assessment value of neurogenic bladder treatment signal through comprehensive analysis are as follows: the signal transmission rate of the preset neurogenic bladder treatment signal accuracy time detection point is obtained through the signal decoding unit; the accuracy assessment value of neurogenic bladder treatment signal is obtained through comprehensive analysis of the neurogenic bladder treatment signal synchronization assessment value, signal transmission rate, and neurogenic bladder treatment signal quality assessment value.

[0120] In this embodiment, the specific method for obtaining the accuracy assessment value of the treatment signal for neurogenic bladder is as follows:

[0121] ;

[0122] ;

[0123] The preset time detection points for the accuracy of neurogenic bladder treatment signals are numbered sequentially. The number indicating the time detection point for the accuracy of the treatment signal for neurogenic bladder. , This indicates the total number of time-based detection points for the accuracy of treatment signals for neurogenic bladder.

[0124] This indicates the accuracy assessment value for treatment signals in neurogenic bladder.

[0125] Indicates the first Synchronization assessment values ​​of neurogenic bladder treatment signal at time detection points.

[0126] Indicates the first Signal transmission rate at the time point for accurate detection of neurogenic bladder treatment signal.

[0127] The signal transmission rate threshold is a preset signal transmission rate threshold obtained from the neurogenic bladder treatment database. It can be the average signal transmission rate at preset time detection points for neurogenic bladder treatment signals from historical databases.

[0128] Indicates the first Neurogenic bladder treatment signal quality assessment values ​​at time-series detection points.

[0129] The weighting factor is used to evaluate the synchronicity of neurogenic bladder treatment signals obtained from the neurogenic bladder treatment database.

[0130] The preset signal transmission rate weighting factor is obtained from the neurogenic bladder treatment database.

[0131] The weighting factor is used to evaluate the quality of the neurogenic bladder treatment signal obtained from the neurogenic bladder treatment database.

[0132] The preset weights of the neurogenic bladder treatment signal synchronization assessment value, the preset signal transmission rate, and the preset neurogenic bladder treatment signal quality assessment value are obtained through mapping relationships. For example, by using the relationship between the neurogenic bladder treatment signal quality assessment index, the neurogenic bladder treatment signal synchronization assessment index, and the signal transmission rate and signal transmission delay in historical data, mapping sets of the neurogenic bladder treatment signal quality assessment index, the neurogenic bladder treatment signal synchronization assessment index, and the signal transmission rate and their corresponding weights are established respectively. By inputting the real-time neurogenic bladder treatment signal quality assessment index, the neurogenic bladder treatment signal synchronization assessment index, and the signal transmission rate, the preset weights of the neurogenic bladder treatment signal synchronization assessment value, the preset signal transmission rate, and the preset neurogenic bladder treatment signal quality assessment value are obtained from the mapping set.

[0133] Specifically, in the treatment of neurogenic bladder, for example, the accuracy assessment value of neurogenic bladder treatment signals is directly related to the accuracy of the electrical pulse signals output by the stimulator unit, including whether the amplitude, width, and frequency of the electrical pulses are accurately output according to preset parameters. If the electrical pulses output by the stimulator unit are inaccurate, the accuracy of neurogenic bladder treatment-related signals will decrease. The electrode array of the neuroelectrode unit accurately transmits electrical pulses to specific areas of the human body. The accuracy of the electrode spacing and position is crucial to the transmission of neurogenic bladder signals. If the electrode position or spacing is inaccurate, it will lead to inaccurate transmission of neurogenic bladder signals, thereby affecting the accuracy of neurogenic bladder signals.

[0134] The synchronous assessment value for neurogenic bladder treatment signals refers to whether the channels of the stimulator unit can accurately output multi-path electrical pulses according to a preset synchronization strategy. The faster the signal transmission rate, the faster the stimulation signal can reach the target position at the correct time, and the higher the synchronous assessment value for neurogenic bladder treatment signals. The signal transmission rate refers to the speed at which the signal is generated, transmitted, and received. In neurogenic bladder treatment, the faster the signal transmission rate, the less signal delay can be reduced, and the lower the neurogenic bladder treatment signal quality assessment value. In neurogenic bladder treatment, the lower the synchronous assessment value for neurogenic bladder treatment signals, the worse the neurogenic bladder treatment signal quality. The higher the synchronous assessment value for neurogenic bladder treatment signals, the lower the neurogenic bladder treatment signal quality assessment value.

[0135] There is a positive correlation between the synchronous evaluation value and the accuracy evaluation value of the neurogenic bladder treatment signal. Higher synchronousity means the stimulation signal can reach the target nerve accurately and synchronously at the predetermined time; a higher synchronous evaluation value also results in a higher accuracy evaluation value. Signal transmission rate is also positively correlated with the accuracy evaluation value. Reducing signal delay during transmission ensures the stimulation signal reaches the target location promptly; a faster transmission rate results in a higher accuracy evaluation value. Conversely, there is a negative correlation between the quality evaluation value and the accuracy evaluation value of the neurogenic bladder treatment signal. Poor signal quality affects synchronousity; a higher quality evaluation value results in a lower accuracy evaluation value.

[0136] Furthermore, the specific steps for optimizing and adjusting the treatment signal quality of neurogenic bladder are as follows: If the neurogenic bladder treatment signal quality assessment value is lower than or equal to the first threshold value, then no optimization or adjustment of the neurogenic bladder treatment signal quality method is required; if the neurogenic bladder treatment signal quality assessment value is higher than the first threshold value, then the adjustment scheme corresponding to it in the neurogenic bladder treatment database is matched by the difference between the neurogenic bladder treatment signal quality assessment value and the first threshold value.

[0137] In this embodiment, assuming the neurogenic bladder treatment signal quality assessment value is 5, and the first threshold value of the neurogenic bladder treatment signal quality assessment value obtained from the neurogenic bladder treatment database is 3, with a corresponding difference of 2, then the adjustment scheme corresponding to the difference between the neurogenic bladder treatment signal quality assessment value and the first threshold value of the neurogenic bladder treatment signal quality assessment value is matched from the neurogenic bladder treatment database. The adjustment scheme is: adjusting the stimulator electrode gating site and adjusting the stimulation output intensity to reduce the neurogenic bladder treatment signal quality assessment value.

[0138] Furthermore, the specific steps for optimizing and adjusting the neurogenic bladder treatment signal synchronization method are as follows: If the neurogenic bladder treatment signal synchronization assessment value is greater than or equal to the second threshold of the neurogenic bladder treatment signal synchronization assessment value, then there is no need to optimize and adjust the neurogenic bladder treatment signal synchronization method; if the neurogenic bladder treatment signal synchronization assessment value is lower than the second threshold of the neurogenic bladder treatment signal synchronization assessment value, then the adjustment scheme corresponding to it in the neurogenic bladder treatment database is matched by the difference between the neurogenic bladder treatment signal synchronization assessment value and the second threshold of the neurogenic bladder treatment signal synchronization assessment value.

[0139] In this embodiment, assuming the neurogenic bladder treatment signal synchronization assessment value is 2, and the second threshold value of the neurogenic bladder treatment signal synchronization assessment value obtained from the neurogenic bladder treatment database is 3, with a corresponding difference of -1, then the adjustment scheme corresponding to the difference between the neurogenic bladder treatment signal synchronization assessment value and the second threshold value of the neurogenic bladder treatment signal synchronization assessment value is obtained from the neurogenic bladder treatment database. The adjustment scheme is: adjusting the stimulation output frequency and adjusting the sampling interval to improve the neurogenic bladder treatment signal synchronization assessment value.

[0140] Further, the specific steps for optimizing and adjusting the accuracy of neurogenic bladder treatment signals are as follows: Extract the comprehensive threshold value for the accuracy assessment of neurogenic bladder treatment signals from the neurogenic bladder treatment database; compare the accuracy assessment value of the neurogenic bladder treatment signals with the comprehensive threshold value; if the accuracy assessment value of the neurogenic bladder treatment signals is greater than or equal to the comprehensive threshold value, then no optimization or adjustment of the neurogenic bladder treatment signal accuracy method is needed; if the accuracy assessment value of the neurogenic bladder treatment signals is lower than the comprehensive threshold value, then the adjustment scheme corresponding to it in the neurogenic bladder treatment database is matched by the difference between the accuracy assessment value of the neurogenic bladder treatment signals and the comprehensive threshold value.

[0141] In this embodiment, assuming the accuracy assessment value of the neurogenic bladder treatment signal is 1, and the comprehensive threshold of the accuracy assessment value of the neurogenic bladder treatment signal obtained from the neurogenic bladder treatment database is 3, with a corresponding difference of -2, then the adjustment scheme corresponding to the difference between the accuracy assessment value of the neurogenic bladder treatment signal and the comprehensive threshold of the accuracy assessment value of the neurogenic bladder treatment signal is -2 is matched from the neurogenic bladder treatment database. The adjustment scheme is: adjusting the sampling rate and sampling interval to improve the accuracy assessment value of the neurogenic bladder treatment signal.

[0142] Figure 3 shows a schematic diagram of the electrical stimulation tactile evaluation system for neurogenic bladder treatment provided in this embodiment of the application. The system includes: a neurogenic bladder treatment data acquisition module, a neurogenic bladder treatment data analysis module, a comprehensive analysis module, and an optimization adjustment module. The neurogenic bladder treatment data acquisition module is used to acquire and process neurogenic bladder treatment data through the neural electrode unit and motion capture unit in the neurogenic bladder treatment electrical stimulation tactile wearable device. The neurogenic bladder treatment data analysis module is used to analyze the neurogenic bladder treatment data through the signal decoding unit in the neurogenic bladder treatment electrical stimulation tactile wearable device to obtain a neurogenic bladder treatment signal quality evaluation value and a neurogenic bladder treatment signal synchronization evaluation value. The comprehensive analysis module... The first module is used to obtain the accuracy assessment value of the neurogenic bladder treatment signal through comprehensive analysis by the signal decoding unit in the neurogenic bladder treatment electrical stimulation tactile wearable device; the second module is used to compare and analyze the quality assessment value of the neurogenic bladder treatment signal with the first threshold of the quality assessment value of the neurogenic bladder treatment signal through the stimulator unit and stimulation strategy unit in the neurogenic bladder treatment electrical stimulation tactile wearable device, and optimize and adjust the method of neurogenic bladder treatment signal quality; compare and analyze the synchronization assessment value of the neurogenic bladder treatment signal with the second threshold of the synchronization assessment value of the neurogenic bladder treatment signal, and optimize and adjust the synchronization method of the neurogenic bladder treatment signal; compare and analyze the accuracy assessment value of the neurogenic bladder treatment signal with the comprehensive threshold of the accuracy assessment value of the neurogenic bladder treatment signal, and optimize and adjust the accuracy method of the neurogenic bladder treatment signal.

[0143] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0144] This invention is described with reference to flowchart illustrations and / or block diagrams of systems, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0145] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0146] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0147] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0148] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A neurogenic bladder treatment electrical stimulation haptics assessment system, characterized by, The method comprises the following steps: collecting neurogenic bladder treatment data module, neurogenic bladder treatment data analysis module, comprehensive analysis module and optimization adjustment module: The neurogenic bladder treatment data module is used for collecting and processing neurogenic bladder treatment data through the neurogenic bladder treatment electric stimulation tactile wearable device. The neurogenic bladder treatment data analysis module is used for analyzing the neurogenic bladder treatment data through the signal decoding unit in the neurogenic bladder treatment electric stimulation tactile wearable device to obtain the neurogenic bladder treatment signal quality evaluation value and the neurogenic bladder treatment signal synchronization evaluation value. The comprehensive analysis module is used for comprehensively analyzing the neurogenic bladder treatment signal accuracy evaluation value through the signal decoding unit in the neurogenic bladder treatment electric stimulation tactile wearable device. The optimization adjustment module is used for comparing and analyzing the neurogenic bladder treatment signal quality evaluation value with the first threshold value of the neurogenic bladder treatment signal quality evaluation value, optimizing and adjusting the neurogenic bladder treatment signal quality method; comparing and analyzing the neurogenic bladder treatment signal synchronization evaluation value with the second threshold value of the neurogenic bladder treatment signal synchronization evaluation value, optimizing and adjusting the neurogenic bladder treatment signal synchronization method; and comparing and analyzing the neurogenic bladder treatment signal accuracy evaluation value with the comprehensive threshold value of the neurogenic bladder treatment signal accuracy evaluation value, optimizing and adjusting the neurogenic bladder treatment signal accuracy method.

2. The neurogenic bladder treatment electrical stimulation haptics assessment system of claim 1, wherein, The neurogenic bladder treatment electric stimulation tactile wearable device comprises a stimulator unit, a nerve electrode unit, a motion capture unit, a signal decoding unit and a stimulation strategy unit.

3. The neurogenic bladder treatment electrical stimulation haptics assessment system of claim 1, wherein, The specific steps of collecting and processing the neurogenic bladder treatment data are as follows: The neurogenic bladder treatment electric stimulation tactile wearable device is used to collect neurogenic bladder treatment raw data by contacting the sole, toe, instep and instep of the foot. The neurogenic bladder treatment electric stimulation tactile wearable device is used to collect neurogenic bladder treatment raw data by contacting the sole, toe, instep and instep of the foot. The original data of neurogenic bladder treatment is cleaned and denoised to obtain neurogenic bladder treatment data, wherein the neurogenic bladder treatment data includes neurogenic bladder treatment signal quality data and neurogenic bladder treatment signal synchronism data.

4. The neurogenic bladder treatment electrical stimulation haptics assessment system of claim 1, wherein, The specific steps of obtaining the neurogenic bladder treatment signal quality evaluation value are: The motion amplitude and angle characteristics of the preset neurogenic bladder treatment signal quality time detection point are obtained through the sensing device at the sole, toe, instep and instep of the foot. The signal frequency characteristics of the preset neurogenic bladder treatment signal quality time detection point are obtained through the signal decoding unit. The stimulation frequency of the preset neurogenic bladder treatment signal quality time detection point is obtained through the nerve stimulator. The signal waveform center point amplitude value of the preset neurogenic bladder treatment signal quality time detection point is obtained through the signal decoding unit. The timestamp of the preset neurogenic bladder treatment signal quality time detection point is obtained through the signal decoding unit; The neurogenic bladder treatment signal quality data includes motion amplitude, signal frequency characteristics, stimulation frequency, signal waveform center point amplitude value and timestamp; The neurogenic bladder treatment signal quality evaluation value is obtained according to the neurogenic bladder treatment signal quality data analysis.

5. The neurogenic bladder treatment electrical stimulation haptics assessment system of claim 1, wherein, The specific process of obtaining the neurogenic bladder treatment signal synchronism evaluation value is: The motion amplitude and angle characteristics of the preset neurogenic bladder treatment signal synchronism time detection point are obtained through the sensing device at the sole, toe, instep and instop of the foot. The signal frequency characteristics of the preset neurogenic bladder treatment signal synchronism time detection point are obtained through the signal decoding unit. The signal transmission delay of the preset neurogenic bladder treatment signal synchronism time detection point is obtained through the signal decoding unit. The signal drift rate of the preset neurogenic bladder treatment signal synchronism time detection point is obtained through the signal decoding device. The signal maximum phase of the preset neurogenic bladder treatment signal synchronism time detection point is obtained through the signal decoding element. The signal minimum phase of the preset neurogenic bladder treatment signal synchronism time detection point is obtained through the signal coding unit. The timestamp of the preset neurogenic bladder treatment signal synchronism time detection point is obtained through the signal decoding. The neurogenic bladder treatment signal synchronism data includes motion amplitude, signal frequency characteristics, signal transmission delay, signal drift rate, signal maximum phase, signal minimum phase and timestamp. The neurogenic bladder treatment signal synchronism evaluation value is obtained according to the neurogenic bladder treatment signal synchronism data analysis.

6. The neurogenic bladder treatment electrical stimulation haptics assessment system of claim 1, wherein, The specific steps of obtaining the neurogenic bladder treatment signal accuracy evaluation value through comprehensive analysis are: The signal transmission rate of the preset neurogenic bladder treatment signal accuracy time detection point is obtained through the signal decoding unit. The neurogenic bladder treatment signal accuracy evaluation value is obtained through the comprehensive analysis of the neurogenic bladder treatment signal synchronism evaluation value, signal transmission rate and neurogenic bladder treatment signal quality evaluation value.

7. The neurogenic bladder treatment electrical stimulation haptics assessment system of claim 1, wherein, The specific steps of optimizing and adjusting the neurogenic bladder treatment signal quality method are: If the neurogenic bladder treatment signal quality evaluation value is lower than or equal to the first threshold value of the neurogenic bladder treatment signal quality evaluation value, the neurogenic bladder treatment signal quality method does not need to be optimized and adjusted; If the neurogenic bladder treatment signal quality evaluation value is higher than the first threshold value of the neurogenic bladder treatment signal quality evaluation value, the adjustment scheme corresponding to the neurogenic bladder treatment signal quality evaluation value in the neurogenic bladder treatment database is matched through the difference between the neurogenic bladder treatment signal quality evaluation value and the first threshold value of the neurogenic bladder treatment signal quality evaluation value.

8. The neurogenic bladder treatment electrical stimulation haptics assessment system of claim 1, wherein, The specific steps of the method for optimizing and adjusting the neurogenic bladder treatment signal synchronization are: If the neurogenic bladder treatment signal synchronization evaluation value is greater than or equal to the second threshold value of the neurogenic bladder treatment signal synchronization evaluation value, the neurogenic bladder treatment signal synchronization method does not need to be optimized and adjusted; If the neurogenic bladder treatment signal synchronization evaluation value is lower than the second threshold value of the neurogenic bladder treatment signal synchronization evaluation value, the adjustment scheme corresponding to the neurogenic bladder treatment signal synchronization evaluation value in the neurogenic bladder treatment database is matched through the difference between the neurogenic bladder treatment signal synchronization evaluation value and the second threshold value of the neurogenic bladder treatment signal synchronization evaluation value.

9. The neurogenic bladder treatment electrical stimulation haptics assessment system of claim 1, wherein, The specific steps of the method for optimizing and adjusting the neurogenic bladder treatment signal accuracy are: The neurogenic bladder treatment signal accuracy evaluation value comprehensive threshold value is extracted from the neurogenic bladder treatment database, and the neurogenic bladder treatment signal accuracy evaluation value is compared with the neurogenic bladder treatment signal accuracy evaluation value comprehensive threshold value; If the neurogenic bladder treatment signal accuracy evaluation value is greater than or equal to the neurogenic bladder treatment signal accuracy evaluation value comprehensive threshold value, the neurogenic bladder treatment signal accuracy method does not need to be optimized and adjusted; If the neurogenic bladder treatment signal accuracy evaluation value is lower than the neurogenic bladder treatment signal accuracy evaluation value comprehensive threshold value, the adjustment scheme corresponding to the neurogenic bladder treatment signal accuracy evaluation value in the neurogenic bladder treatment database is matched through the difference between the neurogenic bladder signal accuracy evaluation value and the neurogenic bladder treatment signal accuracy evaluation value comprehensive threshold value.

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