207 results about "Muscle contraction" patented technology

The invention relates to the technical field of medical image processing, and discloses a craniofacial dynamic reconstruction method and system based on multi-modal data fusion, and the method comprises the steps: arranging a multi-modal data collection device in a target craniofacial region, and obtaining a static CT image, a static MRI image, a dynamic expression video sequence and a surface electromyogram signal; preprocessing the static CT image, the static MRI image, the dynamic expression video sequence and the surface electromyogram signal; inputting the preprocessed data into a multi-scale finite element model, and simulating a coupling relationship between muscle contraction force and skin deformation by adopting a biomechanical driving strategy to generate a dynamic craniofacial model; and fusing the geometric error and the motion consistency score of the real data by adopting a linear regression method, and outputting a comprehensive reconstruction quality index. According to the method, the problems of low craniofacial dynamic modeling accuracy and poor robustness in the prior art can be solved.

The invention provides an electrical stimulation thumbtack needle system and method, and the method comprises the steps: determining the change gradient of the muscle contraction intensity of a target user through the median frequency feature of an electromyographic signal on the skin surface of the target user, and further determining the muscle fatigue feature of the target user; determining the change trend of the skin resistance of the target user according to the fluctuation characteristics of the skin resistance in the skin resistance data of the target user and the environmental temperature and humidity of the target user, and determining the tolerance index of the target user to electrical stimulation according to the muscle fatigue characteristics and the change trend of the skin resistance; the parameter deviation of each thumbtack needle of the electrical stimulation thumbtack needle equipment in the electrical stimulation process is determined; and based on all the parameter deviations, adjusting electrical stimulation parameter information of the electrical stimulation thumbtack needle equipment, and controlling the electrical stimulation thumbtack needle equipment to continuously perform electrical stimulation on the target user. By adopting the scheme, the stimulation parameters of the electrical stimulation thumbtack needle equipment can be dynamically adjusted according to the real-time physiological data of the user.

A method for providing a plyometric exercise to a subject, including: selecting at least one target region of interest (RO I) in a subject body for a plyometric exercise; positioning at least 2 electrodes above a tissue volume at the selected target ROI; generating at least one electric field by at least one pulse generator electrically coupled to the at least 2 electrodes; delivering the at least one electric field between the at least 2 electrodes to the tissue volume with parameter values selected for contracting at least one muscle in the tissue volume as part of a plyometric exercise of the at least one muscle.

The invention discloses an adjustable auxiliary device for ultrasonic diagnosis in the obstetrics and gynecology department, relates to the technical field of medical treatment, and aims to solve the technical problems that a coupling agent is easily contracted and extruded by muscles, so that detection is inaccurate, and misdiagnosis is easily caused. According to the invention, the extrusion sheet which deforms due to the influence of human body temperature is utilized to automatically supplement the coupling agent, ensure the coherence of the detection process, shorten the time and reduce the discomfort of the patient and the influence risk of the detection result. The elastic clamping sheet is matched with the elastic clamping groove to dynamically adjust the supplement amount of the coupling agent, so that sufficient coupling agent at each detection part is ensured, ultrasonic conduction is stable, and accurate diagnosis is assisted. The spiral guide body design of the coupling agent guiding mechanism can guide the redundant coupling agent to flow and prevent the redundant coupling agent from dripping at the bending position, and the probe circuit can be protected. The grab handle and the pressure suction mechanism work cooperatively to efficiently collect redundant coupling agents, so that the cleaning workload is reduced, and the detection convenience is improved.

The application discloses a respiratory neuromuscular stimulation control method and system, and relates to the technical field of medical treatment. The method comprises the following steps: collecting body parameter information of a user; determining stimulation parameters of the user according to the body parameter information and parameters stored in a database; processing an initial muscle contraction signal obtained from a treatment terminal through a signal processing module before electric stimulation is performed on the body of the user, so as to obtain an initial muscle contraction filtered signal; wherein the initial muscle contraction signal is sensed by the treatment terminal attached to the body of the user; and controlling the current of the electric stimulation generated by the treatment terminal arranged on the body of the user in real time according to the stimulation parameters of the user, the initial muscle contraction filtered signal, a real-time muscle contraction filtered signal and real-time breathing conditions, through a self-adaptive current adjustment model which is trained and optimized. The application improves the efficiency of electric stimulation.

The invention discloses an upper limb rehabilitation intelligent self-adaptive system based on multi-modal fusion and MRD-FES cooperation. The system comprises a multi-modal signal acquisition module, a dynamic intention analysis module, a variable damping precise execution module, a neural remodeling strengthening module and a quantitative effect evaluation module. The tDCS-MRD-FES time sequence cooperation protocol is provided, the cortical excitability is improved through tDCS preprocessing, MRD drives training based on intention, FES closed loop strengthens muscle contraction, and vibration tactile feedback is assisted to strengthen sensory movement integration. And the quantitative effect evaluation module further combines a neuroplasticity index and clinical scale digitalization to realize dynamic optimization of training parameters.

Systems and devices for providing stimulation to target tissue to locate nerves. Devices may incorporate the use of haptic feedback to provide surgeons optimal communication of device status and / or target tissue excitability. Haptic communication may also work in conjunction with visual indicators to provide dual confirmatory responses to the user or signal other information. Haptic communication is also used to be timed with the application of electrical stimulation to elicit a feeling of contraction in the surgeon's hands as they apply electrical stimulation to a target nerve that results in a muscle contraction.

The invention discloses an interactive humanoid robot expression simulation method based on artificial intelligence, and relates to the technical field of expression simulation, and the method comprises the steps: collecting a brain wave signal of a user, carrying out the preprocessing, and generating a power spectrum density feature; inputting the power spectral density features into a pre-trained emotion classification model, and outputting an emotion category and an emotion intensity value of the user; performing emotional expression mapping on the emotional category and the emotional intensity value, and outputting a bionic muscle contraction instruction; performing facial adjustment on facial muscle fibers of the humanoid robot according to the bionic muscle contraction instruction, dynamically adjusting surface texture details of the humanoid robot, and generating a simulated micro expression; and capturing user face feedback data through camera shooting eyeballs, evaluating the acceptance degree of the user on the simulated micro-expression based on the user face feedback data, and outputting an expression optimization strategy. According to the method, through deformation matching and expression optimization double-closed-loop modeling driven by user feedback, biological simulation of micro-expressions of the humanoid robot is realized.

The invention provides a tendinopathy rehabilitation training and monitoring system based on electrical stimulation, and the system comprises a detection unit which is used for measuring the electrical impedance of the tendon and muscular tissue of a patient before rehabilitation training, and providing a basis for the initial setting of electrical stimulation parameters; the electrical stimulation unit is used for monitoring the muscle contraction degree, the motion angle and the angular velocity, the blood oxygen metabolism condition of a tendon area and the pressure condition around muscles of the rehabilitation person under electrical stimulation in the rehabilitation training process. A muscle electrophysiological sensor, a joint angle sensor, a near infrared spectrum sensor, a motion capture sensor, a pressure pad sensor and the like are utilized, rehabilitation training conditions can be monitored from multiple aspects, a more detailed rehabilitation training report is generated in combination with various weight ratios, targeted training can be carried out on different individuals, various parameters can be adjusted, and the rehabilitation training efficiency is improved. The training effect is improved, training information can be fed back in time, and doctors can conveniently carry out whole-course coordination management on training.

The invention discloses an active constant-speed treatment and training method for patients with neurodegenerative diseases and myasthenia, and the method comprises the steps: promoting nerve remodeling through active constant-speed training, enabling the patients to use active constant-speed training equipment, and adjusting the training speed, the angle range and the impedance torque. The device activates a specific muscle group in a safe and controllable environment through an adaptive impedance training technology, gradually enhances training impedance to improve muscle strength, enhances muscle contraction efficiency through targeted training, promotes neural pathway reconstruction and improves nerve-muscle cooperative control ability, and thus achieves neural function recovery and improvement. Therefore, drug therapy provides neuroprotection and muscle function support for a patient, active constant-speed training further promotes the rehabilitation progress through accurate control and real-time feedback, and meanwhile, the flexibility and individuation of training are improved through the multi-mode man-machine interaction and cloud remote guidance functions, so that the rehabilitation effect of the patient is improved. And the treatment effect and life quality of patients with neurodegenerative diseases and myasthenia are improved.

The invention relates to the field of foods, and particularly discloses a micromolecule peptide-based nutritional food for preventing muscle attenuation for the elderly and a preparation method of the micromolecule peptide-based nutritional food. Comprising the following components in parts by weight: 23-50 parts of protein, 35-60 parts of carbohydrate, 4-9 parts of fat, 1-10 parts of dietary fibers, 0.5-1.2 parts of mineral elements, 0.1-1.0 part of vitamins, 0.2-1 part of dietary essence and 1-6 parts of new resource food. The small molecule peptide (containing collagen peptide) and the whey protein (containing branched chain amino acid) are combined to improve muscle quality through double ways of promoting synthesis and inhibiting decomposition, the effect is better than that of a single peptide component, and vitamin D3, magnesium element (Mg) and fructo-oligosaccharide are supplemented to act on muscle contraction, energy metabolism and intestinal tract-muscle axis links respectively, so that the muscle quality is improved. A systematic intervention scheme is formed, and the raw materials required by the preparation of the related small molecule peptide-based muscle attenuation-preventing nutritional food for the elderly are wide in source and relatively low in cost.

The invention provides a peripheral nerve precise regulation and control method and system based on a multi-channel flexible electrode, and is applied to the technical field of data processing. Physiological parameter information of a target user is processed based on a target peripheral nerve stimulation model, muscle contraction characteristic comprehensive indexes are generated, the muscle contraction characteristic comprehensive indexes comprise muscle contraction amplitude and contraction frequency, and the contraction frequency is clearly distinguished according to fast muscles, slow muscles and different motion modes; processing the training purpose information and the muscle contraction characteristic comprehensive index of the target user based on the target peripheral nerve stimulation model, and generating a preliminarily adjusted muscle contraction signal; processing the preliminarily adjusted muscle contraction signal based on the physiological feature information of the target organ to generate a secondarily adjusted muscle contraction signal; and processing the muscle contraction signal after secondary adjustment based on the motion intensity interval information of the target organ, and generating a target peripheral nerve stimulation signal.

The utility model provides a neuromuscular low-frequency electrical stimulator, which relates to the field of low-frequency electrical stimulators, and comprises a miniature low-frequency electrical stimulator, the outer surface of the miniature low-frequency electrical stimulator is fixedly connected with a connecting piece, the output end of the miniature low-frequency electrical stimulator is fixedly provided with a movable block, and the bottom surface of the movable block is provided with an electrode plate. The electrode plate is made of a soft material, the miniature low-frequency electrical stimulator is electrically connected with the electrode plate, and an adhesive layer is arranged on the bottom surface of the electrode plate and is used for adhering to the skin of a human body. According to the neuromuscular low-frequency electrical stimulator, the arranged electrode plate is made of a soft material, the bottom surface of the electrode plate is provided with the adhesive layer, the adhesive layer can be adhered to the skin of a human body, and the miniature low-frequency electrical stimulator acts specific low-frequency impulse current on the human body through the electrode plate, so that the purpose of muscle contraction is achieved; the miniature low-frequency electrical stimulator can be fixed to legs and arms of a human body for use, is small in size, and can meet the requirement of temporary use.

The invention belongs to the technical field of medical rehabilitation instruments and biological signals, and particularly relates to a multi-mode fusion intelligent rehabilitation evaluation system based on EMG and PPG. The system comprises a flexible multi-mode sensor array module used for collecting surface electromyogram signals EMG and photoelectric volume pulse wave signals PPG and capturing muscle activation intensity and blood perfusion dynamics in real time; the self-adaptive contact enhancing module is used for driving the airbag assembly to dynamically adjust the contact pressure between the embedded pressure sensor and the skin through the micro air pump; the edge calculation unit module is used for carrying out localization processing on the collected original signals, quantitatively evaluating the collaboration of muscle activity and blood flow fluctuation and judging whether muscle contraction drives local blood flow change or not or whether vessel limitation reversely inhibits neuromuscular activation or not; and the lightweight classification model module is used for processing the time-frequency characteristics of the EMG and the waveform fragments of the PPG, and outputting rehabilitation state labels after screening key collaborative characteristics through an attention mechanism.

The invention provides a brachial plexus and exoskeleton cooperative control method and system based on a brain-computer interface, and relates to the field of intelligent control. The method comprises the steps that electroencephalogram signals and upper limb electromyographic signals of a target object during motor imagery are collected; predicting the motion intention of the target object through a neural network based on the electroencephalogram signals and the upper limb electromyographic signals; based on the motion intention, determining a target brachial plexus branch according to a preset motion intention and brachial plexus mapping rule; generating a nerve stimulation control instruction and an exoskeleton cooperative control instruction based on the target brachial plexus branch and the motion intention; and according to the nerve stimulation control instruction, performing electrical stimulation on the target brachial plexus branch to drive the corresponding muscle to contract, and meanwhile, according to the exoskeleton cooperative control instruction, controlling the upper limb exoskeleton to apply assistance to the corresponding joint. The method and the device are used in the cooperative control process of the brachial plexus and the exoskeleton, and the technical problem of inaccurate control in the existing limb control process based on neural signals is solved.

1. The name of the design product: pelvic floor muscle trainer (PF01). 2. The use of the design product: applied to the training and evaluation of the contraction ability of the pelvic floor muscles of women after childbirth, and auxiliary rehabilitation of the pelvic floor muscles of women after childbirth. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 1. 5. Other conditions that need to be explained: the bottom baffle is buckled and fixed, and can be disassembled.

The invention relates to the technical field of image processing, in particular to an ultrasonic image analysis method for evaluating postpartum pelvic floor muscle function damage, and solves the problem that in the prior art, due to the fact that muscle fiber part fracture in an ultrasonic image is similar to normal anatomical variation, normal tendon attachment is similar to ultrasonic characteristics of scars after avulsion, and the damage of the pelvic floor muscle function damage is caused. And whether the levator ani muscle is damaged is difficult to accurately judge. The method comprises the following steps: acquiring an ultrasonic image of pelvic floor muscle; the ultrasonic image comprises an image in a resting state and a dynamic image sequence in a stress state and a contraction state; determining a suspicious area in the levator ani muscle area according to the ultrasonic image; performing feature analysis on the suspicious region, and determining a texture change coefficient and a shrinkage index; the texture change coefficient is used for representing bilateral muscle symmetry, and the contraction index is used for representing a muscle contraction function; according to the texture change coefficient and the contraction index, pelvic floor muscle function damage evaluation is carried out.

An embodiment of the present application provides a pulse generation circuit for outputting bipolar pulses, and a method and device thereof. The pulse generation circuit for outputting bipolar pulses includes: a first charge and discharge unit and a second charge and discharge unit; the first charge and discharge unit and the second charge and discharge unit are configured to, in a pulse generation mode, form a pulse generation loop with a load to output a designed pulse signal to the load; the designed pulse signal includes at least one of the following: a first-polarity pulse signal, a second-polarity pulse signal, a first-polarity stepped amplitude pulse signal, and a second-polarity stepped amplitude pulse signal. Embodiments of the present application can output a designed pulse signal according to requirements, avoid or reduce muscle contraction, thereby avoiding the problem of electrode needle displacement, and further can precisely control the ablation area and improve the ablation effect.

The invention belongs to the technical field of waist support equipment, and discloses an intelligent feedback waist support with a multifunctional physical therapy effect. Low-frequency electrical stimulation modules are mounted on two sides of an arc-shaped waist belt body; the medium-frequency electrical stimulation module is mounted in the middle of the arc-shaped waistband body; vibration modules are mounted on the arc-shaped waistband body between the medium-frequency electrical stimulation module and the low-frequency electrical stimulation modules on the two sides; the myoelectricity biological feedback module is mounted in the middle of the arc-shaped waistband body between the two vibration modules; the controller is electrically connected with the low-frequency electrical stimulation module, the intermediate-frequency electrical stimulation module, the vibration module and the myoelectricity biological feedback module. The purpose of stimulating muscle contraction to stabilize the spine can be achieved; stimulation of erector spinalis muscles, latissimus dorsi muscles and multifidus muscles can be completed, and the purpose of relaxing deep muscles is achieved; massage can be carried out, and the effects of relaxing muscles, reducing intervertebral disc pressure and inducing muscle hypertrophy are achieved; the paravertebral muscle electromyographic signals can be conveniently monitored in real time, and scientific treatment on the waist is achieved.

Apparatus and related methods relate to inducing body cavity evacuation. In an illustrative embodiment, a compressive headgear may be configured to selectively apply compression to predetermined points on a patient's head. The headgear may, for example, include a contraction induction control unit. The control unit may, for example, be operable to control the compression level applied by the headgear. The predetermined points may, for example, include a first parietal surface. The points may, for example, include a second parietal surface opposing the first. The points may, for example, include an occipital surface. Various embodiments may advantageously induce muscular contraction around a target body cavity, facilitating evacuation.

The present application relates to the field of electrical stimulation therapy device, especially to a cavity treatment rod, which mainly comprises: a conductive inner core; a first electrical stimulation part comprising a first electrical stimulation element, the first electrical stimulation element is arranged at one end of the conductive inner core in the length extension direction of the conductive inner core; a second electrical stimulation part comprising a second electrical stimulation element, the second electrical stimulation element is sleeved on the conductive inner core, the second electrical stimulation element is arranged in the axial extension direction of the conductive inner core and spaced apart from the first electrical stimulation element, and the second electrical stimulation element is electrically insulated from the conductive inner core and the first electrical stimulation element; after the first electrical stimulation element and the second electrical stimulation element are powered, the first electrical stimulation element and the second electrical stimulation element can alternately output electrical stimulation pulses sufficient to cause muscle contraction, and after the electrical stimulation pulses pass through the human body tissue, flow into the first electrical stimulation part or the second electrical stimulation part which does not output the electrical stimulation pulses to form a current loop. The present application also relates to an electrical stimulation therapy instrument comprising the above cavity treatment rod.

The application provides a peripheral nerve precise regulation method and system based on a multi-channel flexible electrode, and is applied to the technical field of data processing. The physiological parameter information of a target user is processed based on a target peripheral nerve stimulation model to generate a muscle contraction characteristic comprehensive index, wherein the muscle contraction characteristic comprehensive index includes a muscle contraction amplitude, a contraction frequency, and the contraction frequency is clearly distinguished according to fast muscle, slow muscle and different movement modes. The training purpose information and the muscle contraction characteristic comprehensive index of the target user are processed based on the target peripheral nerve stimulation model to generate a preliminarily adjusted muscle contraction signal. The preliminarily adjusted muscle contraction signal is processed based on the physiological characteristic information of a target organ to generate a secondarily adjusted muscle contraction signal. The secondarily adjusted muscle contraction signal is processed based on the movement intensity interval information of the target organ to generate a target peripheral nerve stimulation signal.

The present application relates to the technical field of tourniquet, in particular to a multifunctional tourniquet for controlling bleeding in the junctional area under field conditions, comprising a tourniquet assembly. The present application ingeniously locks the tourniquet body and the human body limb by setting two groups of anti-skid mechanisms comprising fixing belts, positioning plates, clamping blocks and device sleeves. When the clamping blocks are precisely inserted into the clamping grooves on both sides of the device sleeve under the action of the spring restoring force, a rigid closed structure surrounding the limb is formed. This structure can effectively resist the axial shear force generated by the movement of the wounded, the change of body position or the contraction of limb muscles. At the same time, the linkage system composed of the device sleeve and the positioning belt can disperse the local stress. Even if there is sweat or blood on the surface to cause lubrication, the mechanical self-locking design of the multi-point clamping can also prevent the overall tourniquet from sliding or twisting, so as to maintain constant ring pressure and position in the dynamic jolt environment of field evacuation, greatly reducing the risk of tourniquet failure and secondary bleeding caused by instrument displacement.

The utility model provides a controllable micro-motion elastic internal fixation device with a bidirectional locking pressing plate structure, and belongs to the technical field of orthopedic medical instruments. Comprising a plurality of bridging rods; and the two end blocks are arranged at the two ends of the bridging rod. A stable frame structure is constructed through the combination of the bridging rod, the end block and the fixing screw, a fracture part is effectively connected and fixed in the axial direction, then a bidirectional locking mechanism is formed through the upper pressing plate, the lower pressing plate, the adjusting lead screw and the locknut, and the fracture part is locked by screwing the locknut. The distance and pressure between the pressing plates can be accurately adjusted and locked, dynamic force generated by factors such as muscle contraction and limb movement can be effectively resisted in the long-term use process, the pressing plates are prevented from loosening or displacing, and it is ensured that the fixing device always keeps the stable fixing effect; and the problems of poor fracture healing or malformation healing and the like caused by fixation failure are avoided.

Provided is a system that more accurately estimates the degree of urine accumulation by solving a problem in which the influence of a change in the amount of urine accumulation is obscured when the biological impedance in the vicinity of the bladder is affected as the muscles contract. This urine accumulation degree estimation system (2) comprises: a measurement means for measuring at least two types of biological impedance by energizing a bladder (60) at at least two different frequencies; and an estimation means that estimates the urine accumulation degree of the bladder (60) on the basis of the at least two types of biological impedance. The at least two frequencies include a frequency at which the bladder (60) and the muscles (66) around the bladder can be energized, and a frequency at which the muscles (66) around the bladder can be energized.

The invention discloses a nursing device facilitating postoperative upper limb rehabilitation of an affected side after a breast cancer operation, and relates to the technical field of postoperative rehabilitation of the breast cancer. The nursing device convenient for the upper limb rehabilitation of the affected side after the breast cancer operation comprises a rack, an adjusting mechanism is arranged on one side of the rack, a rotating mechanism is arranged on one side of the adjusting mechanism, a massage mechanism is arranged on one side of the rotating mechanism, and an exercise mechanism is arranged on one side of the adjusting mechanism; the massage mechanism comprises two mounting plates, the two mounting plates are located on the two sides in the rack respectively, a connecting ring is fixedly connected to one side of each mounting plate, the inner wall of each connecting ring is arranged at the position sleeving the arm of the patient, and a cavity is formed in each connecting ring. Meanwhile, the rotating ball is enabled to perform pressing and rolling type massage operation on the arms of the patient, the side upper limbs of the patient can be exercised, pain of the patient due to muscle contraction can be avoided, and the effect of accelerating the rehabilitation progress of the patient is achieved.

The utility model discloses an accurate muscle strength training device based on muscle strength monitoring, which comprises a training bandage, bandage fixing components are arranged at two ends of the training bandage, and a resistance applying air bag is arranged on the inner side surface of the training bandage. The device is conveniently fixed by arranging a training bandage, a first hook-and-loop fastener and a second hook-and-loop fastener, muscle strength is conveniently collected by arranging a resistance applying air bag, an air pipe, a first electromagnetic valve, a micro-control unit, a booster pump, a pressure sensor, an exhaust pipe and a second electromagnetic valve, and the muscle contraction condition is sensed; then, resistance is actively applied to related muscles, a patient is stimulated to accurately contract the related muscles, the resistance can be actively adjusted, corresponding pressure is applied to the muscles according to the active contraction muscle force, collected by a pressure sensor, of the muscles of the patient, and the muscle fiber recruitment stimulation efficiency can be improved through the dynamic pressure on the muscles; the neuromuscular coordination control capability can be quickly recovered, and the muscle force recovery is promoted.

The invention provides an intelligent push-up device which comprises a base provided with a first bearing part and a second bearing part, and electrode plates are arranged on the first bearing part and the second bearing part respectively; the bioelectrical impedance acquisition module has a first acquisition frequency and a second acquisition frequency, and first dynamic electrical impedance data of a target object in a motion state and first static electrical impedance data of the target object in a static state are acquired at the first acquisition frequency; the second acquisition frequency acquires second dynamic electrical impedance data of the target object in a moving state and second static electrical impedance data of the target object in a static state; and the data processing module is connected with the bioelectrical impedance acquisition module and is used for evaluating the muscle amount of the target object according to the first static electrical impedance data, the second static electrical impedance data and the height information and the weight information of the target object and determining muscle contraction information according to the first dynamic electrical impedance data and the second dynamic electrical impedance data.

The utility model discloses a nerve and muscle stimulator for treating dysphagia, and relates to the field of medical instruments. Comprising a host, a base and an interrupt switch. The host is connected with an electrode plate and the interrupt switch, the electrode plate acts on a human body, the interrupt switch is used for determining whether to interrupt treatment, and the base is used for supporting the host; the host comprises a touch display screen, a display panel and a control panel, and the touch display screen and the control panel are both connected with the display panel. The base is used for placing the host, so that the host can be vertically placed on a desktop, and both hands of a doctor are liberated. The treatment electrode plate is used for fitting the pharyngeal skin of the patient and outputting electrical stimulation to achieve a treatment effect; the reference electrode wire and the reference electrode slice are used for biological feedback, and the biological feedback function is the function of monitoring or analyzing the treatment effect according to the muscle contraction condition. The patient control switch is an emergency stop switch capable of being controlled by the patient, and treatment can be paused when the patient feels uncomfortable.

The present application provides a pneumatic soft snake-like robot and a walking control method and system for use in the field of robotics. The pneumatic soft snake-like robot includes main parts such as the tail, front, and head. For the tail and front, a number of pneumatic muscle modules are designed to facilitate the adjustment of the length of the snake-like robot by adding pneumatic muscle modules. The pneumatic muscle modules are made of soft materials, have a simple structure, a small size, and good flexibility, and are more suitable for movement in complex or narrow spaces. In addition, the pneumatic bionic muscle adopts a tubular structure and is divided into two air cavities on the left and right. The movement of the snake-like robot is achieved by driving the pneumatic muscle contraction by inflation and deflation, and a distributed drive method can be used to achieve a variety of movement gaits, making the movement gait and movement form of the snake-like robot closer to that of a biological snake.