CN1015510B - Physiotherapy device for hemiplegia patient - Google Patents
Physiotherapy device for hemiplegia patientInfo
- Publication number
- CN1015510B CN1015510B CN 88107126 CN88107126A CN1015510B CN 1015510 B CN1015510 B CN 1015510B CN 88107126 CN88107126 CN 88107126 CN 88107126 A CN88107126 A CN 88107126A CN 1015510 B CN1015510 B CN 1015510B
- Authority
- CN
- China
- Prior art keywords
- myoelectricity
- stimulator
- amplifier
- closed loop
- loop controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000000554 physical therapy Methods 0.000 title claims abstract description 10
- 206010019468 Hemiplegia Diseases 0.000 title description 3
- 230000001939 inductive effect Effects 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims abstract description 10
- 230000002269 spontaneous effect Effects 0.000 claims abstract description 8
- 230000003321 amplification Effects 0.000 claims abstract description 4
- 238000003199 nucleic acid amplification method Methods 0.000 claims abstract description 4
- 230000003447 ipsilateral effect Effects 0.000 claims description 13
- 230000003183 myoelectrical effect Effects 0.000 claims description 11
- 230000010354 integration Effects 0.000 claims description 6
- 230000010355 oscillation Effects 0.000 claims description 4
- 210000003205 muscle Anatomy 0.000 abstract description 16
- 238000001827 electrotherapy Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 2
- 230000004118 muscle contraction Effects 0.000 abstract 1
- 210000003414 extremity Anatomy 0.000 description 14
- 210000003141 lower extremity Anatomy 0.000 description 5
- 238000002560 therapeutic procedure Methods 0.000 description 5
- 230000000638 stimulation Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008602 contraction Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 description 2
- 229960001030 mephenoxalone Drugs 0.000 description 2
- 230000001225 therapeutic effect Effects 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000009180 ipsilateral muscle contraction Effects 0.000 description 1
- 230000007794 irritation Effects 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 230000001769 paralizing effect Effects 0.000 description 1
- 210000004345 peroneal nerve Anatomy 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 230000004936 stimulating effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Landscapes
- Electrotherapy Devices (AREA)
Abstract
The present invention relates to a novel physical therapy apparatus for the low-frequency electrical pulse electrotherapy and the rehabilitation of hemiplegic patients, which comprises a pulse amplifier, a stimulator, a detecting device for inducing myoelectricity, a common myoelectricity amplifier, a rectifying integrator, a PID regulator and a power amplification circuit. When in operation, the spontaneous myoelectricity of healthy limbs is used as an input command of a controller; the controller is used for adjusting the stimulator to stimulate corresponding muscles at an ill side; induced myoelectricity is used as a feedback parameter of the controller to modulate stimulated pulse amplitude and realize the adjustment for the contraction of muscles. Thus, an absolute average value of the induced myoelectricity of the muscles at the ill side tracks the absolute value of the spontaneous myoelectricity. A healthy side drives the ill side to move. The novel physical therapy apparatus for the low-frequency electrical pulse electrotherapy and the rehabilitation of hemiplegic patients mobilizes patients' treating enthusiasm, and the patients adjust by self to actively participate in the treating process.
Description
The present invention is the instrument of a kind of hemiplegic patient's of being used for low-frequency electric pulse rehabilitation.
The control method that present hemiplegia paralysis limbs to the hemiplegic patient carry out the low-frequency electric pulse treatment mainly is: amplitude, frequency and pulse width to boost pulse are modulated with sine wave, square wave or certain random waveform, promptly add the open loop control of input signal, regulate thereby make by the contraction of stimulated muscle.Yet these methods all are to be regulated by therapist, and the patient is the state that is in passive acceptance.And open loop control can't compensate because of being subjected to the long-time instability that produces that stimulates automatically to muscle.Transfer patient's self enthusiasm, the rehabilitation therapy method that the patient is participated in the therapeutic process fully has been considered to a kind of effective Therapeutic Method.The motion that makes the hemiplegic patient be good for the side limbs initiatively drives the electrotherapy method of affected limb, is the starting point of cooperating with on one's own initiative with patient, yet there are no report up to now.
The objective of the invention is to design a kind of clinical easy to use and reliable, the low-frequency pulse therapeutic apparatus that the hemiplegic patient that required cost is not high is regulated voluntarily.Utilize the action of the strong side limbs of patient,, drive patient's limb motion, simultaneously closed loop control is carried out in the contraction of electricity irritation muscle, keep the stable of effect of stimulation by this therapeutic instrument.
Principle of the present invention is: hemiplegic patient's strong side limbs are done a certain action, during as the dorsiflexion of foot of lower limb, the electromyographic signal of agonist-tibialis anterior is detected, the process rectifying and wave-filtering obtains the average absolute value (or claiming myoelectricity envelope) of myoelectricity, with this input signal as the controller of stimulator.The output of controller is in order to modulation boost pulse amplitude.Stimulator is connected to the dominating neural-common peroneal nerve of the tibialis anterior of Ipsilateral, muscle is received swashed contraction.With the average absolute value of the inducing myoelectric potential of Ipsilateral tibialis anterior closed loop feedback signal as controller.Stimulator makes the Ipsilateral muscle contraction according to the result of input signal and feedback signal comparison like this, and the average absolute value of inducing myoelectric potential is just followed the tracks of the strong average absolute value of surveying spontaneous myoelectricity, and Ipsilateral is promptly done the dorsiflexion of foot motion with strong side.Content of the present invention and main points are: one by pulse generator, stimulator, luring checking with EMG method device, common myoelectricity amplifier, rectification integration circuit, the low-frequency electric pulse physical therapy device that closed-loop regulator and power amplification circuit are formed, it is to be connected with integrating circuit with all wave rectification by the base amplifier that can detect the strong spontaneous myoelectricity of pleural muscle body, insert closed loop controller again, simultaneously, the inducing myoelectric potential checkout gear that can export Ipsilateral also inserts closed loop controller, and closed loop controller is connected with power amplifier, insert the intermittent oscillation stimulator again, pulse generator is connected with luring checking with EMG method device with the vibration stimulator and promptly forms physical therapy device.Its main points are that the spontaneous myoelectricity of strong pleural muscle body is detected by common myoelectricity amplifier, through the output command of the output behind all wave rectification and the integrating circuit as closed loop controller.Ipsilateral muscle by post-stimulatory inducing myoelectric potential detect through eliminate to stimulate disturbing, output behind rectification and integration is as the feedback quantity of closed loop controller, controller is adjusted blocking oscillator according to input and feedback quantity and is sent boost pulse the corresponding muscle of Ipsilateral is stimulated, and pulse generator is used for the output that can send out stimulator and make luring checking with EMG method device and the synchronous zero setting of boost pulse with the elimination interference.Key of the present invention is: (one) forms one by (3), (4), (5), (6), (7), (8) and (9) and carries out the low-frequency electric pulse therapy equipment of closed loop control according to inducing myoelectric potential, and the patient can drive the affected limb motion by the motion of strong side.(2), the coefficient settings of PID actuator is in (8): proportionality coefficient 0.8-0.9, integral coefficient constant=400 millisecond, integration time constant=100-200 millisecond, a
1, a
2The relative size initial setting be a
1/ a
2≈ 1.5.(3), V
5To the decisive action of the stimulation amplitude of (3), make stimulation amplitude stable, accurately.
Operation sequence of the present invention is as follows:
1, preparation: stimulating electrode is connected to affected limb by the shallow table place of the dominating neural bundle of stimulated muscle, and inducing myoelectric potential and spontaneous electromyographic electrode are connected to the body surface place of Ipsilateral and the corresponding muscle of strong side.Regulate a
1/ a
2≈ 1.5.
2, loosen strong side limbs, start work, the patient tries hard to make the both sides limbs to do same motion then, as make both feet by normal rhythm and rise and and put, stimulator just makes affected limb follow the tracks of strong side limb motion.
3, regulate a
1, a
2Value makes the shrinkage degree of the shrinkage degree of Ipsilateral muscle and strong pleural muscle meat suitable.
4, the frequency of patient's exercise and intensity also can be by physician guidance by patient's oneself active exercise decision.
Clinic trial result shows that the advantage of this device is to drive the affected limb motion of losing out function with the intact strong side limbs of hemiplegic patient, and patient can oneself regulate, and has transferred the treatment enthusiasm of self, sets up confidence.Clinical practice is convenient, is easy to grasp.The present invention can be at the recovering physiotherapy of hospital, and paralytic's function walk help is used widely in biofeedback therapy and the home physiotherapy.
Description of drawings:
Fig. 1 is a low frequency recovering physiotherapy structure chart
(1) be the strong side lower limb of muscle, (2) are the Ipsilateral lower limb, and (3) are the intermittent oscillation stimulator, V
5Be amplitude modulation voltage, (4) are the inducing myoelectric potential checkout gear, V
3Be the output voltage of (4), (5) are common myoelectricity amplifiers, V
1Being output signal, is all wave rectification and integrating circuit, V
2Be output signal, (8) are closed loop controller, V
4Be output signal, (9) are power amplifier, V
5It is output voltage.
Structure of the present invention is the example explanation with the motion of strong parapodum dorsiflex control Ipsilateral dorsiflexion of foot still as shown in Figure 1.(1) is strong side lower limb; (2) be the Ipsilateral lower limb; (3) be improved stimulator in addition on blocking oscillator basis commonly used, its feature is that frequency, pulse width can be regulated by the outside, and pulse amplitude is by V
5Decision, change amplitude and load do not have influence substantially to frequency and pulsewidth; (4) by stimulated muscle inducing myoelectric potential detector; (4) output V
3Be the average absolute value of inducing myoelectric potential, be equivalent to the flesh shrink tension, V
3Scope be 0-5 volt; (5) and (6) detect the average absolute value of spontaneous myoelectricity, V
2Be output as the 0-5 volt; (8) be closed loop controller, a
1Be used for adjustment control output signal V
2Proportion, a
2Be used to regulate feedback signal V
3Proportion.Regulate a
1And a
2Purpose be to make the degree of Ipsilateral dorsiflexion of foot degree and strong parapodum dorsiflex suitable.(8) " PID " in is the proportional-integral-differential control algolithm, and proportionality coefficient is about 0.9, and integration time constant is 400 milliseconds, and derivative time constant is between the 100-200 millisecond.V
4Scope lie prostrate at 0-5; (9) be power amplification circuit V
5=3V
4, the output current of (9) is by expanding the hundreds of milliampere to, for (3) provide enough output stimulation energy under the triode.(a) T in
1Be middle power triode, C
1Be 470 microfarads, R
1Be 200 ohm of small-power resistance, R
2Be 2 watts of resistance of 20 ohm, 5K and 15K resistance are small-power resistance, and operational amplifier is general amplifier; (7) be pulse generator, frequency range is 20-40HZ, and pulse width is that the 150-400 microsecond is adjustable.
Claims (3)
1, one by pulse generator, stimulator, the inducing myoelectric potential checkout gear, common myoelectricity amplifier, rectification integration circuit, the low-frequency electric pulse physical therapy device that closed-loop regulator and power amplification circuit are formed, it is characterized in that it is connected with integrating circuit with all wave rectification by the base amplifier that can detect the strong spontaneous myoelectricity of limbs of side, insert closed loop controller again, the inducing myoelectric potential checkout gear that can export simultaneously Ipsilateral also inserts closed loop controller, and closed loop controller is connected with power amplifier, insert the intermittent oscillation stimulator again, pulse generator is connected and forms with luring checking with EMG method device with the vibration stimulator.
2, device according to claim 1 is characterized in that its closed loop controller proportionality coefficient in pid algorithm is about 0.8-0.9, and integration time constant is 400 milliseconds, and derivative time constant is about 100-200 millisecond, a
1Compare a
2Be about 1.5.
3,, it is characterized in that the output amplitude of its intermittent oscillation stimulator can be by the output V of closed loop controller according to the said device of claim 1
4Accurately control, power amplifier are an expansion output current proportional amplifier, V
5/ V
4=3, C
1=470 microfarads, R
2Be 2 watts, 20 ohmages.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 88107126 CN1015510B (en) | 1988-10-19 | 1988-10-19 | Physiotherapy device for hemiplegia patient |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 88107126 CN1015510B (en) | 1988-10-19 | 1988-10-19 | Physiotherapy device for hemiplegia patient |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1041883A CN1041883A (en) | 1990-05-09 |
| CN1015510B true CN1015510B (en) | 1992-02-19 |
Family
ID=4834511
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 88107126 Expired CN1015510B (en) | 1988-10-19 | 1988-10-19 | Physiotherapy device for hemiplegia patient |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1015510B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101061984B (en) * | 2006-04-29 | 2012-02-08 | 香港理工大学 | Rehabilitation robot system providing mechanical assistance by using electromyographic signals |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101732796B (en) * | 2009-12-28 | 2013-02-27 | 上海交通大学 | Master-slave wireless functional electrical stimulation rehabilitation system controlled by myoelectric signal |
| CN102886102B (en) * | 2012-09-25 | 2014-12-10 | 深圳英智科技有限公司 | Mirror movement neuromodulation system |
| CN102921104A (en) * | 2012-11-26 | 2013-02-13 | 南京伟思医疗科技有限责任公司 | Functional electric stimulation device and method thereof |
| JP6210364B2 (en) * | 2013-05-24 | 2017-10-11 | 株式会社安川電機 | Training equipment |
| JP6210363B2 (en) * | 2013-05-24 | 2017-10-11 | 株式会社安川電機 | Training equipment |
| CN106176134A (en) * | 2016-07-12 | 2016-12-07 | 王春宝 | A kind of method and system of autonomous training |
| CN106974649A (en) * | 2017-04-12 | 2017-07-25 | 东华大学 | Wearable muscular movement state recognition and muscle electric stimulation motion assistant system |
| CN120037073A (en) * | 2025-04-24 | 2025-05-27 | 江西财经大学 | Active rehabilitation training method, system and equipment for patients with hand dysfunction |
-
1988
- 1988-10-19 CN CN 88107126 patent/CN1015510B/en not_active Expired
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101061984B (en) * | 2006-04-29 | 2012-02-08 | 香港理工大学 | Rehabilitation robot system providing mechanical assistance by using electromyographic signals |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1041883A (en) | 1990-05-09 |
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