CN114145889B - Intelligent artificial limb perception feedback adjusting system - Google Patents
Intelligent artificial limb perception feedback adjusting system Download PDFInfo
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- CN114145889B CN114145889B CN202111441905.9A CN202111441905A CN114145889B CN 114145889 B CN114145889 B CN 114145889B CN 202111441905 A CN202111441905 A CN 202111441905A CN 114145889 B CN114145889 B CN 114145889B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5058—Prostheses not implantable in the body having means for restoring the perception of senses
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- A—HUMAN NECESSITIES
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- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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Abstract
The invention discloses an artificial limb perception feedback intelligent adjusting system, which comprises the following components in sequential connection: the device comprises a sensor module, a signal acquisition module, a signal processing module and a signal feedback module; the sensor module comprises a pressure sensor, a force-sensitive sensor, a temperature sensor, a humidity sensor and a speed sensor, wherein the pressure sensor is arranged on the sole of a foot, the force-sensitive sensor is arranged around the foot, the speed sensor is arranged on the surface of the foot, and the temperature sensor and the humidity sensor are arranged around an artificial limb or on the surface of the foot; the signal acquisition module is used for receiving the signals acquired by the sensor module; the signal processing module is used for judging the type of the road surface according to the comparison between the signals of the sensors and the road surface information database and giving feedback signals with different strengths; the signal feedback module is used for feeding feedback signals with different strengths back to the patient according to different road surface types, so that the patient can feel different stimuli and can autonomously judge the road surface condition, and the patient can have more real road feel and walking experience.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an artificial limb perception feedback intelligent adjusting system.
Background
Every year all over the world, due to various accidents, injuries, war and other factors, a large number of people have to amputate to keep life, and amputation brings serious influence to the work and daily life of the people and also brings huge burden to the psychology, family and society of the people. Furthermore, there are many people who love exercise or even extreme sports who have to give up because of amputation.
In order to enable the people to be able to re-integrate into the social group, return to normal life, even carry out exercise and extreme sports, the patient needs to wear the artificial limb to rebuild the walking function, and the concentration degree of the patient is different in different environments and pavements when the patient walks daily, so the feedback intensity given to the patient by the pavements is different, and the artificial limb needs to give very accurate and strong feedback to the patient when the patient needs to realize extreme sports.
In the existing intelligent artificial limb technology, a feedback system is more connected with a muscle nerve, but signals fed back to the nerve and the muscle of a patient by the existing artificial limb only enable the patient to feel the existence of a road surface and cannot distinguish the condition of the specific road surface. And the main purpose is to provide stable electrophysiological signals for the intelligent artificial limb to enable the intelligent artificial limb to work stably and neglect the road feeling experience of the patient when the artificial limb is used (namely the road surface gives feedback to the human body when the intelligent artificial limb is in normal walking, so that the human body feels the experience of the shape, the humidity and the like of the road surface).
Therefore, how to provide an intelligent adjustment system for sensing and feeding a prosthesis is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of this, the invention provides an artificial limb perception feedback intelligent regulation system, which can give feedback of different strengths to patients according to different road surfaces, so that the patients have more real road feeling and walking experience.
In order to achieve the purpose, the invention adopts the following technical scheme:
an artificial limb perception feedback intelligent regulation system comprises the following components which are connected in sequence: the device comprises a sensor module, a signal acquisition module, a signal processing module and a signal feedback module;
the sensor module is used for acquiring road surface information; the artificial limb prosthesis comprises a pressure sensor, a force-sensitive sensor, a temperature sensor, a humidity sensor and a speed sensor, wherein the pressure sensor is arranged on the sole of a foot, the force-sensitive sensor is arranged around the foot, the speed sensor is arranged on the surface of the foot, and the temperature sensor and the humidity sensor are arranged around the artificial limb or on the surface of the foot;
the signal acquisition module is used for receiving the signals acquired by the sensor module;
the signal processing module is used for judging the similarity degree with road surface data prestored in a road surface information database according to the comparison between the signals of the sensors and the road surface information database, so as to judge the type of the road surface and provide feedback signals with different strengths;
the signal feedback module is used for feeding feedback signals with different strengths back to the patient according to different road surface types, so that the patient can feel different stimuli and can autonomously judge the road surface condition.
Preferably, the specific principle of the signal processing module for judging the road surface type is as follows:
when the received pressure signal acquired by the pressure sensor is a leading signal, judging the road surface to be a normal road surface;
when the signals collected by the pressure sensor, the force-sensitive sensor and the humidity sensor are received as leading signals, judging the road to be a muddy road;
when the signals collected by the humidity sensor and the temperature sensor are received as leading signals, judging the road to be a water accumulation road;
and when the signals collected by the force-sensitive sensor and the pressure sensor are received as leading signals, judging that the extreme movement is performed.
Preferably, after the signal processing module determines the road surface type, the specific principle of providing the feedback signals with different strengths is as follows:
when the speed sensor signal is acquired during normal road surface, the signals of the other sensors are received, the frequency and the amplitude of the pressure sensor signal are stable, and the strength of the feedback signal is weakened at the moment;
when the signal of the pressure sensor is unstable and the force-sensitive sensor has continuous and irregular signals, the intensity of the feedback signal is increased;
when the water is accumulated on the road, the intensity of a feedback signal is enhanced according to the amplitude of the signal of the humidity sensor and the signal intensity of the force-sensitive sensor;
and when the pressure sensor moves to the limit, the feedback signal is adjusted to be maximum according to the amplitude and the frequency of the pressure sensor.
Preferably, the signal feedback module comprises a wire electrode, and the wire electrode is implanted into a nerve ending of a patient prosthesis and used for transmitting the feedback signal.
Preferably, the electrode wire is directly 10-15 μm and is made of silver or platinum.
Preferably, the sensor module further comprises a photosensitive sensor, and the photosensitive sensor and the force-sensitive sensor are arranged at intervals.
Preferably, the signal processing module comprises a filter, a sample holder, an a/D converter and a single chip microcomputer which are arranged in sequence;
the filter is used for filtering useless signals collected by each sensor;
the sampling holder is used for amplifying signals collected by each sensor;
the A/D converter is used for converting the analog signal into a digital signal;
the single chip microcomputer is used for judging the type of the road surface.
Preferably, the signal processing module further comprises a D/a converter and an amplifying circuit, and the single chip microcomputer, the D/a converter and the amplifying circuit are connected in sequence; the amplifying circuit adjusts the feedback strength.
According to the technical scheme, compared with the prior art, the artificial limb perception feedback intelligent adjusting system is constructed, a signal feedback adjusting system integrating signal acquisition, processing and adjusting feedback is constructed, signals of artificial limb end sensors (force-sensitive sensors, pressure sensors, temperature sensors, humidity sensors and the like) are acquired for processing and analyzing, information transmitted by the sensors is compared with corresponding models under various road conditions, the walking road condition of a patient is judged based on the comparison result, the intensity of the feedback signals is adjusted based on the road condition, the nerve of the patient is stimulated by implanting nerve microelectrodes and intramuscular electrodes, and the patient can feel different road conditions due to different stimulation degrees.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic diagram of a prosthesis sensing feedback intelligent regulation system provided by the invention.
FIG. 2 is a schematic diagram of a pressure sensor according to the present invention.
FIG. 3 is a flow chart of the system operation of the present invention.
FIG. 4 is a detailed circuit diagram of an amplifying circuit according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses an artificial limb perception feedback intelligent adjusting system, which comprises the following components in sequential connection as shown in figure 1: the device comprises a sensor module, a signal acquisition module, a signal processing module and a signal feedback module;
the sensor module is used for collecting road surface information; the artificial limb prosthesis comprises a pressure sensor, a force-sensitive sensor, a temperature sensor, a humidity sensor and a speed sensor, wherein the pressure sensor is arranged on the sole of a foot, the force-sensitive sensor is arranged around the foot, the speed sensor is arranged on the surface of the foot, and the temperature sensor and the humidity sensor are arranged around the artificial limb;
the signal acquisition module is used for receiving the signals acquired by the sensor module;
the signal processing module is used for comparing the signals of the sensors with the road surface information database and judging the similarity degree of the signals with the road surface data prestored in the road surface information database so as to judge the type of the road surface and give feedback signals with different strengths;
the signal feedback module is used for feeding back feedback signals with different strengths to the patient according to different road surface types, so that the patient can feel different stimuli and can autonomously judge the road surface condition.
In this embodiment, the sensor module specifically includes:
when the artificial limb is a lower limb, a pressure sensor is arranged on the sole of the foot, a force-sensitive sensor is arranged around the foot, a speed sensor is arranged on the instep, and a temperature sensor and a humidity sensor are arranged around the artificial limb or on the instep. When walking on a normal road surface, the sole pressure sensor sends a signal to guide the feedback adjustment intensity; when walking on a muddy road, a plantar pressure sensor, a foot peripheral force sensitive sensor and an artificial limb peripheral humidity sensor work together to send signals, and the feedback strength is adjusted through processing; in the ponding road, signals are sent out by a humidity sensor and a temperature sensor and are processed to adjust the feedback intensity; when extreme movements, such as rock climbing, are performed, the force-sensitive and pressure-sensitive sensors transmit signals which are used to control the operation. It should be noted that each sensor performs acquisition in various environments.
In this embodiment, the signal acquisition module specifically includes:
the sensor signal acquisition is realized through the acquisition interface, the acquisition of data and subsequent signal processing are completed by using a PCI9052 interface chip, the sampling frequency is about 60Hz, and the influence of an interference signal on a system is reduced by using an EMI8142MUTAG or WCM4532F2SF type filter. And a signal holder and an A/D converter are added for reducing the distortion degree of the signal and converting the signal, and the A/D converter adopts a double integral converter with higher precision such as ICL7135, ICL7109 and the like. And then the data is transmitted to a singlechip with the model of AM3517AZCN through a connecting wire.
In this embodiment, the signal processing module uses the whole set of system to gather the information of various road surfaces and then integrates and form the road surface information database, and the signal post-processing mode is promptly as with the signal and the road surface information database contrast of each sensor when the singlechip receives the signal, and then judges which kind of road surface data in the road surface information database is the closest to judge the road surface type. The specific principle of the signal processing module for judging the road surface type is as follows:
when the received pressure signal collected by the pressure sensor is a leading signal, judging the road surface to be a normal road surface;
when signals acquired by the pressure sensor, the force-sensitive sensor and the humidity sensor are received as dominant signals, judging the road to be a muddy road;
when the signals collected by the humidity sensor and the temperature sensor are received as leading signals, judging the road to be a water accumulation road;
and when the signals collected by the force-sensitive sensor and the pressure sensor are received as leading signals, the limit movement is judged to be carried out.
After the road surface type is determined, the corresponding output signals have different processing modes: when the walking vehicle runs on a normal road, when the signals of the speed sensor are acquired, the signals of other sensors can be received, the frequency and the amplitude of the acquired pressure sensor signals are stable, and the strength of feedback signals given to muscles can be properly weakened; when the force-sensitive sensor walks on a muddy road surface, the signal of the pressure sensor is unstable, and meanwhile, the force-sensitive sensor has continuous and irregular signals, and the strength of a feedback signal given to muscles is enhanced; when the water surface is seeped, the intensity of the feedback signal is enhanced according to the amplitude of the signal of the humidity sensor and the signal intensity of the force-sensitive sensor; the feedback strength given to the muscle signal at extreme movements is adjusted to a maximum according to the amplitude and frequency of the pressure sensor.
In this embodiment, for making muddy road judge more accurately, can increase photosensitive sensor, photosensitive sensor and the quick sensor interval of power set up, may be stained with silt around the foot when the muddy road is walked, and photosensitive sensor plays a role this moment, when the signal of receiving pressure sensor, the quick sensor of power, humidity transducer, photosensitive sensor collection is leading the signal promptly, judges for muddy road.
In this embodiment, the signal feedback module specifically includes a wire electrode for transmitting the feedback signal, each wire electrode has a diameter of 10-15um and is made of silver or platinum. Feedback signals of different intensities enable the patient to feel stimulation of different degrees through electrode wire conduction and further judge the road surface condition, so that the patient experience is more real, and the effect is better.
In this embodiment, the signal processing module further includes a D/a converter and an amplifying circuit, the amplifying circuit outputs a voltage Vout = Vi (R1 + R2)/R2, and on the basis of the existing intelligent artificial limb technology, in a signal feedback process thereof, an amplifying circuit is added in the feedback circuit to adjust the signal size according to the signal processing condition. The signal conditioning system can process and analyze the information of the force sensitive sensors installed around the foot of the prosthesis, the speed sensors installed on the instep, the temperature and humidity sensors installed on the instep or the prosthesis and the pressure sensors installed on the sole of the foot, so as to feed back the proper signal intensity to the muscles. The walking experience of the patient is closer to the reality, and the patient has good touch feeling. Furthermore, the system may help the patient to some extent to be able to adapt to the prosthesis more quickly: the artificial limb strength is manually adjusted to be smaller at the initial stage of wearing the artificial limb by the patient, then the feedback strength is adjusted by adjusting the amplification factor of the amplification circuit along with the gradual adaptation of the patient, and the feedback strength is gradually increased until the standard value is reached. The standard value is feedback given to leg muscles by the road surface when a normal person walks, and a patient wearing the artificial limb can compare feedback experience of one side wearing the artificial limb with feedback experience of one side normal. Compared with the system which directly wears the artificial limb without any feedback signal adjustment work, the system can lead the adaptation process experience of the patient to be higher and more comfortable.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The utility model provides a prosthetic perception feedback intelligent regulation system which characterized in that, including connecting gradually: the device comprises a sensor module, a signal acquisition module, a signal processing module and a signal feedback module;
the sensor module is used for acquiring road surface information; the artificial limb prosthesis comprises a pressure sensor, a force-sensitive sensor, a temperature sensor, a humidity sensor and a speed sensor, wherein the pressure sensor is arranged on the sole of a foot, the force-sensitive sensor is arranged around the foot, the speed sensor is arranged on the surface of the foot, and the temperature sensor and the humidity sensor are arranged around the artificial limb or on the surface of the foot;
the signal acquisition module is used for receiving the signals acquired by the sensor module;
the signal processing module is used for judging the similarity degree with road surface data prestored in a road surface information database according to the comparison between the signals of the sensors and the road surface information database, so as to judge the type of the road surface and provide feedback signals with different strengths;
the signal feedback module is used for feeding feedback signals with different strengths back to a patient according to different road surface types, so that the patient can feel different stimuli and further autonomously judge the road surface condition;
the specific principle of the signal processing module for judging the road surface type is as follows:
when the received pressure signal acquired by the pressure sensor is a leading signal, judging the road surface to be a normal road surface;
when the signals acquired by the pressure sensor, the force-sensitive sensor and the humidity sensor are received as dominant signals, judging the road to be muddy;
when the signals collected by the humidity sensor and the temperature sensor are received as leading signals, judging the road to be a water accumulation road;
and when the signals collected by the force-sensitive sensor and the pressure sensor are received as leading signals, judging that the extreme movement is performed.
2. A prosthetic perception feedback intelligent regulation system according to claim 1, wherein the specific principle of giving feedback signals of different strengths after the signal processing module judges the type of the road surface is as follows:
when the speed sensor signal is acquired on a normal road surface, the signals of the other sensors are received, the frequency and the amplitude of the pressure sensor signal are stable, and the intensity of the feedback signal is weakened;
when the signal of the pressure sensor is unstable and the force-sensitive sensor has continuous and irregular signals, the intensity of the feedback signal is increased;
when the water is accumulated on the road, the intensity of a feedback signal is enhanced according to the amplitude of the signal of the humidity sensor and the signal intensity of the force-sensitive sensor;
and when the pressure sensor moves to the limit, the feedback signal is adjusted to be maximum according to the amplitude and the frequency of the pressure sensor.
3. A prosthetic sensory-feedback smart regulation system according to claim 1 wherein the signal feedback module comprises a wire electrode implanted in a nerve ending of a residual limb fitted to a patient's prosthesis for transmitting the feedback signal.
4. A prosthetic sensory-feedback intelligent regulation system according to claim 3, wherein the wire electrode has a diameter of 10 μm to 15 μm and is made of silver or platinum.
5. A prosthetic sensory-feedback smart regulation system according to claim 1, wherein the sensor module further comprises a light sensitive sensor, the light sensitive sensor being spaced apart from the force sensitive sensor.
6. A prosthetic perception feedback intelligent regulation system according to claim 1, wherein the signal processing module includes a filter, a sample holder, an A/D converter and a single chip microcomputer arranged in sequence;
the filter is used for filtering useless signals collected by each sensor;
the sampling holder is used for amplifying signals collected by each sensor;
the A/D converter is used for converting the analog signal into a digital signal;
the single chip microcomputer is used for judging the type of the road surface.
7. A prosthetic perception feedback intelligent regulation system according to claim 6, wherein the signal processing module further includes a D/A converter and an amplifying circuit, the single chip microcomputer, the D/A converter and the amplifying circuit are connected in sequence; the amplifying circuit adjusts the feedback intensity.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111441905.9A CN114145889B (en) | 2021-11-30 | 2021-11-30 | Intelligent artificial limb perception feedback adjusting system |
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| CN202111441905.9A CN114145889B (en) | 2021-11-30 | 2021-11-30 | Intelligent artificial limb perception feedback adjusting system |
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| CN114145889A CN114145889A (en) | 2022-03-08 |
| CN114145889B true CN114145889B (en) | 2023-04-18 |
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