JP2845758B2 - Motor function support system by electrical stimulation - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor function assisting system using electrical stimulation, and more particularly to an electrical stimulation apparatus for recovering and improving motor function by applying electrical stimulation to a living body.

[0002]

2. Description of the Related Art FIG. 6 shows a conventional example of a motor function assisting system for recovering or improving a motor function by applying electrical stimulation to a living body. This conventional motor function assisting system is a percutaneous implanted electrode system, in which nerves and muscles of the limbs paralyzed by a stroke or spinal cord injury are implanted into the living body 200 from the stimulator 103 via the skin 201 through the skin 201. This is a device for recovering or improving the biological functions of paralyzed limbs by electrically stimulating through the electrodes 17.

A stimulus pattern and a program for giving a stimulus are stored in a memory 12, and a command for giving a stimulus is given by a control input unit 8 utilizing a remaining function of a patient. Stimulus signal output means 1
8 to provide electrical stimulation to nerves and muscles through the electrodes 17. Normally, the patient carries and uses the stimulator 103. The electrode 17 and the output means 18 are detachable by a connector 19.

[0004] Information serving as the basis of a stimulus signal is stored in a memory 12 for each nerve / muscle as a stimulus pattern as shown in FIG. For example, data in which the strength of a stimulus necessary for each operation is obtained in the memory 12 in order (memory address) so that a series of operations of opening and holding a finger can be performed. The stimulus pattern is prepared in advance as a basic stimulus pattern (dotted line) in an external memory such as a floppy disk of a system controller, which will be described later. In order to provide optimal stimulation to each patient, it is necessary to adjust these. Such optimization adjustments
Generally performed by a physician.

[0005] This optimization adjustment is performed by connecting the system controller 100 and the stimulator 103 to the communication line 1 as shown in FIG.
0, perform optimization adjustment in the system controller 100, and transfer the data to the stimulator 103.
This is performed by a method of checking the suitability of a stimulus while stimulating with the stimulator itself. System controller 100
A CPU 1 for performing various signal processing, a display 2 such as a CRT display, a memory 3 for storing a stimulus pattern and a signal processing program, a keyboard 4, a basic stimulus pattern, and information such as an operation program are stored in a floppy disk or the like. It comprises an external memory 5 for outputting.

Next, a method of optimization adjustment will be described with reference to FIG. FIG. 8 is a flowchart of stimulus pattern optimization adjustment for giving an optimal stimulus to each patient.

[0007] The coordinator (eg, a doctor) connects the system controller 100 to the stimulator 103 via the communication line 10. The adjustment is performed for each channel corresponding to each electrode. First, the stimulator 103 is operated to select a channel to be adjusted (step S1), and the threshold at which the muscle slightly responds visually or by palpation while gradually increasing the stimulus intensity from 0 is set. The stimulus intensity is gradually increased, and the point where the response becomes maximum is set as the maximum value in the same manner (step S2). For example, the adjustment is performed as shown by the solid line in FIG. This is sequentially performed for all the channels. When the adjustment of all the channels is completed (step S3), the stimulus pattern data is transferred to the stimulator 103 via the communication line 10 and stored in the memory 12 (step S4). Next, while selecting all channels or a single channel (step S5), the stimulating device 103 stimulates the limb to check whether the stimulus is appropriate while checking the actual operating state of the limbs (steps S6 and S7). If readjustment is required, the process returns to the beginning, and only the channels that need readjustment are adjusted in the same manner as described above, and this is repeated to complete the optimization adjustment (step S8).

The above-described optimization adjustment can be handled by software of the system controller 100.

[0009]

Providing optimal stimulation to individual patients is one of the most important things for electrical stimulation, and it is a great feature that they can be handled by software while using the same hardware. It is.
This optimization adjustment is, of course, the first adjustment, but it is necessary to perform the optimization adjustment many times during use in response to a change in the situation due to improvement in muscle strength or the like. However, in the related art, since the adjustment is performed via the stimulator, there is a problem that the adjustment of the threshold value or the maximum value depends on human feeling. Also,
Since the stimulus data must be transferred every time readjustment is performed, it takes a long time to perform offline adjustment, and there is a problem that the burden on doctors and patients is large. Further, since adjustment is performed via a portable stimulator, there is a problem that a fine operation cannot be performed and a fine check cannot be performed.

An object of the present invention is to provide a motor function assisting system in which optimization adjustment can be performed only by a system controller, that is, online.

Another object of the present invention is to provide a motor function assisting system that is easy to handle and that can perform high-speed processing.

Still another object of the present invention is to provide a motor function assisting system which enables feedback of a biological response to a stimulus and can quantitatively adjust a threshold value, a maximum value, and the like.

[0013]

The system for assisting motor function by electrical stimulation according to the present invention is embedded in a patient's body.
A receiver and a plurality of electrodes connected to the receiver;
An electric stimulation signal is transmitted to the receiver, and a patient-provided transmitter that applies electric stimulation to a part of a living body by the electrode can be connected to the transmitter via a communication line, and is optimal for each patient. And a system controller that optimizes and adjusts a stimulation pattern so as to give an electrical stimulus, and transfers and stores the data to the transmitter, wherein the electrical stimulus restores or improves a biological function.

The transmitter includes a control input means for instructing a stimulus by a patient, a memory for receiving stimulus data from the system controller via a communication line, and storing a stimulus pattern and an operation program via a signal processing means; Signal processing means for performing signal processing for storing data in the memory, reading stimulus data from the memory by an instruction from the control input means, and converting the stimulus data into an electrical stimulus signal;
A transmitting means and a transmitting antenna coil for radiating an electromagnetic wave when receiving the electric stimulation signal, wherein the receiver includes a receiving antenna coil for inducing an electromagnetic wave radiated from the transmitter, and a receiver for receiving the induced electromagnetic wave. Power supply and receiving means for converting the signal to an electric stimulus signal, and output means for applying an electric stimulus signal to the electrode, wherein the system controller performs various kinds of signal processing, a CPU, a display, a memory, a keyboard, and an external memory. In addition, a transmitting means and a transmitting antenna coil capable of directly controlling the receiver, a biological response detecting means for detecting a biological response due to the stimulus and feeding it back to the CPU, and a control input means capable of instructing the stimulus I have.

[0015]

The motor function assisting system according to the present invention is easy to handle because the receiver can be directly controlled by the system controller in the optimization adjustment. In addition, since the transmission means of the system controller is directly controlled by the CPU, high-speed processing is possible, and stimulus pattern correction, stimulus holding or memory address control of the stimulus pattern can be performed on-line, and the control input means of the system controller can be used. Checking the suitability of the stimulus can be performed accurately and in a short time, for example, by giving the same command as when actually using the transmitter.
In addition, since a keyboard, a display, an external memory, and the like can be used, operability at the time of optimization adjustment is good. Further, the feedback of the biological response to the stimulus can be performed, and the threshold value, the maximum value, and the like can be adjusted quantitatively. As a result, the optimization and adjustment can be performed accurately in a short time, so that the burden on both the patient and the doctor can be reduced, and safety can be ensured.

[0016]

Next, an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of an embodiment of the present invention.
A receiver 102 and a plurality of electrodes 17 to be implanted in the living body 200, a transmitter 101 for controlling the receiver by electromagnetic induction from outside the body, a transmitter 101 to be carried and used by a patient, optimization of a stimulus pattern and software for operating programs And a system controller 100 corresponding thereto.

The receiver 102 includes a receiving antenna coil 1
4, a receiving means 15 and an output means 16. A plurality of electrodes 17 are connected to the output means 16. The receiver 102 and the plurality of electrodes 17
Embedded in

The transmitting antenna coil of the system controller 100 or the transmitting antenna coil of the transmitter 101 is
Emit electromagnetic waves. The radiated electromagnetic wave is guided to the receiving antenna coil 14 and input to the receiving means 15. The receiving unit 15 converts the electromagnetic wave into a power source of the receiver and an electric stimulus signal, and inputs the signal to the output unit 16. The output means 16 supplies an electrical stimulation signal to the electrode 17 to provide electrical stimulation to the living body.

The transmitter 101 comprises a control input unit 8b, a signal processing unit 11, a memory 12, a transmitting unit 6b, and a transmitting antenna coil 7b that can be attached on the skin 201 of a living body. The control input unit 8b, the signal processing unit 11, and the memory 12 are the same as those in the stimulator 103 of FIG. That is, the memory 12 stores a stimulus pattern and a program for giving a stimulus. The control input unit 8b outputs a command for giving a stimulus by utilizing the remaining function of the patient. Upon receiving the stimulus instruction, the signal processing unit 11 supplies an electrical stimulus signal to the transmission unit 6b based on the stimulus pattern stored in the memory 12. The electrical stimulus signal is transmitted via the transmitting antenna coil 7b.

The system controller 100 stores information such as a CPU 1 for performing various signal processing, a display 2 such as a CRT display, a memory 3 for storing a stimulus pattern and a signal processing program, a keyboard 4, a basic stimulus pattern, and an operation program. In addition to the conventional configuration such as an external memory 5 for inputting and outputting to a floppy disk and the like, a transmitting means 6a and a transmitting antenna coil 7a capable of directly controlling the receiver 102 embedded in the living body, and a biological reaction capable of feeding back the reaction of the living body to the stimulus Detection means (biological reaction sensor) 9,
And a control input means 8a capable of issuing the same command as when the transmitter 101 is actually used.

The transmitter 101 is usually carried by a patient. According to the stimulus pattern and the operation program stored in the memory 12 and the command of the control input means 8b, the signal processing means 11 gives a stimulus signal to the transmission means 6b and the skin 201
An electromagnetic wave is radiated from the transmission antenna coil 7b attached to the transmission antenna coil 7b. The radiated electromagnetic wave is guided to the receiving antenna coil 14 of the receiver 102 embedded in the living body, converted into electric power or a stimulus signal by the receiving unit 15, and output from the output unit 16.
Electrical stimulation is applied to nerves and muscles through the respective electrodes 17.

The stimulus patterns and operation programs stored in the memory 12 are transferred from the system controller 100 via the communication line 10 and rewritten with new data every time the optimization is adjusted.

The method of optimization adjustment in this embodiment will be described with reference to FIG. FIG. 2 is a flowchart of an example of the optimization adjustment.

The optimization adjustment is performed by the system controller 10.
This is performed by the patient going to the doctor who operates the “0”.
The doctor attaches the transmitting antenna coil 7a to the receiver 10 of the patient.
2 is attached to the skin 201 near the embedded area, and the biological reaction detection means (biological response sensor) 9 is attached to the biological part to be recovered or improved.

The physician operates the system controller 100 to first select a channel (step S).
1) Adjust the threshold value and the maximum value (step S2). After adjusting all the channels (step S3), the CPU 1 gives a stimulus signal to the transmitting means 6a according to a command from the control input means 8a, and emits an electromagnetic wave by the transmitting antenna coil 7a.

Electromagnetic waves are induced in the receiving antenna coil 14 embedded in the patient's body, converted into an electrical stimulus signal by the receiving means 15, and stimulated by the output means 16 via the electrode 17. The response of the living body to the stimulus is detected, and the suitability of the stimulus is checked (step S6). In addition, setting change such as channel selection, memory address control, or modification of stimulus pattern (step S5) is performed while stimulating (step S4).

After all optimization adjustments have been completed (step S7), the data is transmitted to the transmitter 1 via the communication line 10.
02 is transferred and stored in the memory 12 (step S
8). Thereafter, the communication line 10 is disconnected and the transmitter 101 is disconnected.
Is carried and used by the patient.

As described above, according to the present embodiment, the data transfer from the system controller 100 to the transmitter 101 may be performed only once by one optimization adjustment. Since the transmission means 6 is directly controlled by the CPU 1, high-speed processing can be performed.
In addition, the system controller 100 can utilize the display 2, the memory 3, the keyboard 4, and the external memory 5 so that the control operability is very good. Therefore, while stimulating, channel selection, memory address control, stimulus pattern correction, etc. Can be changed. In addition, various kinds of stimuli can be easily made, and it is easy to determine whether or not the stimulus is appropriate, and the diagnosis can be made accurately and in a short time.

Next, an example of a method of quantitatively adjusting the threshold value and the maximum value of the stimulus pattern by the feedback method will be described. FIG. 3 shows an example of the adjustment of the threshold value and the maximum value of the stimulation pattern. This is a process corresponding to steps S1 to S3 in FIG. FIG. 4 shows a stimulus pattern for supplementary explanation of the operation.

The doctor operates the system controller 100 to select a channel to be adjusted (step S1), gradually increases the intensity of the stimulus from 0 (step S2), and sends the signal to the biological response detecting means (biological response sensor) 9. The intensity of the stimulus at the time when the reaction appears is stored (step S3), the intensity of the stimulus is reduced once (step S4), the stimulus is gradually increased again, and the same is repeated several times (step S3). S
5) The stored average value is stored in the memory 3 as a threshold value of the channel as shown in FIG. 4 (step S6). Thereafter, the stimulus is further increased (step S7), and the stimulus intensity at which the response is maximized is stored as the maximum value (step S7).
8) Once reduce the intensity of the stimulus (step S9),
After repeating the same operation several times (step S10), the average value is stored in the memory 3 as the maximum value of the channel (step S11), and the stimulus is immediately set to 0 (step S12). After the same process is performed for all the channels, the process ends (step S13).

Next, an example will be described in which the operation of only the designated channel is held to facilitate the check of the suitability of the stimulus. FIG. 5 shows a flowchart of one example.
This corresponds to the processing of steps S4 to S7 in FIG.

The physician operates the system controller 100 to select a single channel or a plurality of channels to be held (step S1), and stimulates while controlling the memory address of the stimulus pattern (step S2). For example, the finger is opened by decreasing the memory address (step S3), or conversely, the memory address is increased (step S4).
When it is desired to hold only the thumb while holding the finger, the holding switch of the keyboard 4 is turned ON, and the address ADRH of the selected channel is fixed at the address ADR at that time, and the other fingers move. Also, only the thumb remains in the state at that time (step S6).
The release of the channel holding is controlled so that the memory address ADR becomes equal to the held memory address ADRH after the holding switch is turned off (step S7).
It is released when they become equal (step S8). The reason for this is to release shocks at the time of synchronization with another channel to reduce the impact on muscles and the like, but this method itself is known. While the channel is held, the channel cannot be changed (step S9), but after the holding is released, the channel to be held can be changed (step S10). Any channel can be selected while stimulating.

As described above, the channel can be partially held and released, the correlation between the respective muscle movements can be easily clarified, and the optimization adjustment can be performed accurately and in a short time.

[0035]

As described above, according to the present invention, in a motor function assisting system by electrical stimulation, a system controller is provided with a transmitting means, a biological reaction detecting means and a control input means, so that the system controller can be used without using a transmitter. By simply attaching the transmitting antenna coil to the skin with only the receiver, the receiver embedded in the body can be directly controlled, so that handling becomes easy. In addition, since high-speed processing can be performed, various settings can be made online. Further, it is easy to check whether or not the stimulus is appropriate, for example, the same stimulus as that of the transmitter can be generated by the control input means, so that it can be performed accurately and in a short time, and safety can be secured. As described above, a great effect can be obtained in the optimization adjustment which is one of the most important electrical stimuli, that is, provides an optimal stimulus to an individual patient.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing one embodiment of the present invention.

FIG. 2 is a flowchart illustrating the operation of the motor function assistance system in FIG. 1;

FIG. 3 is a flowchart illustrating the operation of the motor function assistance system in FIG. 1;

FIG. 4 is a diagram for explaining setting of a threshold value and a maximum value of a stimulation pattern.

FIG. 5 is a flowchart illustrating the operation of the motor function assistance system in FIG. 1;

FIG. 6 is a configuration diagram showing a conventional system controller.

FIG. 7 is a diagram showing a stimulation pattern.

FIG. 8 is a flowchart illustrating an operation of a conventional system controller.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 CPU 2 Display 3 Memory 4 Keyboard 5 External memory 6, 6a, 6b Transmission means 7, 7a, 7b Transmission antenna coil 8, 8a, 8b Control input means 9 Biological reaction detection means 10 Communication line 11 Signal processing means 12 Memory 14 Receiving antenna coil 15 receiving means 16 output means 17 electrode 100 system controller 101 transmitter 102 receiver 103 stimulator

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Nozomu Hoshimiya 2-2-15 Minami Koizumi, Wakabayashi-ku, Sendai-shi, Miyagi (72) Inventor Yasunori Handa 6-37-8, Takamori, Izumi-ku, Sendai, Miyagi (56) References JP-A-58-41570 (JP, A) JP-A-1-145077 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) A61N 1/36 A61N 1/32

Claims (5)

(57) [Claims] 1. A receiver implanted in a patient and a plurality of electrodes connected to the receiver, and an electrical stimulation signal is transmitted to the receiver, and the electrodes are used to electrically stimulate a part of a living body. And a transmitter which can be connected to the transmitter via a communication line, and optimizes and adjusts a stimulation pattern so as to give an optimal electric stimulation to an individual patient, and transmits the data to the transmitter. In the motor function assisting system by electrical stimulation for recovering or improving the biological function by the electrical stimulation, the transmitter, the control input means to instruct the patient to stimulate,
A memory for receiving stimulus data from the system controller via a communication line, storing a stimulus pattern or an operation program via a signal processing unit, performing signal processing for storing the stimulus data in the memory, and executing a command from the control input unit. A signal processing unit that reads out stimulus data from the memory and converts the stimulus data into an electric stimulus signal; a transmitting unit that radiates an electromagnetic wave when the electric stimulus signal is received; and a transmitting antenna coil; A receiving antenna coil for inducing electromagnetic waves radiated from the antenna, receiving means for converting the induced electromagnetic waves into a power source of a receiver and an electrical stimulation signal, and output means for providing an electrical stimulation signal to the electrode, the system comprising: The controller performs C for various signal processing.
In addition to a PU, a display, a memory, a keyboard, and an external memory, a transmitting means and a transmitting antenna coil that can directly control the receiver, and a CPU that detects a biological reaction due to a stimulus
A motor function assisting system using electrical stimulation, comprising: a biological reaction detection unit that feeds back to the robot; and a control input unit that can instruct a stimulus. 2. The system according to claim 1, wherein the transmitter and the transmitting antenna coil of the system controller directly control the receiver implanted in the body by the system controller to perform optimization adjustment. Motor function support system by electrical stimulation. 3. The electric system according to claim 2, wherein in the optimization adjustment by the system controller, correction of a stimulus pattern, selection of a channel corresponding to an electrode, control of a memory address, and holding of an electric stimulus are set. Motor function support system by stimulation. 4. In the optimization adjustment by the system controller, the biological response by the electrical stimulation is fed back by the biological response detecting means to quantitatively optimize and adjust a threshold value, a maximum value, or a stimulus intensity. The motor function assisting system by electrical stimulation according to claim 2 or 3. 5. The optimization adjustment of the system controller, wherein the optimization adjustment is performed by operating another channel while keeping only the selected channel in an arbitrary operation state. Or the motor function assistance system by electrical stimulation of 4.