Invention content
In order to solve the above technical problems, the present invention provides a kind of intelligent accurate injection instrument of muscle, with Needle localizationAccurately, the characteristics of injection is precisely, dose is accurate, operation is simplified and automatically controlled.
The invention is realized in this way：A kind of accurate injection instrument of intelligent muscle, including surface myoelectric electrode tube, cavity needleThe deep-controlled disk of electrode, pin electrode, magnetic powder pipe, electromyography signal pretreatment unit, microprocessor, the surface of surface myoelectric electrode tubeAfter electromyographic electrode plate acquires human body surface myoelectric signal, is handled by electromyography signal pretreatment unit, be input to microprocessor；
Medicinal liquid bottle is carried in magnetic powder pipe, is provided with electromagnetic coil outside magnetic powder pipe, is additionally provided with motor, transmission device and electricityDrive circuit, microprocessor utilize motor control injection dose according to pre-set injection volume；Microprocessor passes through lineEnclose the pulse current that driving circuit control generates positive magnetic field, magnetic powder pipe outside around the magnetic field force that generates of electromagnetic coil under occurMovement, the cavity pin electrode being connected on medicinal liquid bottle is automatically performed puncture and enters in target muscle, after injecting liquid drug, microprocessorDevice makes electromagnetic coil generate backing field, and the magnetic powder pipe for carrying medicinal liquid bottle moves in the opposite direction, extracts cavity pin electrode, completesInjection.
Further, the surface myoelectric electrode plate center is one hollow, is passed through when cavity pin electrode being allowed to puncture, tableIt is hollow deep-controlled disk that center is equipped in facial muscle electricity electrode tube, and surface myoelectric electrode inside pipe wall is equipped with scale, to show depthSpend the position of control panel.
Further, the cavity pin electrode can be used as recording electrode, also can be used as stimulating electrode, pass through cavity needle electricityThe electromyography signal that pole is recorded, guiding liquid are accurately injected in target muscle, are lured by cavity pin electrode electro photoluminescence target muscleElectricity position changes to adjust the exact dose of liquid injection.
Further, the magnetic powder pipe is coated with magnetic powder by plastic tube outer wall and is constituted, and the magnetic powder pipe is longitudinal two and halfPipe is chimeric to be formed, and the both ends of the magnetic powder pipe are stuck in the both ends of medicinal liquid bottle.
Further, the motor uses stepper motor, the output shaft of the stepper motor to be equipped with external screw thread, medicinal liquid bottleRear end is equipped with piston, and the hollow of piston rod end is internally provided with internal thread, the output axis connection of piston rod and the stepper motor,Microprocessor controls the rotating speed and corner of stepper motor by motor-drive circuit.
Further, the electrode plates of the surface myoelectric electrode plate are made using copper, electroplate, surface myoelectric electrodeOne end of plate and connecting tube, which links together, forms the surface myoelectric electrode tube.
Further, the exposed contact muscle of the needle point of the cavity pin electrode, needle stalk are connected with pintle, pintle and liquidPapilla axustica lagenae connects；The needle stalk end of cavity pin electrode can be inserted into directly through the rubber stopper of liquid bottleneck in medicine bottle, in skyThe middle and back of chamber pin electrode needle stalk connects a plug, and there are two elongated protrusions, the protrusion to be inserted into insulated conductor port on plug,Electromyography signal is input in electromyography signal pretreatment unit by conducting wire.
Further, electromyography signal pretreatment unit include high-pass filtering circuit, magnification at high multiple circuit, low-pass filter,Second amplifying circuit, double-T shaped trapper；The electromyography signal access high pass filter that surface myoelectric electrode plate or cavity pin electrode are picked upIt is re-fed into magnification at high multiple circuit after wave circuit, instrument amplifier, amplified signal is used to be accessed low in magnification at high multiple circuitThen signal is accessed second amplifying circuit by bandpass filter again, industrial frequency noise is eliminated by double-T shaped trapper.
Further, further include：Memory module, display module, human-computer interaction module, loud speaker and software systems.
The present invention has the advantages that compared with prior art：
The cavity pin electrode guided from surface electromyogram signal is to target muscle automatic puncturing, the flesh being recorded by cavity pin electrodeElectric signal guiding liquid is directly automatically injected by the cavity pin electrode in target muscle, is monitored emg amplitude in real time and is adjusted according to its variationControl dose, target muscle title, emg amplitude, dose, injection time, the data such as information that receive injector are automatically stored, entirelyProcess Automatic Control, Needle localization are accurate, injection is accurate, dose is accurate, operation is simplified.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, rightThe present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, andIt is not used in restriction invention.
As shown in Figs 1-4, a kind of accurate injection instrument of intelligent muscle, including surface myoelectric electrode tube 12, cavity pin electrode9, deep-controlled disk 11, magnetic powder pipe 3, electromyography signal pretreatment unit 16, microprocessor 14, the surface of surface myoelectric electrode tube 12After electromyographic electrode plate 13 acquires human body surface myoelectric signal, is handled by electromyography signal pretreatment unit 16, be input to microprocessorDevice 14；
Medicinal liquid bottle 2 is carried in magnetic powder pipe 3, electromagnetic coil 4 is provided with outside magnetic powder pipe 3, is additionally provided with motor 8, transmission dressIt sets and motor-drive circuit, microprocessor utilizes motor control injection dose according to pre-set injection volume；
Microprocessor 14 controls the pulse current for generating positive magnetic field by coil driver, magnetic powder pipe 3 outside aroundIt is moved under the magnetic field force that electromagnetic coil 4 generates, the cavity pin electrode 9 being connected on medicinal liquid bottle 2 is automatically performed puncture and entersIn target muscle,
After injecting liquid drug, microprocessor 14 makes electromagnetic coil generate backing field, carry the magnetic powder pipe of medicinal liquid bottle byOpposite direction moves, and extracts cavity pin electrode 9, completes injection.
Magnetic powder pipe 3 is formed by two longitudinal semicanals are chimeric, and there are an opening, size in the center of the front end section of magnetic powder pipeThe nipple of syringe can be accommodated；Open rearward end can accommodate plunger or piston rod, and size just accommodates piston screwIt is accessible to pass through.Syringe cylinder is just embedded in magnetic powder pipe in this way, is realized that magnetic powder pipe is synchronous with injector cartridge and is moved integrally.The middle front part of magnetic powder pipe 3 is wound with coil, constitutes a solenoid, and by pulse current in coil, magnetic field is generated inside solenoid,Master control circuit generates positive (inverse) pulse current to magnetic field according to the setting of user to control, since magnetic powder pipe has magnet specialSign, magnetic powder pipe will be moved quickly under the action of the magnetic field force of its outer generation in solenoid, carry injector cartridge and needleHead (hollow pin electrode) is automatically performed puncture or syringe needle is extracted.
Magnetic powder pipe 3 can be the pipe for carrying injector cartridge or medicinal liquid bottle 2, and the middle front part for carrying pipe is wound with coil, constitutes oneA solenoid, by pulse current in coil, the magnetic induction intensity in coil can be calculated by Biot-Safa theorem, formulaFor B=μ 0Ni.In formula, n is the number of turns, and I is to pass through electric current.Its internal magnetic field direction is can determine whether according to right-hand rule.It carriesPipe outer wall is coated with magnetic powder, with magnet characteristics.Master control circuit, which is used for controlling, generates positive (inverse) pulse current to magnetic field, byThere is magnet feature in magnetic powder pipe, then carry syringe under the magnetic field force generated in solenoid or cartridge occurs in outer disturb of pipeMovement is automatically performed pin electrode puncture or withdrawal process.The syringe or medicinal liquid bottle carried just assembly in magnetic powder pipe, withJust the two moves integrally.Injector cartridge can be common medical 1ml or 2ml syringes, front end and hollow needle electrode pintle phaseIt connects, rear end is equipped with piston, and the hollow inside of piston rod is rotary with screw thread, and the output shaft of stepper motor is rotary with external screw thread, and the two forms spiral shellBar wears structure, so that piston is moved forward and backward by the rotation of stepper motor.
Syringe can not also be used, and the metal mounting of liquid bottleneck central part is removed, manifests rubber capping, it is emptyThe needle stalk part of the non-piercing end of heart pin electrode was directly pierced bottleneck rubber lid and was entered in bottle.The rear end of medicinal liquid bottle is equipped with piston, livingThe hollow inside of stopper rod is rotary with screw thread, and the output shaft of stepper motor is rotary with external screw thread, and the two forms screw rod and wears structure, by steppingThe rotation of motor and so that piston is moved forward and backward.
Master control circuit carrys out the rotating speed and rotation angle of Driving Stepping Motor according to injecting liquid drug amount set by user, makes liquidIt can be at the uniform velocity pushed into patient's body, while the information such as injection volume, time, the variation of real-time myoelectricity being shown by liquid crystal display, andStore storage chip.
Medicinal liquid bottle 2 can be directly placed in magnetic powder pipe 3, be rubber stopper in liquid bottleneck, bottleneck periphery is metal coverClosing.The sheet metal center portion in bottleneck center is taken down, the rear end of syringe needle (cavity pin electrode) is directly pierced into the rubber of bottleneckIn plug.The rear end of bottleneck is equipped with piston, and screw rod is housed on piston.There is no need to be pumped into syringe to note again for liquid in this wayIt penetrates.The risk for avoiding pollution in the unrestrained of extraction process herb liquid, air etc., decreases the number of operation.
Motor 8 is made of with running part accurate miniature stepper motor and motor driver and motor monitor.Stepping electricityThe output shaft of machine is rotary with external screw thread, and syringe rear end is equipped with piston, and the hollow inside of piston rod is rotary with screw thread, and the two forms screw rod and passesDynamic structure.Master control circuit according to the setting of user by motor driver come the rotating speed and rotation angle of Driving Stepping Motor, makeLiquid can at the uniform velocity be pushed into patient's body.
The precision stepper motor that a step angle is 18 degree is controlled using trapezoidal wave micro-stepping method, stepper motor drives driving sectionDivide and push piston, in the case where ensureing precision and current driving capability, significantly reduces the vibrations of motor.
To ensure the safety of injection process, it is necessary to be monitored to the operating condition of motor 8.By in stepper shaftUpper setting one inductive disks simultaneously install an optoelectronic switch and monitor the rotation of motor, since inductive disks are with motor synchronous rotary,Control section judges whether motor is working properly according to the testing result of the electric machine operation state and optoelectronic switch that currently set.WhenMotor is because of fortuitous event stalling or anomalous rotation and alarm.
The design of surface myoelectric electrode tube 12：Electrode plates are made using copper, and electroplate, polarizing voltage is small, can be fastSpeed obtains stable electromyography signal.The design form uses ambipolar, each electrode 2mm wide, 6mm long, and the distance of the two is 6-8mm, and a reference electrode is inserted among two electrodes, the reference electrode of introducing is conducive to reduce noise, improves common mode suppressionAbility processed.The electromyography signal picked up is input in signal conditioning circuit and pre-processes by surface myoelectric electrode tube.Surface electricityExtremely center is hollow, and pin electrode is allowed to pass through.
Surface myoelectric electrode plate 13 includes a target and two differential electrodes, electrode strip 21 and electrode strip junction block22 connections.
One end of electrode plate and connecting tube, which links together, forms surface myoelectric electrode tube, which opens, pass throughThe nozzle is mutually chimeric with injection instrument shell, and two wire electrodes are inserted directly into the tube seat of the corresponding silver-plated copper tube of shell along tube wallIt is interior.
By the silver-plated copper bars bending of two on electrode plate is vertical with electrode plate plane or nearly 90 degree of angle, electrode back andOne hollow medical plastic pipe is connected, and the vertical component of the Guan Yuechang 2-3cm, two electrode copper bars are inserted on the plastic cement tube wall accordinglyIn conduit, and surmount pipe end 5-8mm, which is inserted into the hole of the corresponding silver-plated copper tube of injection instrument shellIn slot, the electromyography signal picked up is input in electromyography signal pretreatment circuit as input terminal.Surface electrode plate and its phasePlastic pipe even is packed for disposable sterilization, and after connecting with shell, pin electrode is placed exactly in the gnotobasis of the pipe.
12 wall of surface myoelectric electrode tube has screw thread, and it is the hollow threaded disk of outer rim to have a center, is referred to as needle electricityProfound degree control panel 11, central hollow diameter is fastened less than needle, to control the depth of cavity pin electrode inserting needle 9.Surface myoelectric electrode12 side wall of pipe has overall length of the transparency window through entire Guan Yibi, and indicates scale, to show the position of deep-controlled disk, passes throughThe control panel controls the depth of needle of pin electrode.
Cavity pin electrode 9 includes needle point, needle stalk, pintle, and there are two the plug to connect with input lead, pintles for pintle sideConnect with syringe nipple.In addition to needle point is exposed be in contact with muscle other than, entire pin electrode is totally coated with insulating layer.It is disposableSterilization wrap.
The pintle of cavity pin electrode 9 can make a hollow tetragonal body or cylinder, tetragonal body or cylindrical sidesThere are two the plug to connect with input lead, needle stalk is inserted directly into medicine directly through the hollow about 1cm that extends back, needle stalk rear endThe rubber lid of bottle enters in bottleneck.
12 inner wall of surface myoelectric electrode tube has screw thread, has a thin hollow spiral shell disk in pipe, the spiral shell disk center be it is hollow,Size is just less than pin electrode bolt；There is longitudinal window in the side of pipe, has scale, window to be sealed by transparent material on the edge of windowIt closes, the position of the scale mark spiral shell disk.It is moved forward or rearward by turning spiral shell disk, enters human body to control cavity pin electrodeDepth.
Surface myoelectric electrode tube 12 is packed for disposable sterilization.
The appearance of cavity pin electrode 9 and human contact are coated with the injection needle-like guiding pin electrode of insulating materials, and needle point is exposedMuscle is contacted, needle stalk is connected with pintle, and pintle connects with syringe nipple.There are two elongated protrusion, this is two prominent for pintle sideIt rises and is inserted into insulated conductor port, be input in filter amplifier by conducting wire.The electricity that cavity pin electrode can be used to stimulate, recordPole, and it can be used for liquid medicine injection, the neural myoelectricity position that can be guided by lumen injection of medicine to pin electrode.
The needle stalk end of cavity pin electrode 9 can be inserted into directly through the rubber stopper of liquid bottleneck in medicine bottle, in cavityConnect a plug after in pin electrode needle stalk at 1/3, there are two elongated protrusions, two protrusion to be inserted into insulated conductor end on plugMouthful, it is input in filter amplifier by conducting wire.The program is to replace syringe with medicinal liquid bottle.
Cavity pin electrode 9 is packed for disposable sterilization.
The design of signal conditioning circuit (i.e. electromyography signal pretreatment unit 16) mainly include high-pass filtering, magnification at high multiple,Low-pass filtering, two level amplification, the several parts of double-T shaped trapper.
It is re-fed into after the electromyography signal that surface myoelectric electrode plate 13 or cavity pin electrode pick up is accessed high-pass filtering circuitMagnification at high multiple circuit.Instrument amplifier is used in magnification at high multiple circuit.To filter out high-frequency noise, amplified signal is accessed lowBandpass filter.Then signal is accessed into second amplifying circuit again.Industrial frequency noise is eliminated by double-T shaped trapper.
Voltage is lifted circuit design：The A/D conversions that collected electromyography signal is realized to degree of precision, should will be effectiveSignal amplitude range is lifted between 1/3 to the 3/3 of A/D input ranges.The design selects National SemiconductorLM385D-2.5 micro energy lose voltage-reference diodes.
Power supply unit：Power supply plan using rechargeable lithium battary as power supply.Again to whole after being exported with Voltage stabilizing moduleA system energization.Using the adjustable DC/DC chips of the TPS63031 of TI companies, output voltage is capable of providing maximum in 3.3VThe output current of 800mA meets the power supply needs of stepper motor and other circuit units.
Monitoring cell electricity quantity directly supervises lithium battery voltage using the ADC module of AT91SAM7SE512 microprocessorsIt surveys, the voltage signal of lithium battery is transformed into the discharge curve for comparing lithium battery after digital signal, it is low to set battery in softwareThe threshold value of electricity, to realize the real-time monitoring to electric quantity of lithium battery.
The hardware circuit of main control part design is using the AT91SAM7SE512 microprocessors of Atmel companies as control coreThe heart, AT91SAM7SE512 are a 32 embedded MCUs, and it is a variety of embedded can be directed to interactive terminal and Industry Control class etc.Using.It is equipped with the storage chips such as the NANFLASH of SDRAM, IGB of 8MB on the bottom plate of its core board, USB is externally provided,The communication interfaces such as UART, SPI, TWI (12C) and the parallel BUS of system high-speed, and United Dispatching is carried out to remaining external module.
The workflow of whole system is as follows：Surface electromyogram signal is picked up by surface electrode, is amplified by hardware and is simulatedIt is sent into after filtering in the 16bADC of channel and carries out 2500Hz samplings and A/D conversions；The data converted are sent by spi bus interfaceIt is handled in AT91SAM7SE512；Governor circuit generates positive (inverse) the pulse electricity to magnetic field by coil driver controlStream, the magnetic powder pipe due to carrying medicinal liquid bottle or syringe, which has, grows body characteristics, then is generated in solenoid in the outer of magnetic powder pipeIt is moved under magnetic field force, the pin electrode being connected on medicinal liquid bottle or injector cartridge is automatically performed puncture and enters in target muscle；Pin electrode pickup to electromyography signal, by be sent into the 16bADC of channel after hardware amplification and analog filtering carry out 2500Hz samplings andA/D is converted；The data converted are sent into AT91SAM7SE512 by spi bus interface and are handled；Governor circuit is according to pre-The injection volume first set accurately controls injection dose using micro-step motor, pushes the work in medicinal liquid bottle or injector cartridgePlug makes liquid at the uniform velocity inject in target muscle；And it can be according to the amplitude size of surface electrode and the collected electromyography signal of pin electrodeVariation is adjusted injection dose using microprocessor, and accurately controls injection and push away medicine process in real time.After injecting liquid drug, master controlCircuit makes solenoid generate backing field, and the magnetic powder pipe for carrying medicinal liquid bottle or syringe moves extraction syringe needle in the opposite direction, completeAt injection.And corresponding data are recorded on storage chip.
Collected electromyography signal processing is in two kinds of situation：When no connection is using the ends PC, local progress Real-Time Filtering,Simple analysis, display, storage；It is by USB interface or Xbee wireless communication modules that data are real-time when connection is using the ends PCIt is transferred to the processing of the ends PC.In addition, in the case of existing storage data, the playback of the data such as surface myoelectric waveform can be carried out.
Further include：Memory module 15, display module 18, human-computer interaction module, loud speaker 17 and software systems.
As for software systems master-plan, Real-time Multi-task System is developed using embedded real-time operating system RTOS.It is embeddingEntering formula real time operating system RTOS can provide the important clothes such as multi-task scheduling, time management, intertask communication and memory managementBusiness so that built-in application program is easily designed and extends.μ C/OS- II, which have, to open source code, and code size is minimum, and operation is steadyCalmly, the advantages that execution efficiency is high, and real-time is good.Code is write using ANSIC, has very strong portable and can preferably cut outCutting property only needs pair to modify with some relevant codes of processor during the transplantation process.
To enhance the operability of software, which has transplanted on the basis of μ C/OS- II and has been directed to by Micrium companiesA graphic development systems μ C/GUI of embedded system development are used as graphical interface of user and design.μ C/GUI are used to be anyIt is provided efficiently independently of the graphical user interface of processor and LCD controller, is suitable for single using the application of LCD graphical displaysTask or multitask system environment, and show suitable for the true display of any size under arbitrary LCD controller and CPU or virtuallyShow.
Storage and operation for clinical data and data for convenience has transplanted FATFS texts on SD card memory mechanismPart system.FATFS is a kind of FAT file system module freely increased income completely, is designed exclusively for small embedded systems's.It is write with standard C language completely, so have good hardware platform independence, can be transplanted to kinds of platform and onlySimple modification need to be made.Need user write transplanting code be FATFS provide physical layer interface, it includes storage mediumThe real-time clock of read/write interface DiskIo and supply document creation modification time.
Surface myoelectric acquisition tasks are devised at μ C/OS- II, needle tubing movement is automatically performed pin electrode intramuscular penetration and appointsBusiness, pin electrode myoelectricity acquisition tasks, pin electrode muscular irritation task, liquid inject task, and pin electrode extracts task, liquid crystal screen displayShow task, touch screen input task, data readback task.Other required functions make module, are integrated in above-mentioned a certain taskIn.
These tasks and function module are introduced individually below.
Myoelectricity acquisition tasks
Injected based on surface myoelectric acquisition, pin electrode puncture, the acquisition of pin electrode myoelectricity, the stimulation of pin electrode target muscle, liquid,The requirement of real-time that pin electrode is extracted sets these tasks to remove what system kernel used in II operating systems of μ C/0S-Highest priority outside priority, while to meet the accuracy requirement of myoelectricity acquisition, being run by starting timer interruptionMyoelectricity acquisition tasks.
Myoelectricity acquisition tasks are run in two kinds of situation：The first, local myoelectricity acquisition display runs meeting before the task at this timeIt is required to input storage file name, is then acquiring myoelectricity simultaneously, myoelectricity filter module hereafter is called to be filtered and callFile storage module carries out real-time storage data, and filtered myoelectricity data and the time acquired can be sent to hereafter liquid crystal screen displayShow that simultaneous display comes out in task；Second, myoelectricity is acquired and is interacted with the ends PC, and usb communication need to first be selected by starting task at this timeThen one kind in being communicated with Xbee wireless modules could start myoelectricity acquisition tasks, and original myoelectricity data are transferred to PCEnd is handled.
Myoelectricity plays back task
In order to enable users to play back the local myoelectricity data preserved at any time, myoelectricity playback task is devised.By adoptingThe myoelectricity data in file are periodically read with timer interruption, and the liquid crystal display being sent to hereafter shows task to realize waveformRecovery show.Meanwhile watch a certain section of waveform repeatedly for the ease of user, the task support to the display of myoelectric waveform with temporarilyStop, and turns over before being shown to waveform and operated with one screen of returning.
Liquid crystal display shows task
In order to allow users to the current state of understanding system, while family can be used to be interacted with system, in μ C/OS-Liquid crystal display is devised on the basis of II and μ C/GUI shows task.Liquid crystal display show task be responsible for noticing current system mode withVarious graphical interfaces under operational process, including μ C/GUl supports.Specifically, it is integrated with surface myoelectric acquisition, needle electricity herePole punctures and the display of the information such as myoelectricity acquisition, explosive load design and liquid injection, pin electrode extraction and playback, time showing, numberAccording to the graphical interfaces of storage, data USB or Xbee transmission etc..Because the task requirement of real-time is not high, therefore is devised most to itLow task priority.
Touch screen input task
For whole succinct of convenience and the system of human-computer interaction, human-computer interaction input is realized using touch screen.The taskWork is begun to when system starts, acquires and handle the information that user is inputted by touch LCD screen, and the user that will be obtainedOrder is sent to μ C/0S- II and μ C/GUl, with finishing man-machine interaction.
Since user's input must assure that certain real-time, to make user not experience the big delay of system,This is only below myoelectricity acquisition tasks to touch screen input task design, pin electrode punctures and acquisition, pin electrode stimulation task, medicineLiquid injects the third high priority with pin electrode extraction, myoelectricity playback task.
Other function modules
Other than above several tasks, several above several tasks of function module auxiliary are devised, it is specific as follows：
(1) real-time clock module.The a piece of real-time clock PCF8563 of AT91SAM7SE512 chip external expansions be used for beSystem provides real time clock value, to record user's flesh electric data collecting, the liquid medicine injection fashionable specific moment.PCF8563 passes throughTWI (I2C) interfaces and AT91SAM7SE512 chip communications.
(2) timer interruption module.Start timer interruption in AT91SAM7SE512 chips to support myoelectricity acquisition to appointBusiness plays back task with myoelectricity.Timer interruption Frequency Design is 2 500Hz, is used for the timing in myoelectricity acquisition tasks and is sent out to ADCIt send sample conversion to instruct, and reads the data of binary channels electromyography signal, or periodically from myoelectricity file in myoelectricity playback taskMiddle reading binary channels myoelectricity data.
(3) file system module.In order to facilitate storage and processing of the myoelectricity data in SD card, reading and writing in spi modesFATFS file system modules have been transplanted on the basis of SD card to manage myoelectricity data.FATFS can make user easily store numberAccording to file, reads data file and delete discarded record.
(4) communication module.In order to enable the myoelectricity real-time Transmission of acquisition to give the processing of the ends PC, design USB it is wired with Xbee withoutTwo kinds of communication modules of line.USB wire communications realize the data interaction with the ends PC using on piece USB peripheral interface；Xbee channel radiosLetter is communicated using on piece UART interface operation local Xbee wireless modules with the Xbee wireless modules at the ends PC, to realize dataIt is wirelessly transmitted to the function of the ends PC processing.
(6) user setting module.For each equipment, there are some settings that user is needed to change, such as User ID.For ease of preserving this type of information under power-down state, such letter is preserved using a piece of Nonvolatile ferroelectric memory FM24CL64Breath.The storage chip is communicated by TWI (I2C) interface with master chip, can be read at any time and be preserved information-setting by user.System every timeWhen system starts, the setting information that user has stored can be all automatically read.
(7) myoelectricity filtering and analysis module.The frequency range of surface electromyogram signal is 10~500Hz.Due to 50Hz power frequenciesNoise jamming is in the frequency range of surface electromyogram signal energy concentration, and amplitude is larger, if be not processed, electromyography signal will be by workFrequency noise is flooded.Therefore in locally acquisition display, widely used comb filter in embedded environment is selected.Pectination is filteredWave device can effectively filter out 50Hz Hz noises and baseline drift, and Q values are sufficiently high, influence effective electromyography signal less as possible, andCalculation amount is seldom, and does not have floating-point operation, is particularly suitable in embedded environment.In addition, to allow user intuitively to experience fleshElectric signal has made a balloon that can be floated up and down beside myoelectric waveform display window, according to local filtered myoelectricityData smoothing mean deviation and reference value relatively after the two difference float up and down.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, although with reference to aforementioned realityIt applies example the present invention be relatively described in detail, it for those skilled in the art, still can be to aforementioned each realityThe technical solution recorded in example is applied to modify or equivalent replacement of some of the technical features.It is all the present inventionAll any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within spirit and principle.