System to deliver adaptive epidural and/or subdural electrical spinal cord stimulation to facilitate and restore locomotion after a neuromotor impairment
The present invention provides a closed-loop system for real-time control of epidural and/or subdural electrical stimulation comprising: means for applying to a subject neuromodulation with adjustable stimulation parameters, said means being operatively connected with a real-time monitoring component comprising sensors continuously acquiring feedback signals from said subject, said signals being neural signals and/or signals providing features of motion of said subject, said system being operatively connected with a signal processing device receiving said feedback signals and operating real-time automatic control algorithms, said signal processing device being operatively connected with said means and providing said means with new stimulation parameters, with minimum delay. The system of the invention improves consistency of walking in a subject with a neuromotor impairment. A Real Time Automatic Control Algorithm is used, comprising a feedforward component employing a single input-single output model (SISO), or a multiple input-single output (MISO) model.
1. A closed-loop system for real-time control of epidural and/or subdural electrical spinal cord stimulation comprising:
an electrical stimulation device for applying to a subject neuromodulation with adjustable stimulation parameters, said electrical stimulation device being operatively connected with:
a real-time monitoring component comprising sensors continuously acquiring feedback signals from said subject, said feedback signals being neural signals and/or signals providing features of motion of said subject, said feedback signals providing information on subject kinematics including a limb and/or joint trajectory and/or an angle of one or more extremities of the subject, and where said feedback signals are used to detect gait events based on signals indicative for foot elevation to detect foot-strike events and toe-off events, thereby defining sub-phases of gait, where the sub-phases include at least one of a stance-phase and a swing-phase, said system being operatively connected with:
a signal processing device receiving said feedback signals and operating real-time automatic control algorithms, said signal processing device being operatively connected with said electrical stimulation device and providing said electrical stimulation device with new stimulation parameters, with minimum delay, said signal processing device being operatively connected with:
a controller comprising a feedforward component and a feedback component, which allows for directly deriving a desired electrical stimulation given a desired gait feature at each gait-cycle, and to minimize control delays.
2. The system of claim 1 , wherein said electrical stimulation device comprises an epidural and/or subdural electrical stimulation device.
3. The system of claim 1 , wherein said stimulation parameters are selected from the group consisting of waveform, amplitude, pulse width, and frequency.
4. The system of claim 2 , wherein said electrical stimulation device comprises one or more electrodes or an electrode array.
5. The system of claim 4 , wherein said electrical stimulation device also comprises an implantable pulse generator.
6. The system of claim 1 , wherein said electrical stimulation device provides a stimulation frequency between 5 and 120 Hz and with a resolution of 1 Hz.
7. The system of claim 1 , wherein said electrical stimulation device provides phasic stimulation or burst stimulation.
8. The system of claim 1 , wherein said electrical stimulation device is applied to at least two stimulation sites and each stimulation site can be independently turned on or off.
9. The system of claim 4 , wherein said electrical stimulation is location-specific and wherein stimulation parameters of each individual electrode can be independently modified in real-time.
10. The system of claim 1 , wherein said electrical stimulation device comprises electrodes applied on sacral and lumbar sites which are alternatively activated to promote, respectively, whole-limb extension or flexion.
11. The system of claim 1 , wherein said real-time monitoring component comprises limb position markers or sensors.
12. The system of claim 1 , wherein said feedback signals acquired by said real-time monitoring component are neural signals, in particular cortical signals, recorded from sensory, motor, sensorimotor, or pre-motor cortex.
13. The system of claim 1 , wherein said feedback signals acquired by said real-time monitoring component are both neural signals and signals providing features of motion of said subject.
14. The system of claim 1 , wherein said signal processing device operates a program comprising an automatic control algorithm that interfaces simultaneously with data flow from said real-time monitoring component and the electrical stimulation device for neuromodulation in real-time.
15. The system of claim 1 , wherein the desired gait feature includes a desired step height of one or more feet of the subject, where step height of the one or more feet of the subject is acquired as feedback signals via the real-time monitoring component and received via the signal processing device, for directly deriving the desired electrical stimulation given the desired step height of the one or more feet of the subject at each gait-cycle via the controller.
16. The system of claim 15 , wherein the step height comprises a maximum height reached by the one or more feet of the subject during each gait-cycle as monitored via the real-time monitoring component.