FEEDBACK CONTROL OF NEUROMODULATION
An automated method of controlling neural stimulation. A neural stimulus is applied to a neural pathway in order to give rise to an evoked action potential on the neural pathway, and the stimulus is defined by at least one stimulus parameter. A neural compound action potential response evoked by the stimulus is measured. From the measured evoked response a feedback variable such as observed ECAP voltage (V) is derived. A feedback loop is completed by using the feedback variable to control the at least one stimulus parameter value for a future stimulus. The method adaptively compensates for changes in a gain of the feedback loop caused by electrode movement relative to the neural pathway. A compensating transfer function is applied to the feedback variable, the compensating transfer function being configured to compensate for both (i) a distance-dependent transfer function of stimulation, and (ii) a distance dependent transfer function of measurement which is distinct from (i).
1 . An automated method of controlling a neural stimulus, the method comprising:
applying, via one or more stimulus electrodes of a plurality of implanted electrodes, the neural stimulus to a neural pathway of a patient in order to evoke a neural compound action potential response on the neural pathway, the neural stimulus being defined by a value (I) of stimulus intensity;
measuring, via one or more sense electrodes of the plurality of implanted electrodes, a neural compound action potential response evoked by the neural stimulus,
deriving, from the measured evoked response and the value (I) of the stimulus intensity, a feedback variable that is a proxy for a level of recruitment of neurons on the neural pathway by the neural stimulus, independent of the distance between the implanted electrodes and the neural pathway; and
completing a feedback loop by using the feedback variable to control the stimulus intensity.
2 . The method of claim 1 wherein the deriving uses a value (V) of measured amplitude of the evoked neural compound action potential response.
3 . The method of claim 2 wherein the deriving uses a parameter k reflecting both a recruitment parameter n and a measurement parameter m, where m is not equal to n.
4 . The method of claim 3 wherein the value of the parameter k is selected based on the stimulation and recording configurations in use.
5 . The method of claim 3 wherein the value of the parameter k is determined clinically using a recruitment datum.
6 . The method of claim 5 wherein the recruitment datum comprises one or more of: the patient's perceptual threshold, the patient's discomfort threshold, coverage of a certain area or body part, a qualitative characteristic of the patient's perception of a stimulation, the patient's perception of optimal comfort, an electrophysiological measure, the onset of muscle response/twitching, and a measure of neural activity.
7 . The method of claim 1 wherein completing the feedback loop comprises:
generating an error signal from the feedback variable relative to a setpoint, and
determining the next stimulus intensity value from the error signal.
8 . An implantable device for controllably applying a neural stimulus, the device comprising:
a plurality of electrodes including one or more stimulus electrodes and one or more sense electrodes;
a stimulus source for providing a stimulus to be delivered from the one or more stimulus electrodes to a neural pathway of a patient in order to evoke a neural compound action potential response on the neural pathway;
measurement circuitry for processing a neural compound action potential response signal sensed at the one or more sense electrodes; and
a control unit configured to:
control application of a neural stimulus as defined by a value (I) of stimulus intensity;
measure via the measurement circuitry the neural compound action potential response evoked by the neural stimulus;
derive, from the measured evoked response and the value (I) of the stimulus intensity, a feedback variable that is a proxy for a level of recruitment of neurons on the neural pathway by the neural stimulus, independent of the distance between the plurality of electrodes and the neural pathway; and
complete a feedback loop by using the feedback variable to control the stimulus intensity.
9 . The device of claim 8 wherein the control unit is configured to derive the feedback variable using a value (V) of measured amplitude of the evoked neural compound action potential response.
10 . The device of claim 9 wherein the control unit is configured to derive the feedback variable using a parameter k reflecting both a recruitment parameter n and a measurement parameter m, where m is not equal to n.
11 . The device of claim 10 wherein the value of the parameter k is selected based on the stimulation and recording configurations in use.
12 . The device of claim 10 wherein the value of the parameter k is determined clinically using a recruitment datum.
13 . The device of claim 12 wherein the recruitment datum comprises one or more of: the patient's perceptual threshold, the patient's discomfort threshold, coverage of a certain area or body part, a qualitative characteristic of the patient's perception of a stimulation, the patient's perception of optimal comfort, an electrophysiological measure, the onset of muscle response/twitching, and a measure of neural activity.
14 . The device of claim 8 wherein the control unit is configured to complete the feedback loop by:
generating an error signal from the feedback variable relative to a setpoint, and determining the next stimulus intensity value from the error signal.