Method and device for feedback control of neural stimulation
A method of controlling a neural stimulus by use of feedback. The neural stimulus is applied to a neural pathway in order to give rise to an evoked action potential on the neural pathway. 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 is derived. A feedback loop is completed by using the feedback variable to control the at least one stimulus parameter value. The feedback loop adaptively compensates for changes in a gain of the feedback loop caused by electrode movement relative to the neural pathway.
1. A neurostimulation system comprising:
an implantable device for suppressing pain by applying a neural stimulus, the implantable device comprising:
a plurality of electrodes including at least one stimulus electrode and at least one sense electrode;
a stimulus source configured to provide stimuli to be delivered from the at least one stimulus electrode to a tissue in the dorsal column of a patient, each stimulus defined by a stimulus intensity parameter;
measurement circuitry for measuring a neural response sensed at the at least one sense electrode and evoked in response to a stimulus; and
a control unit configured to:
control the stimulus source to provide the neural stimulus in accordance with a stimulus intensity parameter;
measure via the measurement circuitry a neural response evoked by the stimulus;
determine from the measured evoked neural response a feedback variable; and
complete a feedback control loop by applying a proportional adjustment to the stimulus intensity parameter, wherein the proportional adjustment is in proportion to an error between the feedback variable and a target intensity, and
a processor configured to set a gain for the control unit to use to determine the proportional adjustment based on a characteristic of a neural response growth curve, wherein the neural response growth curve is a relation of a neural response intensity to the stimulus intensity parameter,
wherein the control unit is configured to determine the proportional adjustment by multiplying the error by the gain.
2. The neurostimulation system of claim 1 , wherein the processor is configured to set the value of the gain by:
comparing each of a plurality of measured neural responses to a corresponding stimulus intensity parameter to determine the characteristic of the neural response growth curve,
setting the gain based on the determined characteristic of the neural response growth curve.
3. The neurostimulation system of claim 2 , wherein the characteristic is a slope of the neural response growth curve.
4. The neurostimulation system of claim 3 , wherein the processor is configured to set the gain such that the feedback control loop has a predetermined corner frequency.
5. The neurostimulation system of claim 4 , wherein the processor is configured to set the gain to be the predetermined corner frequency divided by the slope.
6. The neurostimulation system of claim 4 , wherein the predetermined corner frequency is between a heartbeat frequency and a sample rate of the feedback control loop.
7. The system of claim 1 , wherein the processor is part of an external computing device in communication with the implantable device.
8. The system of claim 7 , wherein the setting a value forms part of a fitting procedure carried out by the external device for the implantable device.
9. The system of claim 1 , wherein the processor is configured to set the gain when the patient is in a most sensitive posture, being a posture in which the characteristic is greatest.