NEUROREHABILITATION SYSTEM AND NEUROREHABILITATION METHOD

Abstract

The system of neurorehabilitation and the method of neurorehabilitation belongs to the medical field, specifically to neurology, and can be used as a system and method of neurorehabilitation during motor rehabilitation of patients after a stroke in various phases, as well as during the rehabilitation of patients with other diseases and disorders of the central nervous system. The objective of the claimed invention is the motor (movement) rehabilitation of patients after stroke and other diseases of the central nervous system that cause motor deficits in the limbs. The technical result of the invention is to increase the effectiveness of rehabilitation, including during early and late rehabilitation period of stroke and other diseases and disorders of the central nervous system through the use of the system and method of neurorehabilitation and methods of this invention, which stimulate the restoration of mobility of paralyzed limbs by forming neural biofeedback connections between the patient's intention to move the limb and its implementation.

Claims

1. Neurorehabilitation system including: a visual display device, a device for recording brain activity, a robotic device for impacting a trained object, a computer with a database and software for recognizing and extracting a registered signal of brain activity and interpreting the extracted recorded signal using a database, whereby a computer with the software is configured with the ability to transmit commands formed on the basis of the interpretation of the registered signals of brain activity to the robotic device and/or to the visual display device on a transmit-receive basis.

2. The neurorehabilitation system according to claim 1, wherein a virtual reality device is used as a visual display device.

3. The neurorehabilitation system of claim 1, wherein an exoskeleton is used as the robotic device.

4. The neurorehabilitation system according to claim 1, wherein an electroencephalograph is used as a brain activity registration device.

5. The neurorehabilitation system according to claim 1, wherein a near-range infrared spectroscopy device is used as the brain activity registration device.

6. The neurorehabilitation system according to claim 1, wherein a magnetic resonance imaging device is used as a brain activity registration device.

7. The neurorehabilitation system according to claim 1, in which a device for recording magnetic fields resulting from electrical activity of the brain is used as a device for registering brain activity.

8. The neurorehabilitation system according to claim 1, in which at least two different recording devices are used together as a device for recording signals of brain activity.

9. The neurorehabilitation system according to claim 1, further comprising an electrical stimulator.

10. The neurorehabilitation system according to claim 1, further comprising an electromyograph.

11. A method of neurorehabilitation, including: visual presentation by a visual display device of a task to perform a movement by a trained object, registration of signals of brain activity by a device for recording brain activity, transmission of recorded signals of brain activity to a computer with software associated with a database, extraction of signals necessary for interpretation of brain activity by a computer with software, interpretation of the selected signals by comparison with a database, transmission of commands formed on the basis of the interpretation of recorded signals of brain activity to a robotic device and/or a visual display device, impact of a robotic device on a trained object, signal transmission to a visual display device, visual presentation on a visual display device the task being performed.

12. The method of neurorehabilitation according to claim 11, in which at the stage of extraction and recognition of the registered signals of brain activity, a signal of the visual evoked potential is extracted.

13. The method of neurorehabilitation according to claim 11, in which at the stage of extraction and recognition of the registered signals of brain activity, a signal of the motor imagination is extracted.

14. The method of neurorehabilitation according to claim 11, in which at the stage of extraction and recognition of the registered signals of brain activity, signals of visual evoked potential and motor imagination are extracted.

15. The method of neurorehabilitation according to claim 11, wherein the signals of brain activity related to a healthy object are registered to impact the trained object by the robotic device.

16. The method of neurorehabilitation according to claim 11, wherein, in addition to the signals of brain activity, signals of muscle activity are registered.

17. The method of neurorehabilitation according to claim 16, in which the impact on the trained object by the robotic device is performed in accordance with the muscular activity of the healthy object.

18. The method of neurorehabilitation according to claim 11, wherein the command to the visual display device is transmitted from the computer via the robotic device.

19. The method of neurorehabilitation according to claim 11, in which the impact on the trained object by a robotic device in accordance with the recognized signals of brain activity is additionally accompanied by electrical stimulation of the muscles and nerves responsible for moving the trained object.

20. The method of neurorehabilitation according to claim 11, in which the selection and/or adjustment of the software classifier used to form the database is carried out automatically.

21. The method of neurorehabilitation according to claim 11, in which the data on the interpretation of brain activity obtained during the execution of the task, including the data obtained during the physical impact of the robotic device on the object, is recorded in the database.

22. The method of neurorehabilitation according to claim 11, in which on the visual display device is being demonstrated the instant visual feedback on the degree of fulfillment of the assigned task based on the registered signals of brain activity displayed.

23. The method of neurorehabilitation according to claim 11, wherein the visual presentation on the visual display device of the task being performed is implemented in a manner that stimulates activation of mirror neurons.

24. The method of neurorehabilitation according to claim 11, in which the presentation of the task, the registration of signals and the performance of the task are divided into several stages, while at each stage of the task, the bioelectric activity can be registered by different devices, and the actions can be performed with different parts of the trained object, and each stage is displayed on the display device independently.

Description

DESCRIPTION OF THE ILLUSTRATIONS

[0059] FIG. 1 shows a block diagram of the interaction of the main components of the neurorehabilitation system.

[0060] FIG. 2 shows a set of elements of a neurorehabilitation system.

[0061] FIG. 3 shows a general view of the neurorehabilitation system (an example of implementation for the rehabilitation of the upper limbs).

[0062] FIG. 4 shows a general incomplete view of the neurorehabilitation system (an example of implementation for the rehabilitation of the lower limbs).

[0063] FIG. 5 shows a block diagram of the sequence of actions when implementing the method of neurorehabilitation (in the basic version).

[0064] FIG. 6 shows a block diagram of the sequence of actions in the implementation of the method of neurorehabilitation, in which at the stage of extraction and recognition of the registered signals of brain activity, the signals of visual evoked potential and motor imagination are extracted.

[0065] FIG. 7 shows a block diagram of the sequence of actions when implementing the method of neurorehabilitation, in which, in addition to the signals of brain activity, signals of muscular activity are registered.

[0066] FIG. 8 shows a block diagram of a sequence of actions when implementing a method of neurorehabilitation, in which the impact on a trained object by a robotic device in accordance with the recognized signals of brain activity is additionally accompanied by electrical stimulation of the muscles and nerves that set the trained object in a given movement.

[0067] FIG. 9 shows a block diagram of the sequence of actions when implementing the method of neurorehabilitation, in which the visual presentation on the visual display device of the task being performed is implemented in a manner that stimulates the activation of mirror neurons.

[0068] FIG. 10 shows a block diagram of the sequence of actions when implementing the method of neurorehabilitation, which combines all the options for implementing the method of neurorehabilitation.

[0069] Position 1—visual display device;

[0070] Position 2—device for registering brain activity;

[0071] Position 3—computer;

[0072] Position 4—robotic device;

[0073] Position 5—electrostimulator;

[0074] Position 6—electromyograph;

[0075] Position 7—motion tracker;

[0076] Position 8—controller unit;

[0077] Position 9—emergency movement stop button;

[0078] Position 10—visual presentation of the task by the visual display device;

[0079] Position 11—registration of signals of brain activity by a device for registering brain activity;

[0080] Position 12—transmission of signals of brain activity to a computer with software and database;

[0081] Position 13—extraction and recognition of registered signals of brain activity by a computer and interpretation by comparison with a database;

[0082] Position 14—transmission of a command, based on the interpretation of the registered signals of brain activity, to a robotic device for impacting the trained object;

[0083] Position 15—the impact of the robotic device on the trained object in accordance with the recognized signals of brain activity;

[0084] Position 16—transmitting a digital signal to a visual display device;

[0085] Position 17—extraction of the signals of the visual evoked potential;

[0086] Position 18—extraction of the motor imagination signals;

[0087] Position 19—registration by an electromyograph of the activity of the muscles that set the trained object in a movement;

[0088] Position 20—registration by the electromyograph of the activity of the muscles of the untrained object, corresponding to the muscles of the trained object setting it in the given movement;

[0089] Position 21—electrical stimulation of the muscles that set the trained object in a given movement;

[0090] Position 22—stimulation of the activation of mirror neurons.

[0091] Position 23—the complete neurorehabilitation system as a whole.

DETAILED DESCRIPTION

[0092] In the following detailed description of an implementation of the invention, numerous implementation details are set forth in order to provide a thorough understanding of the present invention. However, it will be obvious to those skilled in the art how the present invention can be used with or without these implementation details. In other instances, well-known methods, procedures, and components have not been described in detail so as not to obscure the details of the present invention.

[0093] Moreover, it is clear from the foregoing disclosure that the invention is not limited to the foregoing implementation. Numerous possible modifications, changes, variations and substitutions, while retaining the essence and form of the present invention, will be apparent to those skilled in the art.

[0094] The neurorehabilitation system 23 (shown in FIG. 1 as a block diagram of the interaction of system elements) includes a visual display device 1, which, usually, is a virtual reality device, which can be represented in the form of virtual reality headset (FIG. 2) as well as a virtual reality helmet. The virtual reality helmet can be equipped with a device for playing and listening to an audio signal, which allows the patient to be more involved in an imaginary process. The use of the visual display device 1 in the neurorehabilitation system allows to visually present the task and its completion to the patient. Thus, the patient is involved in an imaginary process that makes the brain “believe” in the reality of the connection between the intention to make a movement and the real movement of the trained object, i.e. paralyzed limb, which contributes to an increase in the effectiveness of motor rehabilitation, including in stroke and in other diseases and disorders of the central nervous system. In addition, the visual display device 1, including in the embodiment in the form of a virtual reality device, makes it possible to visually display an animated example of a task execution—for example, in the form of a virtual phantom, “performing” specific movements, while in reality a trained object (for example, the arm) is at rest. Observing a moving phantom facilitates the mental task of motor imagination. It is also possible to display the progress of the task “from the third person view” that is, the patient is presented with a view of themselves “from aside” during the movement of the limb. Observing the task from the third person stimulates the activation of mirror neurons, which facilitates the restoration of neural connections. Thus, these modes of displaying the task and the course of its fulfillment increase the efficiency of motor rehabilitation.

[0095] The neurorehabilitation system 23 (FIG. 1) also includes a device for recording brain activity 2, which registers and transmits signals of brain activity to the computer 3, forming a brain-computer interface, the task of which is to register, process, extract and interpret brain activity in order to determine the patient's intention to move the trained (or untrained) object. An electroencephalograph (FIG. 2) or a similar device can be used as a device for recording brain activity 2 that records the electrical and bioelectric activity of the brain from the surface of the scalp. A near-infrared spectroscopy (NIRS) device can also be used to measure brain activity through hemodynamic responses associated with neuroactivity; also, a magnetic resonance imaging (MRI) device can be used that records nuclear magnetic resonance signals, as well as devices that read and register magnetic fields arising from the electrical activity of the brain. The most preferred in practice options for use as a device for recording brain activity 2 are an electroencephalograph and a near infrared spectroscopy device. In addition, the listed devices can be used in various combinations; the most preferable variant of the combination of devices for recording brain activity 2 is the combined use of an electroencephalograph and a near infrared spectroscopy device. The combined use of an electroencephalograph and a near-infrared spectroscopy device makes it possible to increase the accuracy of detecting and registering signals of brain activity and to better recognize the patient's intentions. Therefore, it has a positive effect on improving the effectiveness of rehabilitation. A combination of these technologies can be implemented in a single compact device.

[0096] The neurorehabilitation system 23 (FIG. 1) also includes a robotic device 4, which is used for physical interaction with a trained object, that is, a paralyzed, paretic, rehabilitated limb, including for moving the trained object in accordance with the recognized signals of brain and/or muscle activity. Also different variants of the implementation of the robotic device 4, including an exoskeleton, are possible; they are intended for training and rehabilitation of the upper (FIG. 3), lower (FIG. 4) limbs, as well as individual parts of the limbs. In particular an exoskeleton of a limb (FIG. 4) can be used as a robotic device. In this case, the robotic device 4 can be configured to transmit a digital signal to the visual display device 1 directly, as well as through the computer 3. The biofeedback that arises as a result of the analysis of neurophysiological signals and the corresponding complex cognitive, proprioceptive and kinesthetic effects on the patient's body stimulates neuroplasticity and thus has a positive effect on the effectiveness of rehabilitation.

[0097] The neurorehabilitation system 23 (FIG. 1) also includes a computer 3, which contains software for recognizing and extracting the registered signal and interpreting it using a database that can be located both on the computer 3 and on a separate device, as well as on server or cloud storage. In the neurorehabilitation system 23 (FIG. 1), the computer 3 transmits the commands formed on the basis of the interpretation of the registered signals of brain and/or muscle activity to the robotic device 4 and/or to the visual display device 1 according to the transmit-receive principle. Computer 3 (FIG. 1) in combination with a device for recording brain activity 2 form a brain-computer interface. The signals of brain activity are sent from the brain activity registering device 2 to the computer 3, where, using the software installed on it, patterns are recognized and identified in the signals, allowing determining the activity that the patient intends to execute by performing a limb movement, that is, to determine the chosen goal or movement. At the same time, computer 3 with software interprets the signals of brain activity using software classifiers that compare the incoming signals with the reference patterns of brain activity in the database. Interpretation of signals of brain activity using software classifiers can be implemented using various mathematical techniques, including the technology of artificial neural networks, by identifying characteristic features (patterns) of brain activity, for example, associated with external stimulation or cognitive activity, and then searching for similar patterns in recognized, extracted, interpreted signal of brain activity. At the same time, the classifiers are adaptively reconfigured, that is, they are “trained”, both automatically and manually, adjusting to specific tasks and a specific patient. Automatic and manual selection of classifiers is possible, which makes it possible to increase the accuracy of their work and reduce the training time of the classifier. Computer 3, on which the program classifiers are located, makes it possible to extract and recognize both patterns of motor imagination and patterns of visual evoked potentials (an electric wave subconsciously arising in the cerebral cortex as a reaction to a “significant” visual stimulus: for example, to a change in brightness—“flashing” of the object on the visual display device 1, on which the patient has focused their attention). Due to the “subconscious” appearance and characteristic features of the pattern of the visual evoked potential, which allow it to be detected with high accuracy in the signals of brain activity, this paradigm requires less mental effort from the patient and thus can be applied to patients with a reduced cognitive ability typically occurring in early stroke. In this case, it is possible to extract, recognize and further work with both the signal of the motor imagination and the signal of the visual evoked potential, as well as combined extraction, recognition and further work with these two types of signals. Thus, the use of a computer 3 with software for recognizing and extracting a registered signal and interpreting the extracted registered signal using the database that can be located on a computer, contributes to an increase in the effectiveness of rehabilitation.

[0098] It should be noted that computer 3, on which the software is installed, can be located in a personal computer; this is-the most preferable option. Computer 3 can also be located in a mobile device, for example a smartphone. Additionally, it is possible to locate computer 3 remotely, for example, on a server, on a device in a local network or in the cloud. It is also possible to arrange the computer 3 on a microcomputer or several microcomputers built into one or more of the system elements according to claim 1, for example, into a visual display device 1 or into a robotic device 4, etc.

[0099] It is possible to implement a neurorehabilitation system 23 (FIG. 1), which additionally contains an electrostimulator 5 to stimulate the muscles and nerves that set the trained object in a given movement. The electrostimulator 5 makes it possible to implement electrical stimulation in the neurorehabilitation system, which consists of the simultaneous movement of the trained object by the robotic device 4 with a specific electrical effect through the skin on certain muscle and nerve fibers in order to enhance biofeedback and stimulate the muscles own activity and the formation of patterns of neuronal activity corresponding to the implementation of desired movements. In addition, when using electrical stimulation, the work of the locomotor centers is normalized at all vertical levels of motor activity regulation, and the maximum restructuring of the patient's neural dynamics is achieved. Thus, the additional use of the electrostimulator 5 in the neurorehabilitation system increases its efficiency.

[0100] It is possible to implement a neurorehabilitation system 23 (FIG. 1), which additionally contains an electromyograph 6 for registering muscular activity that sets a trained object in motion. Electromyograph 6, with sensors placed on the skin over certain muscles, is designed to register bioelectric potentials of muscular activity and thus allows to register muscle activity, that is, to register and measure electrical and physical tension in the muscles. This way, the patient's muscle tension can be registered and recorded. If the activity of the muscles driving the trained object is strong enough, an additional condition for the start of movement can be the performance of a certain effort by the patient's muscles, measured by the electromyograph 6 with sensors placed on the muscles that set the trained object in motion, and the patient, in addition to imagination of movement, should try to perform this movement. A variant is possible when the movement of the trained object by the robotic device 4 in accordance with the recognized signals of brain activity occurs under the condition of a sufficient level of the activity of the muscles of the untrained object, corresponding to the muscles setting the trained object in the given movement, recorded by the electromyograph, that is, when the muscle tension of the healthy limb sets in motion the affected limb. A gradual increase in the level of one's own muscular effort required to activate the robotic device helps to restore the limb's own motor activity. Thus, the use of electromyograph 6 in the neurorehabilitation system increases the effectiveness of rehabilitation.

[0101] To understand the work and functioning of the neurorehabilitation system 23 shown in FIG. 1, below is an example of the implementation of its work and the functioning of its elements. This example is given in order to provide an opportunity for a person skilled in the art to understand the principles of interaction of system elements and the principles of operation and functioning of the system 23 as a whole and should be considered as illustrative and not limiting the scope of the invention:

[0102] Using a visual display device, tasks are given to the patient related to the execution of movements by a paralyzed (trained) limb. In the course of performing the task, the patient must imagine the movement of the limb to the selected target, to the selected position or in the selected direction. At the same time, the brain activity registration device 2 registers the signals of brain activity. For example, it can be an electroencephalogram (EEG) of a patient, based on which a software classifier identifies patterns of electrical activity in the brain, allowing to determine the selected target or movement. Thereafter, a command is issued to the robotic device 4 (for example, an exoskeleton) to act on the limb (for example, to move it) in accordance with the detected intention of the patient.

[0103] If the patient's own muscle activity, which sets the rehabilitated limb in motion, is strong enough, an additional condition for starting movement can be the execution of a certain self-effort by the patient's muscles. In this case, an electromyograph 6 is additionally used, with sensors placed on the muscles that set the limb in motion, and the patient, in addition to imagining movement, should try to perform such a movement. An option is also possible when the tension of the muscles of a healthy limb sets the affected limb in motion.

[0104] The above description concerns and is based mainly on FIG. 1, which shows a block diagram of the interaction of the elements of the neurorehabilitation system. For clarity of the implementation of the system, a description of FIGS. 2-4 is also provided. In this case, the above embodiments are to be considered in all respects only as illustrative and not limiting the scope of the invention.

[0105] FIG. 2 shows a variant of a set of elements of a neurorehabilitation system, which includes:

[0106] a visual display device 1, presented in the form of virtual reality headset, provides a visual presentation 10 of a task for performing a movement by a trained object and contributes to a clearer and more imaginative presentation by the patient of the task being performed and, accordingly, amplification of brain activity to complete the task, thereby increasing the efficiency of the formation of signals of brain activity;

[0107] a device for recording brain activity 2, presented in the form of an electroencephalograph, capable of registering bioelectric activity of the brain from the surface of the scalp using sensors placed directly on the patient's head;

[0108] computer 3, presented in the form of a laptop, which contains software for recognizing and extracting the registered signal and interpreting the extracted registered signal using a database. The computer 3 transmits the commands formed on the basis of the interpretation of the registered signals of brain activity to the robotic device 4 and to the visual display device 1 according to the transmit-receive principle;

[0109] robotic device 4, presented in the form of one of the variants of the upper limb exoskeleton, serves for physical interaction with the trained object (that is a paralyzed, paretic, rehabilitated limb), including for moving the trained object in accordance with the recognized signals of brain and/or muscle activity;

[0110] motion tracker 7, which can be used during the operation and functioning of the robotic device 4 and allows to determine the position of the trained object in space, which is then transmitted to the visual display device 1, for more accurate and realistic visualization of the task being performed;

[0111] a controller unit 8, which controls the operation of the drives of the robotic device 4, and is not an obligatory element of the system and is given only as an example of implementation. For example, nowadays such versions of exoskeletons or other robotic devices are being produced, that do not need a dedicated controller unit for their operation, or have a built-in controller unit;

[0112] an emergency stop button 9 that is intended for an emergency stop of the robotic device 4 in case of an emergency situation, and can be external and built-in. Thus, the emergency stop button 9 contributes to an increase in the safety of operation of the neurorehabilitation system 23. It is possible to use other tools to ensure the safety of the operation of the system.

[0113] FIG. 3 depicts a perspective view of the neurorehabilitation system in action (for example of upper limb rehabilitation), which comprises:

[0114] a visual display device 1;

[0115] a device for recording brain activity 2;

[0116] computer 3;

[0117] robotic device 4;

[0118] electrostimulator 5 (FIG. 3 shows the electrode of the electrostimulator 5) for stimulating the muscles and nerves that set the object to be trained in a given movement. The electrostimulator 5 makes it possible to implement electrostimulation in the neurorehabilitation system, which consists in the simultaneous movement of the trained object by the robotic device 4 and electrical action on the corresponding muscles and nerves in order to enhance biofeedback, stimulate the own muscular activity and the formation of patterns of neuronal activity corresponding to the implementation of target movements. In addition, when using electrical stimulation, the work of the locomotor centers is normalized at all vertical levels of regulation of motor activity, and the maximum restructuring of the patient's neurodynamics is achieved;

[0119] electromyograph 6 (FIG. 3 shows the electrode of electromyograph 6) that provides registration of the activity of the muscles which set the object in motion. Electromyograph 6 with sensors is designed to register bioelectric potentials of muscle activity and, indirectly, measure the physical effort in them. Thus, the level of the patient's own muscular effort can be determined. Accordingly, one of the conditions for the movement of the trained object by the robotic device 4 in accordance with the recognized signals of brain activity may be the patient's tension of his own muscles up to a certain level, measured by the electromyograph 6;

[0120] controller unit 8;

[0121] emergency movement stop button 9;

[0122] FIG. 4 depicts a partial view of the overall system neurorehabilitation (an example of implementation for the rehabilitation of lower extremities), comprising:

[0123] a visual display device 1;

[0124] a device for registering brain activity 2;

[0125] robotic device 4, presented in the form of one of the variants of the lower limb exoskeleton;

[0126] electrostimulator 5 (FIG. 4 shows the electrode of the electrostimulator 5). In this example, the electrostimulator electrode 5 is located on the extensor muscle of the leg (quadriceps femoris) in the area of the knee joint, and stimulates its work;

[0127] electromyograph 6 (FIG. 4 shows the electrode of the electromyograph 6). In this case, the electromyograph sensor 6 is located in the region of the patient's quadriceps femoris (quadriceps), which serves to extend the leg at the knee joint.

[0128] By using the elements described above, the claimed invention “brain-computer interface-based neurorehabilitation system” increases the effectiveness of rehabilitation after a stroke and other diseases and disorders of the central nervous system by stimulating the restoration of mobility of the paralyzed limb by formation of neural biological feedback between the patient's intention to make a movement and its implementation. The neurorehabilitation system 23 (FIG. 1) allows registering, recognizing and extracting signals of brain and muscular activity, identifying the patient's intention to make a movement with a trained paralyzed object or its healthy analog, and then helping to perform this movement. The resulting biofeedback stimulates neuroplasticity—a process in the brain that forms bypass neural pathways to replace those lost or damaged as a result of the disease. Additionally, the effectiveness of rehabilitation is increased through the use of a visual display device. Thus, the problem of neurorehabilitation of patients with post-stroke neural symptomatic is being solved.

[0129] The method of neurorehabilitation using a neurorehabilitation system (in the basic version) is characterized by at least the following sequential actions, namely (see FIG. 5):

[0130] 10—visual presentation of a task by a visual display device;

[0131] 11—registration of signals of brain activity by a device for recording brain activity;

[0132] 12—transmission of signals of brain activity to a computer with software associated with the database;

[0133] 13—extraction of signals of brain activity necessary for interpretation by a computer and their interpretation by comparing them with a database;

[0134] 14—transmission of a command, formed on the basis of interpretation of registered signals of brain activity, to a robotic device for impacting a trained object; [0135] the impact of a robotic device on a trained object in accordance with the recognized signals of brain activity; [0136] transmission of a digital control signal to a visual display device.

[0137] Neurorehabilitation using a neurorehabilitation system is carried out according to the following method:

[0138] the patient is given tasks in visual and/or auditory form related to the execution of movements of a paralyzed limb. The visual presentation of the task can take place in a virtual reality environment using a virtual reality device that can be equipped with means of playing an audio signal. This allows the patient to be more involved in an imaginary process with the help of additional sound stimulation. At the same time, audio feedback can be implemented to display the quality of the task performance—for example, using signals of different volume and tone; or in the case of performing the assigned task with high quality, a melodic sound may play. The visual presentation of the task 10 in the virtual reality environment increases the manifestations of brain activity when performing the task, thereby positively affecting the effectiveness of rehabilitation;

[0139] furthermore, in the course of performing the task, the patient imagines the fulfillment of the given task of moving the trained object, that is, imagines the movement of the limb to the selected target, to the selected position or in the selected direction, thereby performing the given brain activity, and the brain activity registering device 2 registers and transmits signals of brain activity to the computer 3;

[0140] registration and subsequent transmission to the computer 3 of signals of brain activity is possible using an electroencephalograph as a device for recording brain activity 2;

[0141] it is possible to register and transmit to a computer 3 signals of brain activity using near-infrared spectroscopy devices (NIRS—near-infrared spectroscopy) measuring hemodynamic reactions associated with neural activity as a device for recording brain activity 2;

[0142] it is possible to register and transfer to the computer 3 information about brain activity in the form of information about the level of induced nuclear magnetic resonance in brain cells registered by a magnetic resonance imaging (MRI) device;

[0143] it is possible to register and then transmit to the computer 3 information about brain activity by registering the level of magnetic fields arising from the electrical activity of the brain, a magnetic encephalography (MEG) device or the like.

[0144] In the proposed method, the most preferred option is the registration and subsequent transmission 12 to the computer 3 of signals of electrical and bioelectric activity of the brain using an electroencephalograph as a device for registering brain activity 2. Another preferred option is the registration and subsequent transmission 12 to the computer 3 of signals of brain activity by using a near infrared spectroscopy device.

[0145] Also, various combinations of the above options for recording bioelectric signals are possible; the most preferred combination is the combined use of registration and subsequent transmission 12 to the computer 3 of signals of electrical and bioelectric activity of the brain using an electroencephalograph as a device for registering brain activity 2, together with the registration and subsequent transmission 12 to the computer 3 of NIRS signals. The combination of options allows to increase the accuracy of registration of signals of brain activity, and thus allows better interpretation and an increase in the effectiveness of rehabilitation;

[0146] The next step is registration and recognition of the registered signals of brain activity and their interpretation 13 by the computer 3 by comparing them with the database to identify patterns of brain activity, allowing to determine the selected target or movement. The registered signals of brain activity are sent from the brain activity recording device 2 to the computer 3. Using the software installed on the computer 3 (which can also be located on a server, on a third-party device or in a cloud storage, and calculations are performed by distributed computing by several devices located remotely on a server, on a third-party device, or in a cloud storage), the signals are recognized and interpreted. These signals reveal patterns of brain activity that allow the software to determine the chosen target or movement. At the same time, computer 4 with software interprets the signals of brain activity using software classifiers and a database containing reference signals of brain activity. Interpretation of signals of brain activity with the help of software classifiers can be implemented on the basis of artificial neural network technologies that use various mathematical methods to identify specific features (patterns) of brain activity associated with external stimulation or cognitive activity and then search for such patterns in the interpreted signal.

[0147] At the same time, the results of the interpretation of brain activity are recorded in the database for its expansion. In addition, classifiers are adaptively reconfigurable, that is, they are “trained”, adjusting to specific tasks and a specific patient. Automatic and manual selection of the optimal classifiers and their parameters is possible, which improves the accuracy and speed of their work and reduces the training time. Computer 3 (on which the software for recognition and extraction of the registered signal and interpretation of the extracted registered signal using the database, can be located), makes it possible to extract and recognize the signals of the visual evoked potential 17 and the signals of the motor imagination 18 (FIG. 6). Motor imagery signals 18 are usually synchronization/desynchronization (i.e., increase/suppression) of various rhythms of brain activity in the area of limb representation in the motor cortex and other parts of the cortex. The visual evoked potential signal 17 (FIG. 6) is an electrical wave that unconsciously arises in the cerebral cortex as a reaction to a “significant stimulus”—for example, to visual highlight (or change in brightness—“backlight”) of an object on which the patient focuses their attention. Due to the “unconscious” nature of the occurrence and the characteristic features of the patterns of visual evoked potential, which allow them to be identified with high accuracy in signals of brain activity, the use of the paradigm for the extraction of visual evoked potentials 17 requires less mental effort from the patient and can be applied for patients with reduced cognitive level that can occur in early stroke. In this case, it is possible to extract, recognize and further work separately with the signal of the motor imagination 18 and the signal 17 of the visual evoked potential. Their combined extraction, recognition and further work with these signals is also possible. Additionally, to facilitate the training of motor imagination for the patient and to facilitate the training of the classifier, kinesthetic training can be used when the trained object is moved by the robotic device 4, and the patient is instructed to imagine the corresponding muscle activity during the movement of the limb. Thus, the extraction and recognition of (registered) signals of brain activity and interpretation 13 by the computer 3 by comparing it with the database contributes to the increase in the effectiveness of rehabilitation.

[0148] After the extraction and recognition of the registered signals of brain activity and interpretation 13 by the computer 3 by comparison with the database, the command 14 is transmitted to the robotic device to impact the trained object 15, for example, to perform the intended movement. In this case, an exoskeleton can be used as a robotic device 4, which allows optimal anatomical parameterization. Thus, the transmission of the command 14, formed on the basis of the interpretation of the registered signals of brain activity, to the robotic device, and the subsequent action of the robotic device on the trained object 15 stimulate the formation of new neural connections in the brain instead of those lost, using the formation of neural biofeedback between intention and movement. Thus, the use of a robotic device in the system increases the effectiveness of rehabilitation.

[0149] During the action of the robotic device, the patient observes the task execution process on the visual display device 1: signal 16 is transmitted to the visual display device 1 and then visual presentation 10 takes place on the visual display device 1 of the task execution process, including that in accordance with the signal received from the robotic devices. Thus, the patient is involved in an imaginary process that makes the brain “believe” in the reality of the connection between the intention to make a movement and the physical movement of the trained object, i.e. paralyzed limb, which improves the effectiveness of rehabilitation. In addition, the visual display device 1, including that implemented in the form of a virtual reality device, provides a visual display of the performance of a task “from a third person”, that is, to show the patient a view of themselves “from the side”, or to display a virtual phantom “performing” given movement, while the really trained object, for example, an arm, is at rest. Observing a moving phantom (or observing the execution of a task “from the third person”) facilitates the performance of a mental task and stimulates the activation of mirror neurons 22 (FIG. 9), facilitating the restoration of neural connections, which also increases the efficiency of rehabilitation.

[0150] It is possible to implement the neurorehabilitation method, in which the command to impact 15 the trained object is sent from the computer 3 to the robotic device 4, and after the impact of the robotic device 4 on the object—to the visual display device 1. In this case, the command can be transmitted both directly from the robotic device 4 to the visual display device 1 and via the computer 3. Such an embodiment is necessary, for example, when a movement tracker 7 is used in the robotic device 4, which determines the position of the trained object in space. Information about the spatial position of the trained object is transmitted to the visual display device 1 for a more accurate and realistic visualization of the task being performed. At the same time, it is possible to transfer a digital signal from the robotic device 4 to the visual display device 1 through the computer 3 for its preliminary processing, transformation and conversion into the desired format perceived by the visual display device 1.

[0151] It is possible to implement the neurorehabilitation method, in which the impact on the trained object by the robotic device 4 is produced on the basis of recognized brain activity signals related to a healthy object. This option is particularly applicable in cases of severe damage to motor ability in early stroke, when it is difficult for the patient to perform controlled brain activity in relation to the trained object (affected limb). That is, if patients have difficulty in performing the task of motor imagination with the affected hemisphere of the brain, it is advisable to perform the exercise using both limbs (e.g. arms), when they have the opportunity to periodically perform the task for the healthy arm and then try to reproduce it with the paralyzed limb “by analogy”, which increases the effectiveness of rehabilitation.

[0152] It is possible to implement the method of neurorehabilitation (FIG. 7) in which the impact of the robotic device 4 on the trained object in accordance with the recognized signals of brain activity 15 occurs under the condition of the activity of the muscles that set the trained object in a given movement, registered by the electromyograph, that is, after the selection and recognition (registered) signals of brain activity by a computer and interpretation 13 by comparing it with a database, the electromyograph additionally records the activity of the muscles that set the trained object 19 in a given movement, and provided that the patient's own muscles are contracted to a certain level, measured by the electromyograph 6, the trained object is moved by a robotic device in accordance with the recognized signals of brain activity 15. In addition, it is possible to implement a method in which the movement 15 of a trained object, that is a paralyzed limb, by a robotic device 4 in accordance with the recognized signals of brain activity occurs under the condition of sufficient activity of the muscles of the corresponding untrained object registered by the electromyograph, that is a healthy limb, corresponding to the training object setting in a given movement, i.e. when muscle tension in a healthy limb sets the affected limb in motion. Later, the patient “by analogy” tries to induce muscle activity of the affected limb. Thus, the registration of the activity of muscles 19 by the electromyograph and the movement 15 of the trained object by the robotic device 4, provided that the patient's own muscles are contracted to a certain level, measured by the electromyograph 6, increases the efficiency of rehabilitation.

[0153] It is possible to implement the neurorehabilitation method (FIG. 8), in which the movement 15 of the trained object by the robotic device 4 in accordance with the recognized signals of brain activity is accompanied by additional electrical stimulation 21 of muscles and nerves that set the trained object in a given movement. Electrostimulation 21 is performed using an electrostimulator 5. In response to the performance of a mental and/or muscular task, a complex stimulation of the motor system occurs, which consists in simultaneous functional electrical stimulation of the corresponding muscles and nerves when the 15 trained object is moved by a robotic device 4 in order to enhance biofeedback and stimulate its own muscle activity and the formation of patterns of neuronal activity corresponding to the performance of targeted movements. In addition, when using electrical stimulation, the work of the locomotor centers is normalized at all vertical levels of regulation of motor activity, and the maximum restructuring of the patient's neurodynamics is achieved. Thus, the use of electrical stimulation 21 contributes to an increase in the effectiveness of rehabilitation.

[0154] It is possible to implement the neurorehabilitation method, in which the degree of completion of the assigned task based on the registered signals of brain activity is displayed on the visual display device 1 in the instant feedback mode, that is, when performing the task, using the visual display device 1, the patient is provided with information about how successfully they perform the task. Information can be provided in the form of a changing scale or indicator, where, if the task is performed correctly, the maximum value is displayed. If the task is performed incorrectly or not close enough to the set value, then the value displayed on the scale or indicator decreases. In addition, instant feedback on the degree of completion of the assigned task can be performed using audial signals, for example, when a virtual reality helmet with built-in devices for listening to an audio signal is used as a visual display device 1. Such an implementation allows the patient to determine and understand how correctly and efficiently they perform the task, thereby stimulating them to manifest the expected brain activity and increasing the effectiveness of rehabilitation. In addition, the patient's ability to see that when the task is performed correctly contributes to the production of neurotransmitters in the patient's body, which contribute to the restoration of neural connections in the brain.

[0155] It is possible to implement the neurorehabilitation method, in which the task, registration of signals and commands to perform the task are divided into several stages, while each stage of the task can be recorded by a different device, performed by different parts of the trained object, and each stage is displayed on the visual display device 1 independently. Thus, the invention makes it possible to simulate the implementation of complex multi-stage movements, similar to those performed by the patient in real life, and thus to carry out complex rehabilitation of the limb. In this case a more and less intact function are immediately restored in the same exercise. For example, the mobility of the entire arm as a whole can be restored based on the analysis of the electromyogram of the large muscles of the shoulder, and the mobility of the hand can be restored based on the analysis of the electroencephalogram. An example is the “reach out and take a glass” task. The patient must first tense the shoulder muscles so that the robotic device moves the entire arm in the direction of the virtual glass, and then imagine the contraction of the forearm muscles so that the robotic device physically closes their hand, helping them to “take” the glass.

[0156] In addition, all of the above options for implementing the method of neurorehabilitation can be combined: all together (FIG. 10) or in various combinations. They also can be used separately from each other.

[0157] Thus, the use of the claimed invention “neurorehabilitation system” and the claimed invention “neurorehabilitation method” increase the effectiveness of motor rehabilitation after a stroke, including in early and late rehabilitation period, and in other diseases and disorders of the central nervous system by stimulating the restoration of mobility of the paralyzed limb by formation in various ways and their combinations of neurobiological feedback between the patient's intention to make a movement and its implementation. The neurorehabilitation system allows registering, recognizing and extracting signals of brain activity, revealing the patient's intention to make a movement with the trained object, helping them to make this movement and immersing them in a virtual environment similar to ordinary life through the use of a visual display device, which also can be a virtual reality device. Thus the resulting biofeedback stimulates neuroplasticity—a process that forms bypass neural pathways to replace those lost or damaged as a result of the disease. An additional increase in the effectiveness of rehabilitation occurs with the use of electrical stimulation and electromyography.

[0158] In the present application materials, the preferred disclosure of the implementation of the claimed technical solution is presented. This should not be used as limiting other, particular embodiments of its implementation, which do not go beyond the scope of the claimed scope of legal protection and are obvious to specialists in the relevant field of technology.