DE102007022303B4 - Telemetrically Controlled Microelectrode Manipulator System (TCMS) - Google Patents
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- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/372—Arrangements in connection with the implantation of stimulators
- A61N1/37211—Means for communicating with stimulators
- A61N1/37252—Details of algorithms or data aspects of communication system, e.g. handshaking, transmitting specific data or segmenting data
- A61N1/37282—Details of algorithms or data aspects of communication system, e.g. handshaking, transmitting specific data or segmenting data characterised by communication with experts in remote locations using a network
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- A61B5/279—Bioelectric electrodes therefor specially adapted for particular uses
- A61B5/291—Bioelectric electrodes therefor specially adapted for particular uses for electroencephalography [EEG]
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- A61N1/02—Details
- A61N1/04—Electrodes
- A61N1/05—Electrodes for implantation or insertion into the body, e.g. heart electrode
- A61N1/0526—Head electrodes
- A61N1/0529—Electrodes for brain stimulation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/3605—Implantable neurostimulators for stimulating central or peripheral nerve system
- A61N1/3606—Implantable neurostimulators for stimulating central or peripheral nerve system adapted for a particular treatment
- A61N1/36082—Cognitive or psychiatric applications, e.g. dementia or Alzheimer's disease
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/372—Arrangements in connection with the implantation of stimulators
- A61N1/37211—Means for communicating with stimulators
- A61N1/37252—Details of algorithms or data aspects of communication system, e.g. handshaking, transmitting specific data or segmenting data
- A61N1/3727—Details of algorithms or data aspects of communication system, e.g. handshaking, transmitting specific data or segmenting data characterised by the modulation technique
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Abstract
Telemetrisch gesteuerter Mikroelektrodenmanipulator (1) zum individuellen Steuern der Elektrodenpositionen von implantierbaren multiplen Quartzglas-Platin Wolfram Mikroelektroden (5) im Gehirn eines Lebewesens durch eine Kontrollstation (3) unter Einsatz einer Telemetrieeinheit (2), wobei die Ansteuerung mehrerer Telemetrieeinheiten (17) über WLAN in einem Computer Netzwerk (18) simultan erfolgt und wobei die Mikroelektroden (5) über eine Lochrasterblende mit äquidistanten Löchern, die in eine implantierbare Kammer integriert ist, eine reproduzierbare Ableitposition für jede Mikroelektrode (5) in horizontaler Richtung gewährleisten. A telemetry controlled microelectrode manipulator (1) for individually controlling the electrode positions of implantable multiple quartz glass-platinum tungsten microelectrodes (5) in the brain of an animal by a control station (3) using a telemetry unit (2), wherein the control of a plurality of telemetry units (17) via WLAN in a computer network (18) takes place simultaneously and wherein the microelectrodes (5) ensure a reproducible discharge position for each microelectrode (5) in the horizontal direction via a perforated screen with equidistant holes, which is integrated in an implantable chamber.
Description
Anwendungsgebiet:Field of use:
Die Erfindung betrifft eine Vorrichtung entsprechend dem Oberbegriff des Anspruchs I.The invention relates to a device according to the preamble of claim I.
Stand der Technik:State of the art:
Gegenwärtiger Stand der Technik im Bereich der Hirnforschung ist die extrazelluläre Ableitung von neuronalen Signalen und die telemetrische Übertragung von neurophysiologischen auf mehreren Kanälen. Der Stand der Technik wird in der Publikation von Geortchev et al. umfassend dargestellt (Geortchev et al., 2005). Die Autoren geben einen Überblick, welche Typen digitaler Kommunikation eine telemetrische Übertragung von extrazellulären Signalen einer Multineuronen Population derzeit möglich sind. Sie beschreiben die Übertragung mittels Zigbee oder Bluetooth Übertragungsstandard. Sie kommen zu dem Schluß, dass sich Bluetooth aufgrund der Übertragungsbandbreite für Multineuronen Ableitungen besser eignet als der Zigbee Standard. Die Signalübertragung mittels Zigbee Standard wird, aufgrund der geringeren Signalbandbreite, ausschließlich für Signalübertragungen aus kleineren Neuronenpopulationen als geeignet eingestuft. Cielewski et al. publizierten Ergebnisse über ein Telemetriesystem, basierend auf einem digitalen Signalprozessor vom Typ Texas Instruments MSP 430 mit dem multiple Kanäle neuronaler Aktivität aufgenommen und telemetrisch übertragen werden können (Cieslewski et al., 2006). Dieses System ist ausschließlich für die Erfassung neuronaler Daten konzipiert und erlaubt keine telemetrische Steuerung von Aktoren. Mosheni et al. präsentieren ein Telemetriesystem für Ableitung und Übertragung neurophysiologischer Signale auf 4 Kanälen (Mohseni et al., 2005). Die Datenübertragung erfolgt im FM-Frequenzbereich von 94-98MHz über eine Distanz von etwa 0,5m. Bossetti et al. publizierten Ergebnisse über ein subkutan implantierbares Ableit- und Telemetriesystem mit dem neuronale Signale von chronisch implantierten Elektroden abgeleitet und telemetrisch übertragen werden können, um telemetrisch einen Apparat steuern zu können (Bossetti et al., 2004). S. Xu et al. präsentierten ein multikanal Telemetriesystem zur telemetrischen Mikrostimualtion in frei beweglichen Tieren (Xu et al., 2004). Das System wird von einem PC über eine RS323 Schnittstelle gesteuert. Die Signalübertragung ist unidirektional vom PC auf das Zielsystem und erlaubt ausschließlich eine Mikrostimulation.Current state of the art in the field of brain research is the extracellular derivation of neuronal signals and the telemetric transmission of neurophysiological on multiple channels. The state of the art is described in the publication by Geortchev et al. comprehensively presented (Geortchev et al., 2005). The authors give an overview of which types of digital communication are currently possible telemetric transmission of extracellular signals of a multineuron population. They describe the transmission via Zigbee or Bluetooth transmission standard. They conclude that Bluetooth is more suitable for multi-neuron derivations than the Zigbee standard due to the transmission bandwidth. Signal transmission using the Zigbee standard is classified as suitable only for signal transmissions from smaller neuron populations due to the lower signal bandwidth. Cielewski et al. published results via a telemetry system, based on a Texas Instruments MSP 430 digital signal processor with which multiple channels of neuronal activity can be recorded and transmitted telemetrically (Cieslewski et al., 2006). This system is designed exclusively for the acquisition of neural data and does not allow telemetric control of actuators. Mosheni et al. present a telemetry system for the derivation and transmission of neurophysiological signals on 4 channels (Mohseni et al., 2005). The data transmission takes place in the FM frequency range of 94-98MHz over a distance of about 0.5m. Bossetti et al. published results on a subcutaneously implantable Ableit- and telemetry system with the neural signals derived from chronically implanted electrodes and telemetry can be transmitted to telemetrically control an apparatus can (Bossetti et al., 2004). S. Xu et al. presented a multichannel telemetry system for telemetric microstimulation in free-moving animals (Xu et al., 2004). The system is controlled by a PC via an RS323 interface. The signal transmission is unidirectional from the PC to the target system and allows only micro-stimulation.
Nachteile des Stands der Technik:Disadvantages of the prior art:
Ein wesentlicher Nachteil des gegenwärtigen Stands der Technik bei der telemetrischen Übertragung von extrazellulär abgeleiteten neurophysiologischen Signalen ist, dass die Mikroelektroden, mit denen die Signale von einzelnen Neuronen abgeleitet werden, nach der Positionierung im Gehirn nicht mehr bewegt werden können. Chronische Signalableitungen über längere Zeiträume sind damit nicht möglich. Gerade Verhaltenstudien mit Versuchstieren (z.B. Primaten) unter Einsatz extrazellulärer Multielektrodenableitung sind somit nicht durchführbar. Bereits kleinste Verschiebungen des Hirngewebes relativ zur Mikroelektrodenspitze können dazu führen, dass die Elektrode die Signale des jeweiligen Neurons nicht länger ableiten kann. Kann die Elektrode nach der Implantation nicht mehr definiert bewegt werden, ist eine weitere Signalableitung nicht mehr möglich. Eine Nachjustierung der Elektrodenposition muß also telemetrisch möglich sein, um die Signalableitung permanent der biomechanischen Situation im Gehirn anpassen zu können.A major drawback of the current state of the art in the telemetric transmission of extracellularly derived neurophysiological signals is that the microelectrodes with which the signals are derived from individual neurons can no longer be moved after positioning in the brain. Chronic signal derivatives over longer periods are therefore not possible. Especially behavioral studies with experimental animals (eg primates) using extracellular multi-electrode derivation are therefore not feasible. Even the smallest displacements of the brain tissue relative to the microelectrode tip can lead to the electrode no longer being able to derive the signals of the respective neuron. If the electrode can not be moved in a defined manner after implantation, further signal derivation is no longer possible. A readjustment of the electrode position must therefore be telemetrically possible in order to permanently adapt the signal derivation to the biomechanical situation in the brain.
Ein weiterer Nachteil der klassischen telemetrischen Signalübertragung ist die geringe Signalbandbreite, wodurch die Kanalzahl der Übertragung begrenzt ist. Die wissenschaftlichen Fragestellungen im Bereich der Hirnforschung haben sich in den letzten Jahrzehnten immer mehr in Richtung Erforschung neuronaler Netzwerke im Gehirn entwickelt. Hierzu ist es notwendig, von möglichst vielen Nervenzellen gleichzeitig extrazelluläre Signale abzuleiten und telemetrisch zu übertragen. Stand der Technik ist im Moment die simultane Signalableitung von multiplen Mikroelektroden und die kabelgebundene Übertragung der Signale zu einem Datenaufnahmesystem. Eine telemetrische Übertragung solcher Signale ist auf relativ wenige Kanäle begrenzt. Ein weiterer Nachteil ist die begrenzte Skalierbarkeit einzelner telemetrischer Ableitsysteme. Hierunter versteht man die gleichzeitige Anwendung von mehreren telemetrischen Ableitsystemen auf verschiedenen Versuchstieren, um Verhaltensstudien in Gruppen durchzuführen.Another disadvantage of classical telemetric signal transmission is the low signal bandwidth, which limits the transmission channel number. The scientific questions in the field of brain research have in recent decades increasingly developed in the direction of research into neural networks in the brain. For this purpose, it is necessary to derive extracellular signals from as many nerve cells as possible and transmit them telemetrically. The state of the art at the moment is the simultaneous signal derivation of multiple microelectrodes and the wired transmission of the signals to a data acquisition system. Telemetric transmission of such signals is limited to relatively few channels. Another disadvantage is the limited scalability of individual telemetric derivation systems. This refers to the simultaneous use of multiple telemetric delivery systems on different animals to conduct behavioral studies in groups.
Aufgaben der Erfindung:Objects of the invention:
Aufgabe der Erfindung ist es, einen Mikroelektrodenmanipulator bidirektional telemetrisch zu steuern, um eine definierte Nachjustierung von Mikroelektroden im Gehirn zu ermöglichen. Durch diese Erfindung wird ein wesentlicher Nachteil von gegenwärtig eingesetzten unidirektionalen Telemetriesystemen vermieden. Der Mikroelektrodenmanipulator liefert weiterhin die Position der Mikroelektrode mit einer Positioniergenauigkeit von 1 Mikrometer.The object of the invention is to control a microelectrode manipulator bidirectionally telemetrically to allow a defined readjustment of microelectrodes in the brain. This invention avoids a significant disadvantage of currently used unidirectional telemetry systems. The microelectrode manipulator also provides the position of the microelectrode with a positioning accuracy of 1 micron.
Eine weitere Aufgabe der Erfindung ist es mehrere telemetrisch kontrollierte Mikroelektrodenmanipulatoren simultan mittels eines Versuchsparadigmas zu betreiben. Weiterhin wird angestrebt, die Signalübertragungsbandbreite des Gesamtsystems so groß zu wählen, dass möglichst viele Funktionen des Systems telemetrisch gesteuert werden können.A further object of the invention is to operate several telemetrically controlled microelectrode manipulators simultaneously by means of an experimental paradigm. Furthermore, it is desirable to choose the signal transmission bandwidth of the overall system so large that as many functions of the system can be controlled telemetrically.
Lösung der Aufgabe: Solution of the task:
Diese Aufgaben werden durch den telemetrisch kontrollierten Mikroelektrodenmanipulator (Telemetric Controlled Microdrive System, TCMS) mit den Merkmalen des Anspruchs I gelöst.These objects are achieved by the telemetric controlled microelectrode manipulator (TCMS) with the features of claim I.
Vorteile der Erfindung:Advantages of the invention:
Die Erfindung weist folgende Vorteile auf:
- 1) Die Erfindung ermöglicht die simultane telemetrische Steuerung von mehreren Mikroelektroden mit einer Genauigkeit von 1µm, die Signalableitung über diese Mikroelektroden, die Signalkonditionierung und die telemetrische Signalübertragung an eine Empfangsstation. Die bidirektionale Signalübertragung des telemetrisch kontrollierten Mikroelektrodenmanipulators hat den Vorteil der Nachjustierung von Ableitelektroden zur Optimierung des Ableitergebnisses. Dieser Vorteil ermöglicht erst chronische Signalableitungen.
- 2) Die Erfindung ermöglicht den simultanen Betrieb mehrerer Telemetriesysteme und bietet dadurch den Vorteil der Kontrolle mehrerer Mikroelektrodenmanipulatoren auf verschiedenen Versuchstieren mit dem Ziel der Durchführung von Verhaltensstudien in Tiergruppen.
- 3) Die Erfindung setzt telemetrisch repositionierbare Mikroelektroden ein, die auch Stimulationselektroden sein können. Mit dem Implantat können Stimulationselektroden nachjustiert werden, um die Mikroelektroden neuronaler Prothesen besser an die Zielstruktur (Nervenzellen) anpassen zu können. Dies hat den Vorteil, dass man bei optimaler Anpassung der Stimulationselektrode an die Zielstruktur (Neuron) weniger Stimulationsstrom benötigt, um einen entsprechenden Stimulationseffekt auszulösen. Dadurch kann bei Neuroimplantaten Energie gespart werden, was zur Erhöhung der Implantat Lebensdauer beiträgt.
- 4) Durch die Erhöhung der telemetrischen Übertragungsbandbreite können mehr Kanäle pro telemetrischem Ableitsystem versorgt werden als bei klassischen Verfahren. Dadurch können Multikanalableitungen mit höherer Elektrodenzahl an frei beweglichen Versuchstieren durchgeführt werden.
- 1) The invention enables the simultaneous telemetric control of several microelectrodes with an accuracy of 1 micron, the signal derivation via these microelectrodes, the signal conditioning and the telemetric signal transmission to a receiving station. The bidirectional signal transmission of the telemetrically controlled microelectrode manipulator has the advantage of the readjustment of discharge electrodes to optimize the discharge result. This advantage allows only chronic signal derivatives.
- 2) The invention enables the simultaneous operation of multiple telemetry systems and thereby offers the advantage of controlling multiple microelectrode manipulators on different animals with the aim of conducting behavioral studies in groups of animals.
- 3) The invention uses telemetrically repositionable microelectrodes, which may also be stimulation electrodes. Stimulation electrodes can be readjusted with the implant in order to better adapt the microelectrodes of neural prostheses to the target structure (nerve cells). This has the advantage that with optimal adaptation of the stimulation electrode to the target structure (neuron), less stimulation current is needed to trigger a corresponding stimulation effect. As a result, energy can be saved with neuroimplants, which contributes to increasing the implant lifetime.
- 4) By increasing the telemetric transmission bandwidth, more channels can be supplied per telemetric lead-off system than with traditional methods. As a result, multi-channel leads with a higher number of electrodes can be performed on freely movable test animals.
Referenzenreferences
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Bossetti CA, Carmena JM, Nicolelis MAL, Wolf PD. Transmission latencies in a telemetry-linked brain-machine interface. IEEE Trans.Biomed.Eng 2004; 51:919-924.Bossetti CA, Carmena JM, Nicolelis MAL, Wolf PD. Transmission latencies in a telemetry-linked brain-machine interface. IEEE Trans.Biomed.Eng 2004; 51: 919-924. -
Cieslewski G, Cheney D, Gugel K, Sanchez JC, Principe JC. Neural Signal Sampling via the Low Power Wireless Pico System. In: Engineering in Medicine and Biology Society, 2006. 2006.Cieslewski G, Cheney D, Gugel K, Sanchez JC, Principe JC. Neural Signal Sampling via the Low Power Wireless Pico System. In: Engineering in Medicine and Biology Society, 2006. 2006. -
Geortchev V, Stoianov I, Krasteva R, Boneva A, Batchvarov D, Stanishev K, Zahariev R, Vallortigara G. Digital communication for telemetric multi-neuron recordings. Academic Open Internet Journal 2005; 16.GeoTechv V, Stoianov I, Krasteva R, Boneva A, Batchvarov D, Stanishev K, Zahariev R, Vallortigara G. Digital communication for telemetric multi-neuron recordings. Academic Open Internet Journal 2005; 16th -
Mohseni P, Najafi K, Eliades SJ, Wanf X. Wireless multichannel biopotential recording using an integrated FM telemetry circuit. IEEE Transactions on Neural Systems and Rehab.Eng 2005; 13:263-271.Mohseni P, Najafi K, Eliades SJ, Wanf X. Wireless multichannel biopotential recording using an integrated FM telemetry circuit. IEEE Transactions on Neural Systems and Rehab.Eng 2005; 13: 263-271. -
Xu S, Talwar SK, Hawley ES, Li L, Chapin JK. A multi-channel telemetry system for brain microstimulation in freely roaming animals. J Neurosci Methods 2004; 133:57-63.Xu S, Talwar SK, Hawley ES, Li L, Chapin JK. A multi-channel telemetry system for brain microstimulation in freely roaming animals. J Neurosci Methods 2004; 133: 57-63.
Ausführungsbeispiele der Erfindung sind in den beiliegenden Zeichnungen dargestellt und werden im folgenden näher erläutert.Embodiments of the invention are illustrated in the accompanying drawings and are explained in more detail below.
Es zeigen
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1 : Blockschaltbild des telemetrisch kontrollierten Mikroelektrodenmanipulators (TCMS) -
2 :Montage von Mikroelektrodenmanipulator 1 und Telemetrieeinheit 2 auf dem Kopf eines Versuchstieres (hier Affe) -
3 : Versuchsanordnungmit mehreren Telemetrieeinheiten 17, die durch einenWLAN Access Point 15 angesteuert werden.
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1 : Block diagram of the telemetrically controlled microelectrode manipulator (TCMS) -
2 : Assembly ofmicroelectrode manipulator 1 andtelemetry unit 2 on the head of an experimental animal (here monkey) -
3 : Experimental arrangement withseveral telemetry units 17, which are controlled by aWLAN access point 15.
Das telemetrisch kontrollierte Mikroelektrodenmanipulatorsystem (TCMS; Telemetric Controlled Microdrive System) besteht aus einem Mikroelektrodenmanipulator
Das telemetrisch kontrollierte Mikroelektrodenmanipulatorsystem (TCMS; Telemetric Controlled Microdrive System) besteht aus einem Multikanal Mikroelektrodenmanipulator vom Typ Micro Matrix
In den Mikroelektrodenmanipulator
Die von den Mikroelektroden
Der Mikroelektrodenmanipulator
Die Telemetrieeinheit
Kernstück der Telemetrieeinheit
Zur Ansteuerung der Mikromotoren
Die telemetrische Signalübertragung erfolgt über ein WLAN Modul
Die Stromversorgung der integrierten Vorverstärker erfolgt über Batterien, die im System integriert sind.Power is supplied to the integrated preamplifiers via batteries integrated into the system.
Der Mikroelektrodenmanipulator
Die Control Einheit
Die Mikromotoren
Die Telemetrieeinheit
Claims (13)
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Citations (4)
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US20030199944A1 (en) | 2002-02-08 | 2003-10-23 | Chapin John K. | Method and apparatus for guiding movement of a freely roaming animal through brain stimulation |
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US7027872B2 (en) | 2000-03-31 | 2006-04-11 | Medtronic, Inc. | Variable encryption scheme for data transfer between medical devices and related data management systems |
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DE9300676U1 (en) | 1993-01-20 | 1993-03-11 | Eckhorn, Reinhard, Prof. Dr.-Ing., 3575 Kirchhain | Microprobe and probe device |
US6909917B2 (en) | 1999-01-07 | 2005-06-21 | Advanced Bionics Corporation | Implantable generator having current steering means |
DE10044115A1 (en) | 1999-09-13 | 2001-04-12 | Medtronic Inc | Combined micro-macro-brain stimulation lead and method of use |
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US20030199944A1 (en) | 2002-02-08 | 2003-10-23 | Chapin John K. | Method and apparatus for guiding movement of a freely roaming animal through brain stimulation |
DE10211766A1 (en) | 2002-03-14 | 2003-10-09 | Forschungszentrum Juelich Gmbh | Device for treating patients by means of brain stimulation, an electronic component and the use of the device and the electronic component in medicine |
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