In this paper we describe a set of algorithms and a novel miniature device that together can autonomously position electrodes in neural tissue to obtain high-quality extracellular recordings. This robotic system moves each electrode to detect the signals of individual neurons, optimize the signal quality of a target neuron, and then maintain this signal over time. Such neuronal signals provide the key inputs for emerging neuroprosthetic medical devices and serve as the foundation of basic neuroscientific and medical research. Experimental results from extensive use of the robotic electrodes in macaque parietal cortex are presented to validate the method and to quantify its effectiveness.
Avezaat, C.J.J. and van Eijndhoven, J.H.M. ( 1986). The role of the pulsatile pressure variations in intracranial pressure monitoring. Neurosurgical Review, 9(1): 113-120.
3.
Baker, S.N., Philbin, N., Spinks, R., Pinches, E.M., Wolpert, D.M., MacManus, D.G., Pauluis, Q. and Lemon, R.N. ( 1999). Multiple single unit recording in the cortex of monkeys using independently moveable microelectrodes. Journal of Neuroscience Methods, 94(1): 5-17.
4.
Branchaud, E.A. ( 2006). An algorithm for the autonomous isolation of neurons in extracellular recordings. PhD Thesis, California Institute of Technology.
5.
Branchaud, E.A., Andersen, R.A. and Burdick, J.W. ( 2006). An algorithm for autonomous isolation of neurons in extracellular recordings. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob).
6.
Branchaud, E.A., Cham, J.G., Nenadic, Z. and Burdick, J.W. ( 2005). A miniature robot for autonomous single neuron recordings . IEEE International Conference on Robotics and Automation (ICRA).
7.
Buzsaki, G. ( 2004). Large-scale recording of neuronal ensembles. Nature Neuroscience, 7(5): 446-451.
8.
Cham, J.G., Branchaud, E.A., Nenadic, Z., Greger, B., Andersen, R.A. and Burdick, J.W. ( 2005). Semi-chronic motorized microdrive and control algorithm for autonomously isolating and maintaining optimal extracellular action potentials . Journal of Neurophysiology, 93: 570-579.
9.
Cham, J.G., Wolf, M.T., Andersen, R.A. and Burdick, J.W. ( 2006). Miniature neural interface microdrive using parylene-coated layered manufacturing. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob).
10.
deCharms, R.C., Blake, D.T. and Merzenich, M.M. ( 1999). A multielectrode implant device for the cerebral cortex . Journal of Neuroscience Methods, 93(1): 27-35.
11.
Emondi, A.A., Rebrik, S.P., Kurgansky, A.V. and Miller, K.D. ( 2004). Tracking neurons recorded from tetrodes across time. Journal of Neuroscience Methods, 135: 95- 105.
12.
Fee, M.S. ( 2000). Active stabilization of electrodes for intracellular recording in awake behaving animals. Neuron, 27(3): 461-468.
13.
Fee, M.S. and Leonardo, A. ( 2001). Miniature motorized microdrive and commutator system for chronic neural recording in small animals. Journal of Neuroscience Methods, 112(2): 83-94.
14.
Fraley, C. and Raftery, A.E. ( 1998). How many clusters? Which clustering method? Answers via model-based cluster analysis. Computer Journal, 41(8): 578-588.
15.
Gray, C.M., Maldonado, P.E., Wilson, M. and McNaughton, B. ( 1995). Tetrodes markedly improve the reliability and yield of multiple single-unit isolation from multi-unit recordings in cat striate cortex . Journal of Neuroscience Methods, 63(1-2): 43-54.
16.
Harris, K.D., Hirase, H., Leinekugel, X., Henze, D.A. and Buzsaki, G. ( 2001). Temporal interaction between single spikes and complex spike bursts in hippocampal pyramidal cells. Neuron, 32(1): 141-149.
17.
Kralik, J.D., Dimitrov, D.F., Krupa, D.J., Katz, D.B., Cohen, D. and Nicolelis, M.A.L. ( 2001). Techniques for long-term multisite neuronal ensemble recordings in behaving animals. Methods, 25(2): 121-150.
18.
Lewicki, M.S. ( 1998). A review of methods for spike sorting: the detection and classification of neural action potentials. Network: Computation in Neural Systems, 9: R53-R78.
19.
Mulliken, G.H. ( 2008). Continuous sensorimotor control mechanisms in posterior parietal cortex: forward model encoding and trajectory decoding. PhD Thesis , California Institute of Technology.
20.
Muthuswamy, J., Okandan, M., Gilletti, A., Baker, M.S. and Jain, T. ( 2005). An array of microactuated microelectrodes for monitoring single-neuronal activity in rodents. IEEE Transactions on Biomedical Engineering, 52(8): 1470- 1477.
21.
Nenadic, Z. and Burdick, J.W. ( 2005). Spike detection using the continuous wavelet transform . IEEE Transactions on Biomedical Engineering, 52(1): 74-87.
22.
Nenadic, Z. and Burdick, J.W. ( 2006). A control algorithm for autonomous optimization of extracellular recordings. IEEE Transactions on Biomedical Engineering, 53(5): 941-955.
23.
Pang, C., Tai, Y.C., Burdick, J.W. and Andersen, R.A. ( 2006). Electrolysis-based diaphragm actuators. Nanotechnology, 17(4): S64-S68.
24.
Porada, I., Bondar, I., Spatz, W.B. and Kruger, J. ( 2000). Rabbit and monkey visual cortex: more than a year of recording with up to 64 microelectrodes. Journal of Neuroscience Methods, 95(1): 13-28.
25.
Rousche, P.J. and Normann, R.A. ( 1998). Chronic recording capability of the Utah intracortical electrode array in cat sensory cortex. Journal of Neuroscience Methods, 82(1): 1- 15.
26.
Serruya, M.D., Hatsopoulos, N.G., Paninski, L., Fellows, M.R. and Donoghue, J.P. ( 2002). Brain-machine interface: instant neural control of a movement signal. Nature, 416(6877): 141-142.
27.
Taylor, D.M., Tillery, S.I.H. and Schwartz, A.B. ( 2002). Direct cortical control of 3D neuroprosthetic devices . Science, 296(5574): 1829-1832.
28.
Turner, J.N., Shain, W., Szarowski, D.H., Andersen, M., Martins, S., Isaacson, M. and Craighead, H. ( 1999). Cerebral astrocyte response to micromachined silicon implants. Experimental Neurology, 156(1): 33-49.
29.
Venkatachalam, S., Fee, M.S. and Kleinfeld, D. ( 1999). Ultra-miniature headstage with 6-channel drive and vacuum-assisted micro-wire implantation for chronic recording from the neocortex. Journal of Neuroscience Methods, 90(1): 37-46.
30.
Vos, B.P., Wijnants, M., Taeymans, S. and De Schutter, E. ( 1999). Miniature carrier with six independently moveable electrodes for recording of multiple single-units in the cerebellar cortex of awake rats . Journal of Neuroscience Methods, 94(1): 19-26.
31.
Wessberg, J., Stambaugh, C.R., Kralik, J.D., Beck, P.D., Laubach, M., Chapin, J.K., Kim, J., Biggs, S.J., Srinivasan, M.A. and Nicolelis, M.A.L. ( 2000). Real-time prediction of hand trajectory by ensembles of cortical neurons in primates. Nature, 408(6810): 361-365.
32.
Williams, J.C., Rennaker, R.L. and Kipke, D.R. ( 1999). Long-term neural recording characteristics of wire microelectrode arrays implanted in cerebral cortex. Brain Research Protocols , 4(3): 303-313.
33.
Wolf, M.T. and Burdick, J.W. ( 2007). Spike clustering and neuron tracking over successive time windows. IEEE EMBS Conference on Neural Engineering (NER).
