Linear control model of the spinal processing of descending neural signals

Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2003.Includes bibliographical references (p. 135-139).This thesis develops a physiological-control model of the spinal processing of descending neural kinematic motor control signals in the bullfrog (Rana Catesbeiana). The model encompasses the full nonlinear skeletal dynamics of the femur/tibiofibula/tarsus system in the horizontal plane, its muscles, and spinal monosynaptic stretch reflexes. In addition, it incorporates recent findings of muscle synergies encoded within the spinal cord and demonstrates that these muscle synergies can be reorganized into a set of Kinematic Control Synergies (KCS), which have simple, orthogonal kinematic functions. Activating these KCS with simple pulse-like signals allows for the formation of a wide range of behaviors. It is hypothesized that such signals might come from higher-level Central Nervous System (CNS) structures such as the brainstem or cerebellum. Furthermore, KCS present a simple mechanism whereby sensory information could be used by spinal interneurons to recruit the muscle groups required to correct limb movement in real-time, or to learn the correct combination of muscle groups required to perform a movement correctly. Lastly, the experimental findings of convergent, position-invariant ankle force fields observed in the frog are discussed in light of the muscle synergies encoded within the spinal cord and KCS. It is concluded that the control of ankle movement using linear combinations of KCS-derived ankle force fields, may be equivalent to movement control via linear combinations of convergent, position-invariant ankle force fields. Further research, however, is required to concretely establish their equivalence.by Iahn Cajigas González.M.Eng

Methods toward improved lower extremity rehabilitation

Thesis (Ph. D. in Electrical and Medical Engineering)--Harvard-MIT Program in Health Sciences and Technology, 2012.Cataloged from PDF version of thesis.Includes bibliographical references.Ambulation is a very important part of everyday life and its absence has a detrimental effect on an individual's quality of life. While much is understood about the neurobiological systems involved in locomotion through detailed anatomical connectivity and lesion studies, it is not well understood how neurons across different regions of the nervous system share information and coordinate their firing activity to achieve ambulation. Moreover, while it is clear that understanding the processes involved in healthy ambulation are essential to understanding how diseases affect an individual's ability to walk, diseases such as stroke tend to "take out" large portions of the underlying system. Until technologies are developed to allow restoration of damaged neural tissue back to its original state, physical therapy (which aims to restore function by establishing new motor-cortical connections among the remaining neurons) remains the most viable option for patients. The aim of this thesis is to elucidate some of the underlying neurobiological mechanisms of walking and to develop tools for rehabilitation robotics that allow finer quantification of patient improvement. To elucidate the neural mechanisms of locomotion, we studied how task relevant information (e.g. positions, velocities, and forces) modulate single unit neural activity from hindlimb/trunk region of the rat motor cortex during adaptations to robot-applied elastic loads and closed-loop brain-machine-interface (BMI) control during treadmill locomotion. Using the Point Process-Generalized Linear Model (PP-GLM) statistical framework we systematically tested parametric and non-parametric point process models of increased complexity for 573 individual neurons recorded over multiple days in six animals. The developed statistical model captures within gait-cycle modulation, load-specific modulation, and intrinsic neural dynamics. Our proposed model accurately describes the firing statistics of 98.5% (563/573) of all the recorded units and allows characterization of the neural receptive fields associated with gait phase and loading force. Understanding how these receptive fields change during training and with experience will be central to developing rehabilitation strategies that optimize motor adaptations and motor learning. The methods utilized for this analysis were developed into an open source neural Spike Train Analysis Toolbox (nSTAT) for Matlab (Mathworks, Natick MA). Systematic analyses have demonstrated the effectiveness of physical therapy, but have been unable to determine which approaches tend to be most effective in restoring function. This is likely due to the multitude of approaches, diseases, and assessment scales used. To address this issue, we develop an extension of the Force Field Adaptation Paradigm, originally developed to quantitatively assess upper extremity motor adaptation, to the lower extremity. The algorithm is implemented on the Lokomat (Hocoma HG) lower extremity gait orthosis and is currently being utilized to assess short-term motor adaptation in 40 healthy adult subjects (ClinicalTrials.gov NCT01361867). Establishing an understanding of how healthy adults' motor systems adapt to external perturbations will be important to understanding how the adaptive mechanisms involved in gait integrate information and how this process is altered by disease.by Iahn Cajigas González.Ph.D.in Electrical and Medical Engineerin

Allergy to Prolene Sutures in a Dural Graft for Chiari Decompression

Allergy to Prolene suture is exceedingly rare with only 5 cases reported in the literature. There have been no such cases associated with neurosurgical procedures. Diagnosis is nearly always delayed in spite of persistent symptomatology. A 27-year-old girl with suspected Ehlers-Danlos, connective tissue disorder, underwent posterior fossa decompression for Chiari Type 1 malformation. One year later, the patient presented with urticarial rash from the neck to chest. Cerebrospinal fluid and blood testing, magnetic resonance imaging, and intraoperative exploration did not suggest allergic reaction. Eventually skin testing proved specific Prolene allergy. After suture material was removed, the patient no longer complained of pruritus or rash. This single case highlights the important entity of allergic reaction to suture material, namely, Prolene, which can present in a delayed basis. Symptomatology can be vague but has typical allergic characteristics. Multidisciplinary approach is helpful with confirmatory skin testing as a vital part of the workup

Freezing of Gait in Parkinson’s Disease: Invasive and Noninvasive Neuromodulation

Introduction: Freezing of gait (FoG) is one of the most disabling yet poorly understood symptoms of Parkinson's disease (PD). FoG is an episodic gait pattern characterized by the inability to step that occurs on initiation or turning while walking, particularly with perception of tight surroundings. This phenomenon impairs balance, increases falls, and reduces the quality of life. Materials and methods: Clinical-anatomical correlations, electrophysiology, and functional imaging have generated several mechanistic hypotheses, ranging from the most distal (abnormal central pattern generators of the spinal cord) to the most proximal (frontal executive dysfunction). Here, we review the neuroanatomy and pathophysiology of gait initiation in the context of FoG, and we discuss targets of central nervous system neuromodulation and their outcomes so far. The PubMed database was searched using these key words: neuromodulation, freezing of gait, Parkinson's disease, and gait disorders. Conclusion: Despite these investigations, the pathogenesis of this process remains poorly understood. The evidence presented in this review suggests FoG to be a heterogenous phenomenon without a single unifying pathologic target. Future studies rigorously assessing targets as well as multimodal approaches will be essential to define the next generation of therapeutic treatments

Brain-Computer interface control of stepping from invasive electrocorticography upper-limb motor imagery in a patient with quadriplegia

Introduction: Most spinal cord injuries (SCI) result in lower extremities paralysis, thus diminishing ambulation. Using brain-computer interfaces (BCI), patients may regain leg control using neural signals that actuate assistive devices. Here, we present a case of a subject with cervical SCI with an implanted electrocorticography (ECoG) device and determined whether the system is capable of motor-imagery-initiated walking in an assistive ambulator.Methods: A 24-year-old male subject with cervical SCI (C5 ASIA A) was implanted before the study with an ECoG sensing device over the sensorimotor hand region of the brain. The subject used motor-imagery (MI) to train decoders to classify sensorimotor rhythms. Fifteen sessions of closed-loop trials followed in which the subject ambulated for one hour on a robotic-assisted weight-supported treadmill one to three times per week. We evaluated the stability of the best-performing decoder over time to initiate walking on the treadmill by decoding upper-limb (UL) MI.Results: An online bagged trees classifier performed best with an accuracy of 84.15% averaged across 9 weeks. Decoder accuracy remained stable following throughout closed-loop data collection.Discussion: These results demonstrate that decoding UL MI is a feasible control signal for use in lower-limb motor control. Invasive BCI systems designed for upper-extremity motor control can be extended for controlling systems beyond upper extremity control alone. Importantly, the decoders used were able to use the invasive signal over several weeks to accurately classify MI from the invasive signal. More work is needed to determine the long-term consequence between UL MI and the resulting lower-limb control

nSTAT data.zip

This is a zip file containing the example data for nSTAT matlab toolbox (<a href="http://doi.org/10.1016/j.jneumeth.2012.08.009" target="doilink">http://doi.org/10.1016/j.jneumeth.2012.08.009</a>) . The data directory should be un-zipped into the main nSTAT directory. Updated 7-2-201

Guest Editorial: From neuroscience to neuro-rehabilitation: transferring basic neuroscientific principles from laboratory to bedside

Several new approaches for treatment of Central Nervous System (CNS) disorders are currently under investigation, including the use of rehabilitation training strategies, which are often combined with electrical and/or pharmacological modulation of spinal locomotor circuitries. While these approaches show great promise in the laboratory setting, there still exists a large gap in knowledge on how to transfer these treatments to daily clinical use. This thematic series presents a cross section of cutting edge approaches with the goal of transferring basic neuroscience principles from the laboratory to the proverbial "bedside"

Short lever arm, bipedicular handlebar construct for correction of acute angular kyphosis in spondylodiscitis-induced kyphotic deformity: illustrative case

BACKGROUND Pyogenic spondylodiscitis diminishes spinal structural integrity via disruption of the anterior and middle column, sometimes further compounded by iatrogenic violation of the posterior tension band during initial posterior decompressive surgeries. Although medical management is typically sufficient, refractory infection or progressive deformity may require aggressive debridement and reconstructive arthrodesis. Although anterior debridement plus reconstruction with posterior stabilization is an effective treatment option, existing techniques have limited efficacy for correcting focal deformity, leaving patients at risk for long-term sagittal imbalance, pain, and disability. OBSERVATIONS The authors present a case of chronic lumbar pyogenic spondylodiscitis in a patient in whom initial surgical debridement failed and pronounced angular kyphosis and intractable low back pain developed. A novel bipedicular handlebar construct was used to achieve angular correction of the kyphosis through simultaneous anterior interbody grafting and posterior instrumentation with the patient in the lateral position. LESSONS Leveraging both pedicle screws at the same level to transmit controlled corrective distraction forces through the segment allows for kyphosis correction without relying on long posterior constructs for cantilever reduction. Simultaneous anterior reconstruction with a posterior short lever arm, bipedicular handlebar construct is an effective technique for achieving high angular correction during circumferential reconstructive approaches to postinfectious focal kyphotic deformities