Independent optical excitation of distinct neural populations

Optogenetic tools enable examination of how specific cell types contribute to brain circuit functions. A long-standing question is whether it is possible to independently activate two distinct neural populations in mammalian brain tissue. Such a capability would enable the study of how different synapses or pathways interact to encode information in the brain. Here we describe two channelrhodopsins, Chronos and Chrimson, discovered through sequencing and physiological characterization of opsins from over 100 species of alga. Chrimson's excitation spectrum is red shifted by 45 nm relative to previous channelrhodopsins and can enable experiments in which red light is preferred. We show minimal visual system–mediated behavioral interference when using Chrimson in neurobehavioral studies in Drosophila melanogaster. Chronos has faster kinetics than previous channelrhodopsins yet is effectively more light sensitive. Together these two reagents enable two-color activation of neural spiking and downstream synaptic transmission in independent neural populations without detectable cross-talk in mouse brain slice.PostprintPeer reviewe

Design of 3-D Printed Concentric Tube Robots

Concentric tube surgical robots are minimally invasive devices with the advantages of snake-like reconfigurability, long and thin form factor, and placement of actuation outside the patient's body. These robots can also be designed and manufactured to acquire targets in specific patients for treating specific diseases in a manner that minimizes invasiveness. We propose that concentric tube robots can be manufactured using 3-D printing technology on a patient- and procedure-specific basis. In this paper, we define the design requirements and manufacturing constraints for 3-D printed concentric tube robots and experimentally demonstrate the capabilities of these robots. While numerous 3-D printing technologies and materials can be used to create such robots, one successful example uses selective laser sintering to make an outer tube with a polyether block amide and uses stereolithography to make an inner tube with a polypropylene-like material. This enables a tube pair with precurvatures of 0.0775 and 0.0455 mm-1, which can withstand strains of 20% and 5.5% for the outer and inner tubes, respectively

Design of 3-D Printed Concentric Tube Robots

Concentric tube surgical robots are minimally invasive devices with the advantages of snake-like reconfigurability, long and thin form factor, and placement of actuation outside the patient's body. These robots can also be designed and manufactured to acquire targets in specific patients for treating specific diseases in a manner that minimizes invasiveness. We propose that concentric tube robots can be manufactured using 3-D printing technology on a patient- and procedure-specific basis. In this paper, we define the design requirements and manufacturing constraints for 3-D printed concentric tube robots and experimentally demonstrate the capabilities of these robots. While numerous 3-D printing technologies and materials can be used to create such robots, one successful example uses selective laser sintering to make an outer tube with a polyether block amide and uses stereolithography to make an inner tube with a polypropylene-like material. This enables a tube pair with precurvatures of 0.0775 and 0.0455 mm-1, which can withstand strains of 20% and 5.5% for the outer and inner tubes, respectively

Design of a Compact Actuation and Control System for Flexible Medical Robots

Flexible medical robots can improve surgical procedures by decreasing invasiveness and increasing accessibility within the body. Using preoperative images, these robots can be designed to optimize a procedure for a particular patient. To minimize invasiveness and maximize biocompatibility, the actuation units of flexible medical robots should be placed fully outside the patient's body. In this letter, we present a novel, compact, lightweight, modular actuation, and control system for driving a class of these flexible robots, known as concentric tube robots. A key feature of the design is the use of three-dimensional printed waffle gears to enable compact control of two degrees of freedom within each module. We measure the precision and accuracy of a single actuation module and demonstrate the ability of an integrated set of three actuation modules to control six degrees of freedom. The integrated system drives a three-tube concentric tube robot to reach a final tip position that is on average less than 2 mm from a given target. In addition, we show a handheld manifestation of the device and present its potential applications

Robot-guided sheaths (RoGS) for percutaneous access to the pediatric kidney: Patient-specific design and preliminary results

Robot-guided sheaths consisting of pre-curved tubes and steerable needles are proposed to provide surgical access to locations deep within the body. In comparison to current minimally invasive surgical robotic instruments, these sheaths are thinner, can move along more highly curved paths, and are potentially less expensive. This paper presents the patientspecific design of the pre-curved tube portion of a robot-guided sheath for access to a kidney stone; such a device could be used for delivery of an endoscope to fragment and remove the stone in a pediatric patient. First, feasible two-dimensional paths were determined considering workspace limitations, including avoidance of the ribs and lung, and minimizing collateral damage to surrounding tissue by leveraging the curvatures of the sheaths. Second, building on prior work in concentric-tube robot mechanics, the mechanical interaction of a two-element sheath was modeled and the resulting kinematics was demonstrated to achieve a feasible path in simulation. In addition, as a first step toward three-dimensional planning, patient-specific CT data was used to reconstruct a threedimensional model of the area of interest. Copyright © 2013 by ASME

Design of a Compact Actuation and Control System for Flexible Medical Robots

Flexible medical robots can improve surgical procedures by decreasing invasiveness and increasing accessibility within the body. Using preoperative images, these robots can be designed to optimize a procedure for a particular patient. To minimize invasiveness and maximize biocompatibility, the actuation units of flexible medical robots should be placed fully outside the patient's body. In this letter, we present a novel, compact, lightweight, modular actuation, and control system for driving a class of these flexible robots, known as concentric tube robots. A key feature of the design is the use of three-dimensional printed waffle gears to enable compact control of two degrees of freedom within each module. We measure the precision and accuracy of a single actuation module and demonstrate the ability of an integrated set of three actuation modules to control six degrees of freedom. The integrated system drives a three-tube concentric tube robot to reach a final tip position that is on average less than 2 mm from a given target. In addition, we show a handheld manifestation of the device and present its potential applications

A Soft, Steerable Continuum Robot That Grows via Tip Extension.

Soft continuum robots exhibit access and manipulation capabilities in constrained and cluttered environments not achievable by traditional robots. However, navigation of these robots can be difficult due to the kinematics of these devices. Here we describe the design, modeling, and control of a soft continuum robot with a tip extension degree of freedom. This design enables extremely simple navigation of the robot through decoupled steering and forward movement. To navigate to a destination, the robot is steered to point at the destination and the extension degree of freedom is used to reach it. Movement of the tip is always in the direction tangent to the end of the robot's backbone, independent of the shape of the rest of the backbone. Steering occurs by inflating multiple series pneumatic artificial muscles arranged radially around the backbone and extending along the robot's whole length, while extension is implemented using pneumatically driven tip eversion. We present models and experimentally verify the growing robot kinematics. Control of the growing robot is demonstrated using an eye-in-hand visual servo control law that enables growth and steering of the robot to designated locations

Surgeon Design Interface for Patient-Specific Concentric Tube Robots.

© 2016 IEEE. Concentric tube robots have potential for use in a wide variety of surgical procedures due to their small size, dexterity, and ability to move in highly curved paths. Unlike most existing clinical robots, the design of these robots can be developed and manufactured on a patient-and procedure-specific basis. The design of concentric tube robots typically requires significant computation and optimization, and it remains unclear how the surgeon should be involved. We propose to use a virtual reality-based design environment for surgeons to easily and intuitively visualize and design a set of concentric tube robots for a specific patient and procedure. In this paper, we describe a novel patient-specific design process in the context of the virtual reality interface. We also show a resulting concentric tube robot design, created by a pediatric urologist to access a kidney stone in a pediatric patient