In this work, we report progress in developing a device that allows fully autonomous sequential patch clamp experimentation. The machine works by integrating a storage magazine of pre-filled pipettes that can be accessed, and swapped, by the headstage at the conclusion of each experiment. In operation, following each neuron measurement, the program enters “swap” state where a set of programmed actuator movements take place. First, the headstage translates towards the pipette storage assembly and deposits its used pipette. The storage assembly rotates to index a fresh pipette, its is grasped, and finally, the headstage returns to its previously designated home position in preparation of subsequent experiments

Boyden, Edward Stuart

Fan, Aaron

Forest, Craig R.

Go, Jamison

Holst, Gregory L.

Kodandaramaiah, Suhasa Bangalo

Kolb, Ilya

Lu, Coby

Stoy, William

Boyden, Edward

DSpace@MIT

FULLY-AUTOMATED IN VIVO SINGLE CELL ELECTROPHYSIOLOGY   Jamison Go1, Aaron Fan1, Coby Lu1, Suhasa Kodandaramaiah1,2, Gregory L. Holst1, William Stoy1, Ilya Kolb1, Edward S. Boyden2, and Craig R. Forest1 1Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta, GA, USA 2Media Lab and McGovern Institute Massachusetts Institute of Technology Cambridge, MA, USA  Neurons communicate information through fluctuations in the electrical potentials across their cellular membranes. Although scientists have been recording the electrical activity of neurons for more than a century, it was the advent of intracellular recording technology, or whole-cell patch clamping, that allowed the measurement of neuronal membrane potential that enabled precise characterization of neuronal function, winning Hodgkin and Huxley the Nobel Prize in 1963 and Neher and Sakmann the Nobel Prize in 1991. However, whole-cell patch clamping is something of an art form, requiring great skill to perform and has thus been primarily limited to in vitro experiments, a select few in vivo experiments, and in very limited applications in the awake brain [1]. Our team has recently developed a robot that automatically performs patch clamping in vivo, by algorithmically detecting cells through analysis of a temporal sequence of electrode impedance changes. Using it, we have demonstrated good yield, throughput, and quality of electrophysiology recording in mouse cortex and hippocampus [2]. With this autopatching robot enabling routine access to electrical and molecular properties of neurons embedded in intact tissue, systematic and scalable in vivo patch clamping experiments have become possible. This autopatching robot (See Figure 1) utilizes a glass pipette to establish electrical and molecular connections to the insides of single neurons embedded in intact tissue and exhibits excellent signal quality and temporal fidelity, useful for understanding not only how neurons compute during behavior, but how their physiology changes in disease states or in response to drug administration. While this automation is powerfully useful, it still requires manual pipette replacement between each 15 minute single cell electrophysiology experiment. This includes a 3-4 minute preparation process of back-filling the pipette with an ionic fluid, threading a conductive silver wire into the inner diameter of the pipette, and securing the pipette to the headstage.  The frequency and duration of pipette swaps thus require constant human supervision of the autopatcher. However, if this automated patch clamp robot were to be  integrated with pipette exchange hardware and storage magazine, one could perform fully-automated in vivo single cell electrophysiology without human intervention, enabling vastly increased througphput (e.g., hundreds of cells/day) by a single human operator.  In this work, we report progress in developing device allow fully autonomous sequential patch clamp experimentation.  As shown in Fig. 2, the machine works by integrating a storage magazine of pre-filled pipettes that can be accessed, and swapped, by the headstage at the conclusion of each experiment. In operation, following each neuron measurement, the program enters “swap” state where a set of programmed actuator movements take place. First, the headstage translates towards the pipette storage assembly and deposits its used pipette. The storage assembly rotates to index a fresh pipette, its is grasped, and finally, the headstage returns to its previously designated home position in preparation of subsequent experiments.  The most novel aspect of this machine is the precision collet design, which in grasping the pipette, simultaneously engages electrical contact, mechanical alignment, and pneumatic seals against the pipette using a single linear actuator (See Fig. 3). Pipettes enter through the opening of the collet and are limited in travel by a hard stop. The clamp slider traverses down the collet with the assistance of a linear actuator which compresses the collet flexure and deforms the rubber end, forming a seal. Simultaneously, two magnets constrained to the clamp slider control the position of a ferromagnetic bead levitating within the collet and thread the silver wire as the assembly descends.  Machine performance was predicted by error budgeting and measured within 197 µm radial repeatability, sufficient for patch clamping in a conventional craniotomy (a 1 mm diameter hole in the skull to access the brain). The total pipette exchange time was measured at 88 sec from end of experiment to home position. It has been observed to exchange a full magazine of 20 pipettes in sequence without failure or assistance. We will report progress in performing the first sequential patch clamping recordings without human intevention, which could usher in a new era of fully automated in vivo neuroscience.  REFERENCES [1] Poulet JF, Fernandez LM, Crochet S, Petersen CC, Thalamic control of cortical states, Nat Neurosci. Vol 22;15(3):370-2.  [2] S. Kodandaramaiah, G. Franzesi, B. Chow, E. Boyden, C.R. Forest, Automated whole-cell patch clamp electrophysiology of neurons in vivo, Nature Methods. Vol 9, p. 585–587.        FIGURE 1. The autopatcher: a robot for in vivo patch clamping with representative current clamp traces during whole cell automated patch clamping of a cortical neuron.    FIGURE 2. Model (top) and photo (bottom) of the machine for automated pipette swapping.    FIGURE 3. The pipette (See Fig. 1) is held by a novel collet design in the automated patch assembly (See Fig. 2) to simultaneously engage electrical contact, mechanical alignment, and pneumatic seals against the pipette using a single linear actuator.Robotic intracellular measurement of neural network dynamics in the living brain Background and Significance: Neurons communicate information through fluctuations in the electrical potentials across their cellular membranes.  Althou h scientists have been r cording the electrical activity of neurons for more than a century, it was the advent of intracellular recording technology, or whole-cell patch clamping, that allowed the measurement of neuronal membrane potential that enabled precise characterization of neuronal function, winning Hodgkin and Huxley the Nobel Prize in 1963 and Neher and Sakmann the Nobel Prize in 1991.  However, whole-cell patch clamping is something of an art form, requiring great skill to perform and has thus been primarily limited to in vitro experiments, a sel ct few in vivo experiments, and in very li ited applications in the awake brain [1].  Our team has recently developed a robot that automatically performs patch clamping in vivo, by algorithmically detecting cells through analysis of a temporal sequence of electrode impedance changes.  Using it, we have demonstrated good yield, throughput, and quality of recording in mouse cortex and hippocampus (See Figure 1a) [2]. With this autopatching robot enabling routine access to electrical and molecular properties of neurons embedded in intact tissue, systematic and scalable in vivo patch clamping experiments have become possible.    There are currently no published experiments demonstrating in vivo intracellular recordings of two or more neurons that are synaptically connected, considered one of the Holy Grails of neuroscience.  Although theoretically feasible, since even skilled electrophysiologists require significant time to attain a viable recording from a single neuron, subsequent pursuit of a second neuron unfailingly results in loss of the first.  The autopatcher could enable the simultaneous search for two or more neurons in vivo, thus providing a possible resolution to the time and human operator constraints of conventional experiments.  Success in this approach would open up a wealth of studies regarding the propagation of neural signals across synaptic junctions, which have heretofore only been considered in highly artificial, in vitro experiments.  Importantly, there is growing evidence that neuronal function is very different from in vitro to in vivo conditions, and from anesthetized to awake conditions, necessitating the development of the technology we describe here.  In contrast to in vitro techniques, in which imaging can be utilized for patch clamping synaptically connected neurons, in vivo patch clamping deep in the brain is “blind”.  Locating even a single neuron requires some luck, and finding a connected pair of neurons is like finding a needle in a haystack.  We prop se to utilize anatomically well-studied sub-circuits to significantly increase the odds of identifying synaptically connected pairs.  Specifically, we will utilize the thalamocortical circuit in the mouse vibrissa/whisker pathway as a model experimental system, where there is a substantial convergence of projections from the thalamus to the input layer in the somatosensory (tactile) cortex (See Figure 1b).  The Stanley Laboratory has extensive experience with stimulation (Figure 1b) and electrophysiological recordings (Figure 1c) in this circuit, and is one of only a few laboratories world-wide that has successfully recorded from synaptically connected pairs of neurons using extracellular techniques (Figure 1c, [3]). Thus we seek to demonstrate the first simultaneous intracellular recording of a functional circuit in the living brain to reveal its neural network dynamics.   Figure 1. (a) The autopatcher: a robot for in vivo patch clamping with representative current clamp traces during whole cell automated patch clamping of a cortical neuron (inset top; 2 s-long pulses of –60, 0, and +80 pA current injection), and at rest (inset bottom).  Access resistance, 44 MΩ; input resistance, 41 MΩ; depth of cell 832 µm below brain surface.  b. Experimental animal model system – rodent vibrissa/whisker system. There is an explicit topographic mapping of the facial whiskers to clusters of neurons in the brainstem, thalamus, and cortex.  Recordings from thalamus and cortex will be acquired while providing computer-controlled movement of the facial whiskers.  c. Anatomical convergence of axonal projections from thalamus to cortex in this pathway significantly increases the odds of recording from synaptically connected pairs of neurons.  The Stanley lab has extensive experience with in-vivo stimulation and recording of synaptically connected neurons in this pathway [3].  

Fully-automated in vivo single cell electrophysiology

http://dspace.mit.edu/bitstream/1721.1/96716/1/aspe%202013.pdf

Fully-automated in vivo single cell electrophysiology

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