Design and compatibility of a high-performance actuation system for fMRI-based neuroscience studies

Hara, Masayuki; Duenas, Julio; Kober, Tobias; Chapuis, D.; Lambercy, Olivier; Bleuler, Hannes; Gassert, Roger

doi:10.1109/iros.2010.5649544

Cited by 10 publications

(9 citation statements)

References 19 publications

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“…HFI is MRI-compatible [19] and operates without RF interference in the scanner room [16]. It has been used for Haptic fMRI scans at a higher spatial resolution than related approaches (~2x of [5], [20], and [21]). HFI's haptic control rate was 350Hz.…”

Section: Discussionmentioning

confidence: 99%

Haptic fMRI: Accurately estimating neural responses in motor, pre-motor, and somatosensory cortex during complex motor tasks

Menon

Kay

et al. 2014

2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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Haptics combined with functional magnetic resonance imaging (Haptic fMRI) can non-invasively study how the human brain coordinates movement during complex manipulation tasks, yet avoiding associated fMRI artifacts remains a challenge. Here, we demonstrate confound-free neural activation measurements using Haptic fMRI for an unconstrained three degree-of-freedom motor task that involves planning, reaching, and visually guided trajectory tracking. Our haptic interface tracked subjects' hand motions, velocities, and accelerations (sample-rate, 350Hz), and provided continuous realtime visual feedback. During fMRI acquisition, we achieved uniform response latencies (reaching, 0.7-1.1s; tracking, 0.4-0.65s); minimized hand jitter (<;8mm); and ensured reliable motion trajectories (tracking, <;7mm root-mean-square error). In addition, our protocol decorrelated head motion from both hand speed (r=-0.03) and acceleration (r=-0.025), which reliably produced low head motion levels (<;0.4mm/s between scan volumes) and a low fMRI temporal noise-to-signal ratio (<;1%) across thirty-five scan runs. Our results address the primary outstanding Haptic fMRI confounds: motion induced low spatial-frequency magnetic field changes, which correlate neural activation across cortex; unreliable motions and response latencies, which reduce statistical power; and task-correlated head motion, which causes spurious fMRI activation. Haptic fMRI can thus reliably elicit and localize heterogeneous neural activation for different tasks in motor (movement), pre-motor (planning), and somatosensory (limb displacement) cortex, demonstrating that it is feasible to use the technique to study how the brain achieves three dimensional motor control.

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Section: Discussionmentioning

confidence: 99%

Haptic fMRI: Accurately estimating neural responses in motor, pre-motor, and somatosensory cortex during complex motor tasks

Menon

Kay

et al. 2014

2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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“…The ferromagnetic shield is used to prevent any dynamically varying magnetic fields generated by the EM motors during operation from disturbing the imaging, as well as to avoid performance degradation of the haptic interface due to the local static field of the MRI magnet. For safety reasons and to facilitate transportation and installation of the system, the actuation box is rigidly anchored on a MRI-compatible cart placed at the end of the scanner bed in a region where the local magnetic field strength is low compared to that of the imaging region [30]. Power and signal cables to the actuation system can carry noise from the outside (control room) into the MRI room and disturb the imaging, respectively pick up noise from the scanner during imaging.…”

Section: Design and Implementation Of Neurograspmentioning

confidence: 99%

“…WAM Arm (Barrett Technology Inc., USA), Freedom 6S (MPB Technologies Inc., Canada), Phantom Desktop (Sensable Technologies Inc., USA), [28], [29]). Combining shielded EM actuation [18], [30] with a cable transmission can thus represent a promising means to achieve low friction and high bandwidth, with sufficiently low output impedance to allow remote actuation and sensing from beyond the 20 mT safety line in the scanner room. This paper presents NeuRoGrasp, a fMRI-compatible finger interface based on such actuation and transmission principles.…”

Section: Introductionmentioning

confidence: 99%

Design and Evaluation of a Cable-Driven fMRI-Compatible Haptic Interface to Investigate Precision Grip Control

Vigaru

Sulzer

Gassert

2016

IEEE Trans. Haptics

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Our hands and fingers are involved in almost all activities of daily living and, as such, have a disproportionately large neural representation. Functional magnetic resonance imaging investigations into the neural control of the hand have revealed great advances, but the harsh MRI environment has proven to be a challenge to devices capable of delivering a large variety of stimuli necessary for well-controlled studies. This paper presents a fMRI-compatible haptic interface to investigate the neural mechanisms underlying precision grasp control. The interface, located at the scanner bore, is controlled remotely through a shielded electromagnetic actuation system positioned at the end of the scanner bed and then through a high stiffness, low inertia cable transmission. We present the system design, taking into account requirements defined by the biomechanics and dynamics of the human hand, as well as the fMRI environment. Performance evaluation revealed a structural stiffness of 3.3 N/mm, renderable forces up to 94 N, and a position control bandwidth of at least 19 Hz. MRI-compatibility tests showed no degradation in the operation of the haptic interface or the image quality. A preliminary fMRI experiment during a pilot study validated the usability of the haptic interface, illustrating the possibilities offered by this device.

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“…Simulation of static field generated by a 3T scanner: the field substantially decreases over its distance to the scanner. These data are adapted from [11].…”

Section: Requirements For Mr Compatibilitymentioning

confidence: 99%

“…Dynamic behaviour of transmissions with different cable length was investigated and stable interaction was achieved with the transmission up to 9 m length. In [11] a shielded actuation system located inside the MR room was presented. Shielded conventional electromagnetic motor with long rigid rod was used to transmit rotational movements to a subject's hand enabling control of pronation/supination movements.…”

Section: Introductionmentioning

confidence: 99%

Development and evaluation of a portable MR compatible haptic interface for human motor control

Farkhatdinov

Garnier

Burdet

2015

2015 IEEE World Haptics Conference (WHC)

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Abstract-This paper presents the development and evaluation of an MR compatible haptic interface for human motor control studies, which can be easily installed and removed from the scanner room. The interface is actuated by a powerful shielded DC motor located 2.1 m away from the 3T MR scanner. Rotational movements are transmitted to a subject's wrist through preloaded cable transmission which drives the handle unit. The handle of the interface is designed to be adjustable to different hands size, enabling comfortable and natural wrist movements. The nominal achievable wrist torque of the interface is up to 2Nm. The interface is easily transportable due to its design characteristics. A dynamic model of the interface is presented and identified for position and torque control modes. Phantom MR compatibility test in clinical environment showed that the interface is compatible with strong magnetic field and radio frequency emission and its operation does not affect the quality of MR images.

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Design and compatibility of a high-performance actuation system for fMRI-based neuroscience studies

Cited by 10 publications

References 19 publications

Haptic fMRI: Accurately estimating neural responses in motor, pre-motor, and somatosensory cortex during complex motor tasks

Haptic fMRI: Accurately estimating neural responses in motor, pre-motor, and somatosensory cortex during complex motor tasks

Design and Evaluation of a Cable-Driven fMRI-Compatible Haptic Interface to Investigate Precision Grip Control

Development and evaluation of a portable MR compatible haptic interface for human motor control

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