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A Miniature Robot for Isolating and Tracking Neurons in Extracellular Cortical Recordings

Wolf, Michael T. and Cham, Jorge G. and Branchaud, Edward A. and Burdick, Joel W. (2008) A Miniature Robot for Isolating and Tracking Neurons in Extracellular Cortical Recordings. In: IEEE International Conference on Robotics and Automation, 2008. IEEE , Piscataway, NJ, pp. 1594-1601. ISBN 978-1-4244-1646-2.

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This paper presents a miniature robot device and control algorithm that can autonomously position electrodes in cortical tissue for isolation and tracking of extracellular signals of individual neurons. Autonomous electrode positioning can significantly enhance the efficiency and quality of acute electrophysiolgical experiments aimed at basic understanding of the nervous system. Future miniaturized systems of this sort could also overcome some of the inherent difficulties in estabilishing long-lasting neural interfaces that are needed for practical realization of neural prostheses. The paper describes the robot's design and summarizes the overall structure of the control system that governs the electrode positioning process. We present a new sequential clustering algorithm that is key to improving our system's performance, and which may have other applications in robotics. Experimental results in macaque cortex demonstrate the validity of our approach.

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Additional Information:© 2010 IEEE. Issue Date: 19-23 May 2008; Date of Current Version: 13 June 2008.
Record Number:CaltechAUTHORS:20100729-100355867
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Official Citation:Wolf, M.T.; Cham, J.G.; Branchaud, E.A.; Burdick, J.W.; , "A miniature robot for isolating and tracking neurons in extracellular cortical recordings," Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on , vol., no., pp.1594-1601, 19-23 May 2008 doi: 10.1109/ROBOT.2008.4543429 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:19218
Deposited On:29 Jul 2010 21:23
Last Modified:08 Nov 2021 23:50

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