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In This Article

  • Summary
  • Abstract
  • Introduction
  • Protocol
  • Representative Results
  • Discussion
  • Acknowledgements
  • Materials
  • References
  • Reprints and Permissions

Summary

We performed functional MRI using a novel MRI-compatible hand-induced robotic device to evaluate its utility for monitoring hand motor function in individuals recovering from neurological deficits.

Abstract

Functional magnetic resonance imaging (fMRI) is a non-invasive magnetic resonance imaging technique that images brain activation in vivo, using endogenous deoxyhemoglobin as an endogenous contrast agent to detect changes in blood-level-dependent oxygenation (BOLD effect). We combined fMRI with a novel robotic device (MR-compatible hand-induced robotic device [MR_CHIROD]) so that a person in the scanner can execute a controlled motor task, hand-squeezing, which is a very important hand movement to study in neurological motor disease. We employed parallel imaging (generalized auto-calibrating partially parallel acquisitions [GRAPPA]), which allowed higher spatial resolution resulting in increased sensitivity to BOLD. The combination of fMRI with the hand-induced robotic device allowed precise control and monitoring of the task that was executed while a participant was in the scanner; this may prove to be of utility in rehabilitation of hand motor function in patients recovering from neurological deficits (e.g., stroke). Here we outline the protocol for using the current prototype of the MR_CHIROD during an fMRI scan.

Introduction

Appropriate imaging metrics may monitor and predict the likelihood of therapy success in individuals better than clinical assessments and provide information to improve and individualize therapy planning. We have developed experience with patients recovering from chronic stroke1,2,3,4,5,6,7,8. Developing optimal individualized strategies that focus on how motor training can influence incremental improvem....

Protocol

All experiments were approved by the Institutional Review Board at Massachusetts General Hospital and performed as approved at the Athinoula A. Martinos Center for Biomedical Imaging.

1. Subject Preparation

NOTE: Inclusion criteria are: (i) right hand dominance, (ii) ability to give written informed consent. Exclusion was implemented on the basis of screening for contra-indicators in the magnetic resonance environment such as the following: (a) Routin.......

Representative Results

The methodology outlined in the protocol allows the collection of fMRI images while the volunteer is performing the task in real-time in the magnet. Experiments were performed in the Bay 1 facility of the Massachusetts General Hospital Athinoula A. Martinos Center for Biomedical Imaging, using a 3T full-body magnetic resonance scanner. Figure 2 and Figure 3 show the placement of the MR_CHIROD on the table and the patient in place operating it. In

Discussion

We present fMRI of a motor task using the latest version of a novel robotic device, the MR_CHIROD1,2,8. The MR_CHIROD has been designed to execute a hand-squeezing grip task which has can be performed by chronic stroke patients and has been studied previously1,2,3,4,5.......

Acknowledgements

This work was supported by a grant from the National Institute of Neurological Disorders and Stroke (Grant number 1R01NS105875-01A1) of the National Institutes of Health to A. Aria Tzika. This work was performed at the Athinoula A. Martinos Center for Biomedical Imaging.  We wish to thank Director Dr. Bruce R. Rosen, M.D., Ph.D. and members of the Martinos Center staff for their support.  We further wish to thank Mr. Christian Pusatere and Mr. Michael Armanini for their assistance in running experiments.  Lastly, we thank Dr. Michael A. Moskowitz and Dr. Rosen for their guidance in the conception and development of the MR_CHIROD series of devices and th....

Materials

NameCompanyCatalog NumberComments
Ball bearings, plastic with glass balls (8)McMaster-Carr6455K97
Bi-directional logic level converterAdafruit395
Dual LS7366R Quadrature Encoder BufferSuperDroid RobotsTE-183-002
Feather M0 WiFi w/ATWINC1500AdafruitAdafruit 3010
Flanged nuts, fiberglass, 3/8”-16 (8)McMaster-Carr98945A041
Garolite rod, ¾” dia, 4’ longMcMaster-Carr8467K84
LaptopVariousAny laptop with USB2.0 port(s) and MATLAB
Load Cell (20kg)RobotshopRB-PHI-119
Load Cell Amplifier- HX711Mouser474-SEN-13879
MATLABMathWorks2008 version or later with Psychophysics Toolbox
Magnetic resonance imaging scannerSiemensSkyra 3T3T full body scanner with BOLD and GRAPPA capabilities
MR_CHIRODv3fabricated in-houseBespoke plastic & 3D printed structure
Op amp development boardSchmartboard710-0011-01
Panel Mount Power SupplyDeltaPMT-D2V100W1AA
Plastic tubing & tube fittingsMcMaster-Carrvarious
Pyrex/graphite piston/cylinder moduleAirpot2KS240-3
Screws, ¼”-20, nylonMcMaster-Carrvarious
Shaft Collars for ¾” dia shaft, nylon (2)McMaster-Carr9410T6Stock metal clamping screws replaced with plastic screws
Shielded cables (2)US DigitalCA-C5-SH-C5-25
Threaded rod, fiberglass, 3/8”-16McMaster-Carr91315A010
Transmissive optical encoder code stripUS DigitalLIN-2000-3.5-0.5
Transmissive Optical Encoder ModuleUS DigitalEM2-0-2000-I
PTFE sleeve bearingsMcMaster-Carr2639T32

References

  1. Mintzopoulos, D., et al. Functional MRI of Rehabilitation in Chronic Stroke Patients Using Novel MR-Compatible Hand Robots. The Open Neuroimaging Journal. 2, 94-101 (2008).
  2. Khanicheh, A., Mintzopoulos, D., Weinberg, B., Tzika, A. A., Mavroidis, C.

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