Name: adaptation of a haptic robot in a 3t fmri
Uploaded: 2011-10-04T12:00:00
Description: Watch this Scientific Journal Video about Adaptation of a Haptic Robot in a 3T fMRI at JoVE.com

我们想感谢昆路和罗纳德库尔兹技术援助。这项工作是支持羚羊穆里奖号：N00014 - 10 - 1 - 0072，NSF资助SBE - 0542013 NSF的科学学习中心，学习中心，国立卫生研究院授予＃2 R01 NS036449 - 11的时空动态。

1。扫描仪室外面<ol><li>将免费支持结束长期分离处理的外部结束滚动表。 </li><li>检查机器人被关闭。 </li><li>表中插座的机器人及安全机器人用2个螺丝，铝的安全板。 </li><li>将最终效应器与机器人处理的铝适配器和检查，它可自由移动。 </li><li>附加的10个“并行电缆与铝屏蔽的机器人和检查，是完整的屏蔽。如果需要添加额外的箔。 </li><li>将铝屏蔽盒，在小心地放置到背面的凹槽平行和电力?...

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	<li>Ogawa, S., Lee, T. M., Kay, A. R., Tank, D. W. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Brain+magnetic+resonance+imaging+with+contrast+dependent+on+blood+oxygenation.">Brain magnetic resonance imaging with contrast dependent on blood oxygenation.</a> Proc. Natl. Acad. Sci. U.S.A. 87, 9868-9872 (1990).</li><li>Heeger, D. J., Ress, D. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=What+does+fMRI+tell+us+about+neuronal+activity.">What does fMRI tell us about neuronal activity.</a> Nat. Rev. Neurosci. 3, 142-151 (2002).</li><li>deCharms, R. C. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Applications+of+real-time+fMRI.">Applications of real-time fMRI.</a> Nat. Rev. Neurosci. 9, 720-729 (2008).</li><li>Hribar, A., Koritnik, B., Munih, M. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Phantom+haptic+device+upgrade+for+use+in+fMRI.">Phantom haptic device upgrade for use in fMRI.</a> Medical and Biological Engineering and Computing. 47, 677-684 (2009).</li><li>Trommershauser, J., Gepshtein, S., Maloney, L. T., Landy, M. S., Banks, M. S. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Optimal+compensation+for+changes+in+task-relevant+movement+variability.">Optimal compensation for changes in task-relevant movement variability.</a> J. Neurosci. 25, 7169-7178 (2005).</li><li>Konczak, J., Li, K. Y., Tuite, P. J., Poizner, H. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Haptic+perception+of+object+curvature+in+Parkinson's+disease.">Haptic perception of object curvature in Parkinson's disease.</a> PLoS ONE. 3, e2625-e2625 (2008).</li><li>Lipton, M. L., Lipton, M. L. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Artifacts:+When+things+go+wrong,+it's+not+necessarily+all+bad.">Artifacts: When things go wrong, it's not necessarily all bad.</a> Totally Accessible MRI. , 139-153 (2008).</li><li>Rajh, M., Glodez, S., Flasker, J., Gotlih, K., Kostanjevec, T. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Design+and+analysis+of+an+fMRI+compatible+haptic+robot.">Design and analysis of an fMRI compatible haptic robot.</a> Robotics and Computer-Integrated Manufacturing. 27, 267-275 (2011).</li><li>Burdet, E., Gassert, R., Gowrishankar, G., Chapuis, D., Bleuler, H., Ang, M., Khatib, O. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=fMRI+compatible+haptic+interfaces+to+investigate+human+motor+control.">fMRI compatible haptic interfaces to investigate human motor control.</a> Experimental Robotics IX, of Springer Tracts in Advanced Robotics. 21, 25-34 (2006).</li><li>Nakamura, T. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Functional+networks+in+motor+sequence+learning:+abnormal+topographies+in+Parkinson's+disease.">Functional networks in motor sequence learning: abnormal topographies in Parkinson's disease.</a> Hum Brain Mapp. 12, 42-60 (2001).</li></ol>

fMRI的兼容机器人开辟了新的可能性，在电机控制神经系统的实验。最关键的一步是在设置屏蔽机器人，以防止文物在功能磁共振成像，这是我们在两个步骤做。首先，机器人本身是约9&#39;从孔距离长，重量轻，在它的中间支持与3度的自由联合处理。二，机器人被装在1 / 16“-1 / 4”用塑料锥形（13“底部直径6”顶端直径x 42“长）铝箔屏蔽波导计算块〜100分贝铝框在功能磁共振成像的有关频带的噪...

<table border="1"><tbody><tr><td>幻影溢价1.5/6dof，高力模型</td><td> Sensable </td><td> <a href="www.sensable.com">www.sensable.com</a> </td></tr></tbody></table>

adaptation of a haptic robot in a 3t fmri

功能磁共振成像（fMRI）提供优秀的脑功能成像，通过大胆的信号，包括非电离辐射，毫米的解剖和功能数据的空间精度2， 和近实时分析3优势1。触觉的机器人提供了精确的测量和控制光标在一个合理的密闭空间的位置和力。下面我们结合这两项技术，让精密的实验，涉及电机与触觉/触觉环境的相互作用，如达到或抓控制。其基本思路是附加一个8英尺的最终效应器中心允许主体使用的机器人， 机器人 4的支持，但它屏蔽和最极端的部分磁场从功能磁共振成像机（图1 ）。 幻影高级3.0 6DOF，高力机器人（SensAble技术公司）是一个很好的选择提供在虚拟现实实验5，6的力反馈，但它本质上非议员的安全，引入了显著的噪音敏感功能磁共振成像设备，其电动机可能会受到强烈变磁场的fMRI。我们已经建立了一个表，并屏蔽系统，使机器人安全地引入到功能磁共振成像环境，并限制电气噪声电机的fMRI信号的退化和电动机性能退化的强烈不同的磁场FMRI。盾的fMRI信号的信噪比（SNR：平均信号/噪声标准差）变为〜380〜330的基准，并没有屏蔽250。余下的噪音似乎是不相关的，不添加文物测试领域的功能磁共振成像（图2）。长，僵硬的处理允许安置机器人磁场的最强烈的不同部分的范围，所以不存在的fMRI机器人的显著效果。因为它是轻量级的，手柄的效果机器人的运动是最小的（〜2.6磅），但非常僵硬的3 / 4“石墨和良好的中间3DOF联合平衡。最终的结果是一个功能磁共振成像兼容，触觉系统与约1立方英尺的工作空间，并且，当与虚拟现实相结合，它允许一个功能磁共振成像的环境，包括自然深远的，被动的位移肢体和触觉感知，适应不同力场的学习进行新的实验或纹理识别5，6。

Watch this Scientific Journal Video about Adaptation of a Haptic Robot in a 3T fMRI at JoVE.com

Adaptation of a Haptic Robot in a 3T fMRI

在一个3T功能磁共振成像的触觉机器人的适应和使用说明。

触觉机器人适应在3T功能磁共振成像

Functional magnetic resonance imaging (fMRI) provides excellent functional brain imaging via the BOLD signal 1 with advantages including non-ionizing ...

Research

JoVE Journal

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A Tripeptide-Stabilized Nanoemulsion of Oleic Acid

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