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Register a new userA minimally invasive neurostimulation method for controlling epilepsy seizures
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Many coordination phenomena in Nature are grounded on a synchronisation regime. In the case of brain dynamics, such self-organised process allows the neurons of particular brain regions to behave as a whole and thus directly controlling the neural activity, the muscles and finally the whole human body. However, not always such synchronised collective behaviour is the desired one, this is the case of neurodegenerative diseases such as Parkinsons or epilepsy where abnormal synchronisation induces undesired effects such as tremors and epileptic seizures. In this paper we propose an innovative, minimally invasive, control method able to effectively desynchronise the interested brain zones and thus to reduce the onset of undesired behaviour.
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Integrating mobile robots into human society involves the fundamental problem of navigation in crowds. This problem has been studied by considering the behaviour of humans at the level of individuals, but this representation limits the computational efficiency of motion planning algorithms. We explore the idea of representing a crowd as a flow field, and propose a formal definition of path quality based on the concept of invasiveness; a robot should attempt to navigate in a way that is minimally invasive to humans in its environment. We develop an algorithmic framework for path planning based on this definition and present experimental results that indicate its effectiveness. These results open new algorithmic questions motivated by the flow field representation of crowds and are a necessary step on the path to end-to-end implementations.
We present the implementation of seizure detection algorithms based on a minimal number of EEG channels on a parallel ultra-low-power embedded platform. The analyses are based on the CHB-MIT dataset, and include explorations of different classification approaches (Support Vector Machines, Random Forest, Extra Trees, AdaBoost) and different pre/post-processing techniques to maximize sensitivity while guaranteeing no false alarms. We analyze global and subject-specific approaches, considering all 23-electrodes or only 4 temporal channels. For 8s window size and subject-specific approach, we report zero false positives and 100% sensitivity. These algorithms are parallelized and optimized for a parallel ultra-low power (PULP) platform, enabling 300h of continuous monitoring on a 300 mAh battery, in a wearable form factor and power budget. These results pave the way for the implementation of affordable, wearable, long-term epilepsy monitoring solutions with low false-positive rates and high sensitivity, meeting both patient and caregiver requirements.
We propose a new method for six-degree-of-freedom (6-DoF) autonomous camera movement for minimally invasive surgery, which, unlike previous methods, takes into account both the position and orientation information from structures in the surgical scene. In addition to locating the camera for a good view of the manipulated object, our autonomous camera takes into account workspace constraints, including the horizon and safety constraints. We developed a simulation environment to test our method on the wire chaser surgical training task from validated training curricula in conventional laparoscopy and robot-assisted surgery. Furthermore, we propose, for the first time, the application of the proposed autonomous camera method in video-based surgical skill assessment, an area where videos are typically recorded using fixed cameras. In a study with N=30 human subjects, we show that video examination of the autonomous camera view as it tracks the ring motion over the wire leads to more accurate user error (ring touching the wire) detection than when using a fixed camera view, or camera movement with a fixed orientation. Our preliminary work suggests that there are potential benefits to autonomous camera positioning informed by scene orientation, and this can direct designers of automated endoscopes and surgical robotic systems, especially when using chip-on-tip cameras that can be wristed for 6-DoF motion.
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Objective: To identify if whole-brain structural network alterations in patients with temporal lobe epilepsy (TLE) and focal to bilateral tonic-clonic seizures (FBTCS) differ from alterations in patients without FBTCS. Methods: We dichotomized a cohort of 83 drug-resistant patients with TLE into those with and without FBTCS and compared each group to 29 healthy controls. For each subject, we used diffusion MRI to construct whole-brain structural networks. First, we measured the extent of alterations by performing FBTCS-negative (FBTCS-) versus control and FBTCS-positive (FBTCS+) versus control comparisons, thereby delineating altered sub-networks of the whole-brain structural network. Second, by standardising networks of each patient using control networks, we measured the subject-specific abnormality at every brain region in the network, thereby quantifying the spatial localisation and the amount of abnormality in every patient. Results: Both FBTCS+ and FBTCS- patient groups had altered sub-networks with reduced fractional anisotropy (FA) and increased mean diffusivity (MD) compared to controls. The altered subnetwork in FBTCS+ patients was more widespread than in FBTCS- patients (441 connections altered at t>3, p<0.001 in FBTCS+ compared to 21 connections altered at t>3, p=0.01 in FBTCS-). Significantly greater abnormalities-aggregated over the entire brain network as well as assessed at the resolution of individual brain areas-were present in FBTCS+ patients (p<0.001, d=0.82). In contrast, the fewer abnormalities present in FBTCS- patients were mainly localised to the temporal and frontal areas. Significance: The whole-brain structural network is altered to a greater and more widespread extent in patients with TLE and FBTCS. We suggest that these abnormal networks may serve as an underlying structural basis or consequence of the greater seizure spread observed in FBTCS.
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