Submicrometer robotic precision through motion compensation and novel sensing

The brain processes a large amount of information through billions of interconnected neurons, while the knowledge of brain function is largely based on the study of the single neuron. To understand this processing, it is necessary to measure the electrophysiological activity of neurons in vivo. An ideal situation would be for measurement instruments to have uninterrupted access to neurons. This has led to the development of the patch-clamp technique in the late 70s, which enables recordings with exquisite resolution in time and space. In vivo targeting of cells is done manually, however, the application of this technique is limited by the relative micrometer movement between the tissue and electrode. At present, only a few laboratories master such in vivo intracellular recordings, as the success rate - even in skilled hands - is very low. To address this problem, this project introduces a robot-assisted micrometer motion compensation system that can afford a new level of access to individual cells, and allow manipulations that are presently out of reach. An intra-operative, accurate, and low-cost sensing technology will be adopted to provide the real-time distance to the targeted anatomical structures. Furthermore, a motion compensation system and control strategies to steer instruments in real-time will be developed. The developed prototype system will be verified in vivo experiments. The envisioned systems will provide a solution towards a micrometer motion compensation for neuroscience research. It will increase the success rate of experiments, lead to better outcomes and reduce animal usage in research and associated costs.