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Biomedical subjects

D W Franklin

Publications and source records attributed to D W Franklin.

14 recordsLinked to original sources
PubMed2006

Accurate real-time feedback of surface EMG during fMRI.

Real-time acquisition of EMG during functional MRI (fMRI) provides a novel method of controlling motor experiments in the scanner using feedback of EMG. Because of the redundancy in the human muscle system, this is not possible from recordings of joint torque and kinematics alone, because these provide no information about individual muscle activation. This is particularly critical during brain imaging because brain activations are not only related to joint torques and kinematics but are also related to individual muscle activation. However, EMG collected during imaging is corrupted by large artifacts induced by the varying magnetic fields and radio frequency (RF) pulses in the scanner. Methods proposed in literature for artifact removal are complex, computationally expensive, and difficult to implement for real-time noise removal. We describe an acquisition system and algorithm that enables real-time acquisition for the first time. The algorithm removes particular frequencies from the EMG spectrum in which the noise is concentrated. Although this decreases the power content of the EMG, this method provides excellent estimates of EMG with good resolution. Comparisons show that the cleaned EMG obtained with the algorithm is, like actual EMG, very well correlated with joint torque and can thus be used for real-time visual feedback during functional studies.

Adult↗
PubMed2005

Stability and motor adaptation in human arm movements.

In control, stability captures the reproducibility of motions and the robustness to environmental and internal perturbations. This paper examines how stability can be evaluated in human movements, and possible mechanisms by which humans ensure stability. First, a measure of stability is introduced, which is simple to apply to human movements and corresponds to Lyapunov exponents. Its application to real data shows that it is able to distinguish effectively between stable and unstable dynamics. A computational model is then used to investigate stability in human arm movements, which takes into account motor output variability and computes the force to perform a task according to an inverse dynamics model. Simulation results suggest that even a large time delay does not affect movement stability as long as the reflex feedback is small relative to muscle elasticity. Simulations are also used to demonstrate that existing learning schemes, using a monotonic antisymmetric update law, cannot compensate for unstable dynamics. An impedance compensation algorithm is introduced to learn unstable dynamics, which produces similar adaptation responses to those found in experiments.

Adaptation, Physiological↗
PubMed2001

The central nervous system stabilizes unstable dynamics by learning optimal impedance.

To manipulate objects or to use tools we must compensate for any forces arising from interaction with the physical environment. Recent studies indicate that this compensation is achieved by learning an internal model of the dynamics, that is, a neural representation of the relation between motor command and movement. In these studies interaction with the physical environment was stable, but many common tasks are intrinsically unstable. For example, keeping a screwdriver in the slot of a screw is unstable because excessive force parallel to the slot can cause the screwdriver to slip and because misdirected force can cause loss of contact between the screwdriver and the screw. Stability may be dependent on the control of mechanical impedance in the human arm because mechanical impedance can generate forces which resist destabilizing motion. Here we examined arm movements in an unstable dynamic environment created by a robotic interface. Our results show that humans learn to stabilize unstable dynamics using the skillful and energy-efficient strategy of selective control of impedance geometry.

Adaptation, Physiological↗
PubMed2000

A method for measuring endpoint stiffness during multi-joint arm movements.

Current methods for measuring stiffness during human arm movements are either limited to one-joint motions, or lead to systematic errors. The technique presented here enables a simple, accurate and unbiased measurement of endpoint stiffness during multi-joint movements. Using a computer-controlled mechanical interface, the hand is displaced relative to a prediction of the undisturbed trajectory. Stiffness is then computed as the ratio of restoring force to displacement amplitude. Because of the accuracy of the prediction (< 1 cm error after 200 ms) and the quality of the implementation, the movement is not disrupted by the perturbation. This technique requires only 13 as many trials to identify stiffness as the method of Gomi and Kawato (1997, Biological Cybernetics 76, 163-171) and may, therefore, be used to investigate the evolution of stiffness during motor adaptation.

Arm↗
PubMed1998

Characterization of multijoint finger stiffness: dependence on finger posture and force direction.

The two-dimensional static stiffness of the index finger was measured with the interphalangeal joints in flexed and extended postures. The stiffness of the relaxed finger was compared with the stiffness when voluntary force was exerted in different directions. The finger stiffness was found to be anisotropic, with the direction of greatest stiffness being approximately parallel to the proximal phalange of the finger. This direction was relatively unaffected by finger posture or direction of finger force. Finger stiffness was more anisotropic when the interphalangeal joints were extended than flexed. The stiffness was most anisotropic when the interphalangeal joints were extended and force was being exerted in the direction of pointing, while it was least anisotropic when the interphalangeal joints were flexed and force was being exerted in directions normally associated with pinching and tapping actions. The stiffness of the individual finger joints was computed and the relation between stiffness and joint torque was examined. Previous studies, which examined single finger joints in isolation, had found that joint stiffness varied in a linear fashion with net joint torque. In contrast, we did not find a monotonic relation between joint stiffness and net joint torque, which we attributed to the need to vary the amount of cocontraction of antagonistic muscles when controlling the direction of finger force.

Adult↗
PubMed1995

Inability to activate muscles maximally during cocontraction and the effect on joint stiffness.

In order to determine the maximum joint stiffness that could be produced by cocontraction of wrist flexor and extensor muscles, experiments were conducted in which healthy human subjects stabilized a wrist manipulandum that was made mechanically unstable by using positive position feedback to create a load with the characteristics of a negative spring. To determine a subject's limit of stability, the negative stiffness of the manipulandum was increased by increments until the subject could no longer reliably stabilize the manipulandum in a 1 degree target window. Static wrist stiffness was measured by applying a 3 degree rampand-hold displacement of the manipulandum, which stretched the wrist flexor muscles. As the load stiffness was made more and more negative, subjects responded by increasing the level of cocontraction of flexor and extensor muscles to increase the stiffness of the wrist. The stiffness measured at a subject's limit of stability was taken as the maximum stiffness that the subject could achieve by cocontraction of wrist flexor and extensor muscles. In almost all cases, this value was as large or larger than that measured when the subject was asked to cocontract maximally to stiffen the wrist in the absence of any load. Static wrist stiffness was also measured when subjects reciprocally activated flexor or extensor muscles to hold the manipulandum in the target window against a load generated by a stretched spring. We found a strong linear correlation between wrist stiffness and flexor torque over the range of torques used in this study (20-80% maximal voluntary contraction). The maximum stiffness achieved by cocontraction of wrist flexor and extensor muscles was less than 50% of the maximum value predicted from the joint stiffness measured during matched reciprocal activation of flexor and extensor muscles. EMG recorded from either wrist flexor or extensor muscles during maximal cocontraction confirmed that this reduced stiffness was due to lower levels of activation during cocontraction of flexor and extensor muscles than during reciprocal contraction.

Adult↗
PubMed1989

Histologic correlates of gastrointestinal ultrasound images.

Endoscopic ultrasound imaging has potential for improving the diagnosis of gastrointestinal disease. However, the anatomic correlates of gastrointestinal ultrasound images have not been precisely defined. We have compared ultrasound images with the corresponding histologic sections of 81 specimens of resected and postmortem, normal and diseased gastrointestinal tissue. The five layers seen on ultrasound images of the normal gastrointestinal tract correspond to (1) superficial mucosa, (2) deep mucosa, (3) submucosa plus the acoustical interface between the submucosa and muscularis propria, (4) muscularis propria minus the acoustical interface between the submucosa and muscularis propria, and (5) serosa and subserosal fat. This interpretation takes into consideration the echoes produced by the tissue layers and the echoes produced by the interfaces between layers. Abnormal findings on ultrasound images of neoplastic and inflammatory diseases correspond to histologic tissue structure. When properly interpreted, ultrasound images of the gastrointestinal wall can provide potentially useful diagnostic information.

Digestive System↗
PubMed1989

Experimental evaluation of an endoscopic ultrasound probe: in vitro and in vivo canine studies.

We developed an endoscopic echo probe that can be passed via the biopsy channel of a flexible fiberoptic or video endoscope with a 3.5-mm channel. The probe moves along the gastrointestinal wall under direct endoscopic vision. The translational scanning action is sensed by a position potentiometer and combines with the ultrasonic B-mode echoes to produce a cross-sectional image of the wall. The system uses an ultrasound frequency of 20 MHz to produce high-resolution images. The device was used to image canine gastrointestinal tissue in vitro and in vivo during endoscopy. Ultrasound images of the gut wall correlate with histologic structure. This probe overcomes some of the problems associated with the combined ultrasound endoscopes now in use. Use of the probe with video endoscopy allows the endoscopic and ultrasound images to be displayed side by side, simplifying coordination of application of the two techniques.

Animals↗
PubMed1987

Cross-sectional imaging method. A system to compare ultrasound, computed tomography, and magnetic resonance with histologic findings.

Studies comparing imaging modalities require a precise knowledge of the type and location of tissue structures. When comparing cross-sectional techniques such as ultrasound, computed tomography, and magnetic resonance imaging, the images must be obtained through the same tissue section that is examined histologically. An experimental system that permits comparison of these modalities with histologic sections of precisely corresponding tissue is described. Application in 30 gastrointestinal tissue specimens shows a high degree of correspondence between cross-sectional images and histologic sections. This method should be useful in tissue imaging research for anatomic correlation and for comparisons between imaging modalities.

Digestive System↗
PubMed1987

Colorectal neoplasms: accuracy of US in demonstrating the depth of invasion.

Six normal and 16 neoplastic colorectal specimens were examined with 8.5-MHz ultrasound (US). An articulated system facilitated precise spatial correlation between US and histologic sections. Images were blindly interpreted and then compared with histologic results. All six normal specimen showed five distinct echo layers and were distinguished from neoplastic specimens by all the observers. The central echogenic layer, corresponding to the submucosa, is useful in determining the depth of origin of a neoplasm and the presence of submucosal invasion. US had an accuracy of 92.5% in demonstrating invasion of the submucosa and 77% for invasion of the muscularis externa. For mucosal neoplasms with invasion through the muscularis externa and extension into the subserosal tissues, nearly 90% of US interpretations were correct. High-frequency US may be useful in determining the depth of invasion of mucosal tumors with respect to the submucosa and in differentiating mucosal from extramural masses.

Biopsy↗
PubMed1985

Noninvasive detection of aortic insufficiency in patients with mitral stenosis by pulsed Doppler echocardiography.

In patients with mitral stenosis, routine noninvasive techniques are insensitive for the detection of coexistent aortic insufficiency. The ability of pulsed Doppler echocardiography to detect the presence or absence of angiographically demonstrated aortic insufficiency was evaluated in 45 patients with rheumatic mitral stenosis. Pulsed Doppler echocardiography correctly identified the presence of aortic insufficiency in 97% of the 35 patients with documented aortic regurgitation. More important, pulsed Doppler echocardiography disclosed aortic insufficiency in all 7 patients in whom it was not suspected on physical examination and in 28 of the 29 patients in whom it was not suspected by M-mode echocardiography. Pulsed Doppler echocardiography also demonstrated excellent specificity, correctly detecting the absence of aortic insufficiency in 9 of the 10 patients who had no angiographic evidence of aortic insufficiency. It is concluded that in patients with mitral stenosis, pulsed Doppler echocardiography is a useful noninvasive diagnostic test for evaluating the presence of aortic insufficiency, even when this lesion is not detectable by physical examination or M-mode echocardiography.

Adult↗
PubMed1975

An evaluation of effect of airborne dust from a cotton mill on the guinea-pig ileum with reference to byssinosis.

The effect of airborne dust on the guinea-pig ileum was studied. Tyrode extracts of airborne dust collected freshly in the cardroom of a cotton mill, and extracts of air pollutant samples drawn on the roof of the mill and of the local town hall were all found to induce the guinea-pig ileum to contract when applied in a tissue-bath. However, the force of contraction with air pollutants was rather greater than that with the cardroom dust. Considering the variables involved, the ileum response to the cardroom dust may have been due to ordinary air pollutants which constitute a significant part of the dust. It is concluded that this pharmacological phenomenon is probably not relevant in the context of byssinosis.

Air Pollutants↗