Biomedical subjects

T E Milner

Publications and source records attributed to T E Milner.

At least 19 recordsLinked to original sources

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↗

PubMed2005

Enhancement of transepidermal skin clearing agent delivery using a 980 nm diode laser.

BACKGROUND AND OBJECTIVES: Patient compliant optical skin clearing requires non-invasive topical delivery of clearing agents such as glycerol. This requires reducing the skin barrier function by disrupting stratum corneum integrity, which was achieved using a 980 nm diode laser with artificial absorption substrates on the skin surface. Reduction of light scattering has the potential to improve many current and novel diagnostic and therapeutic applications of lasers in medicine. STUDY DESIGN/MATERIALS AND METHODS: In vivo hamster and rat skin was used to test optical skin clearing. Absorption substrates were applied to the skin after shaving. These included black ink, dark children's rub-on tattoo, and carbon paper. 980 nm cw laser light was used to ablate these substrates and to heat the skin surface to enhance the diffusion of topically applied glycerol for optical skin clearing. Increased light penetration was determined from amplitude optical coherence tomography data. RESULTS: Results indicate an improvement of the ability to measure an OCT signal at a wavelength of 1,290 nm up to 42% deeper into in vivo rodent skin using a 980 nm laser with a fluence of less than 0.96 J/mm(2) to alter the stratum corneum. CONCLUSIONS: The use of an inexpensive diode laser can significantly enhance the delivery of topically applied glycerol for optical skin clearing. The laser use involves application of an absorption substrate onto the skin surface. Using carbon paper left no unwanted residue behind and is considered optimal for this purpose.

Administration, Cutaneous↗

PubMed2004

Muscle reflex classification of low-back pain.

It has been well documented that low-back pain (LBP) patients have longer muscle response latencies to perturbation than healthy controls. These muscle responses appear to be reflexive and not voluntary in nature, and as a result, might be useful for objectively classifying LBP. The goal of the study was to develop an objective and accurate method for classifying LBP using a sudden load-release protocol. Subjects were divided into two groups: learning group (20 patients and 20 controls), and holdout group (15 patients and 12 controls). Subjects exerted isometric trunk force against a cable in four different directions. Following cable release, the trunk was suddenly displaced eliciting a muscle reflex response. Reflex latencies for muscles switching-on and shutting-off were determined using electromyogram signals from 8 trunk muscles. Independent t tests were performed on the learning group to determine which reflex parameters were to be entered into logistic regression analysis to produce a classification model. The holdout group was used to validate this classification model. The three-parameter model was able to correctly classify 83% of the learning group, and 81% of the holdout group. Using reflex parameters appears to be an accurate and objective method for classifying LBP.

Adult↗

PubMed2004

A model of force and impedance in human arm movements.

This paper describes a simple computational model of joint torque and impedance in human arm movements that can be used to simulate three-dimensional movements of the (redundant) arm or leg and to design the control of robots and human-machine interfaces. This model, based on recent physiological findings, assumes that (1) the central nervous system learns the force and impedance to perform a task successfully in a given stable or unstable dynamic environment and (2) stiffness is linearly related to the magnitude of the joint torque and increased to compensate for environment instability. Comparison with existing data shows that this simple model is able to predict impedance geometry well.

Arm↗

PubMed2003

Influence of interaction force levels on degree of motor adaptation in a stable dynamic force field.

Studies have shown that the point-to-point reaching movements of subjects seated in a dark, rotating room demonstrate errors in movement trajectories and endpoints, consistent with the direction of the Coriolis force perturbations created by room rotation. Adaptation of successive reaches and the presence of postrotation aftereffects have indicated that subjects form internal models of the Coriolis field dynamics in order to make appropriate movement corrections. It has been argued that these findings are inconsistent with predictions of peripheral stabilization assumed in equilibrium-point models of motor control. A possibility that has been raised, however, is that the Coriolis field findings may in fact stem from changes in control commands elicited due to the magnitude and destabilizing nature of the Coriolis perturbations. That is, it has been suggested that a perturbation threshold exists, below which central reactions are not necessary in order to maintain movement stability. We tested the existence of a perturbation threshold in normal-speed reaching movements. Twelve normal human subjects performed non-visually guided reaching movements while grasping a robotic manipulandum. The endpoints and trajectory deviations of their movements were measured before, during, and after a position-dependent force field (similar to a Coriolis field in terms of the time history of applied forces) was applied to their movements. We examined the responses to a range of perturbation field strengths from small to considerable. Our experimental results demonstrated a substantial adaptation response over the entire range of perturbation field magnitudes examined. Neither the amount of adaptation after 5 trials nor after 25 trials was found to change as disturbance magnitudes decreased. These findings indicate that there is an adaptive response even for small perturbations; i.e., threshold behavior was not found. This result contradicts the assertion that peripheral stabilization mechanisms enable the central controller to ignore small details of peripheral or environmental dynamics. Our findings instead point to a central dynamic modeler that is both highly sensitive and continually active. The results of our study also showed that subjects were able to maintain baseline pointing accuracies despite exposure to perturbation forces of sizeable magnitude (more than 7 N).

Adaptation, Physiological↗

PubMed2002

Investigation of the transduction mechanism of infrared detection in Melanophila acuminata: photo-thermal-mechanical hypothesis.

Differential phase optical low coherence reflectometry (OLCR) was used to detect sub-wavelength displacements in the infrared-sensitive thoracic pit organ of Melanophila acuminata (Coleoptera: Buprestidae) upon absorption of infrared radiation at 3.39 microm. The displacement had more complex morphology but similar amplitude ( approximately 100 nm at 1 W cm(-2)) when compared to the displacement measured from the exocuticle in an alternate region on the beetle's body. In addition, a simplified finite difference model was developed to predict the temperature distribution and resultant thermal expansion in the pit organ tissue. The experimental and model results were interpreted to help clarify the mechanism by which the sensilla in the pit organ convert infrared radiation to neural signals. The results of this paper are discussed in relation to the photo-thermal-mechanical transduction hypothesis. This is the first experimental examination of the transduction mechanism in Melanophila acuminata.

Animals↗

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↗

PubMed2001

Laser-mediated cartilage reshaping with feedback-controlled cryogen spray cooling: biophysical properties and viability.

BACKGROUND AND OBJECTIVE: Recent studies have indicated that chondrocyte viability decreases with prolonged or repeated laser irradiation. To optimize laser-mediated cartilage reshaping, the heating process must be finely controlled. In this study, we use high-power Nd:YAG laser irradiation (lambda = 1.32 microm) combined with cryogen spray cooling (CSC) in an attempt to reshape porcine septal cartilage while enhancing chondrocyte viability. STUDY DESIGN/MATERIALS AND METHODS: Chondrocyte viability was determined after high-power (50 W/cm2) Nd:YAG-mediated cartilage reshaping with and without cryogen spray cooling (CSC) and correlated with dynamic measurements of tissue optical and thermal properties. RESULTS: After 1.5 to 2.0 seconds of laser exposure, characteristic changes in diffuse reflectance (indicating the onset of accelerated stress relaxation) was observed in both laser only and laser with CSC specimens. After 2 seconds of laser exposure, specimens in both groups retained the curved shape for up to 14 days. After one laser exposure, chondrocyte viability was 94.35 +/- 6.1% with CSC and 68.77 +/- 20.1% (P < 0.05) without CSC. After two laser exposures, a similar trend was observed with CSC (70.18 +/- 16.44%) opposed to without CSC (28 +/- 45%; P < 0.05). CONCLUSION: CSC during high-power laser irradiation allows rapid heating while minimizing extreme front surface temperature elevations and axial thermal gradients. Laser irradiation with CSC can be used to effectively reshape cartilage tissue with the additional advantage of increasing chondrocyte viability.

Aerosol Propellants↗

PubMed2001

Theramal, mechanical, optical, and morphologic changes in bovine nucleus pulposus induced by Nd:YAG (lambda = 1.32 microm) laser irradiation.

UNLABELLED: BACKGROUND AND OBJECTIVE To examine the biophysical effects of photothermal heating on herniated intervertebral discs during laser decompression surgery. STUDY DESIGN/MATERIALS AND METHODS: Ex vivo bovine nucleus pulposus specimens were irradiated with a Nd: YAG laser (lambda = 1.32 microm, 100 seconds exposure time, 9-31 W/cm(2), 4.8 mm spot diameter), whereas changes in tissue thermal, mechanical, and optical properties were monitored by using, respectively, infrared radiometry, tissue tension measurements, and diffuse reflectance from a HeNe probe laser. Morphologic changes and mass reduction were monitored by recording shape changes on video and weighing specimens before and after laser exposure. RESULTS: At power densities below 20 W/cm(2), evaporation of water and specimen volume reduction (shrinking) were consistently observed on video during irradiation. In contrast, above 20 W/cm(2), vapor bubbles formed within the specimen matrix and subsequently ruptured (releasing heated vapors). When radiometric surface temperature approaches approximately 60 to 70 degrees C (denaturation threshold for tissue), tissue tension begins to increase, which is consistent with observations of specimen length reduction. The onset of this change in tissue tension is also reflected in characteristic alterations in diffuse reflectance. With cessation of laser irradiation, a sustained increase in tissue tension is observed, which is consistent with changes in specimen length and volume. Higher laser power results in a faster heating rate and subsequently an accelerated tension change. Specimen mass reduction increased with irradiance from 19 to 72% of the initial mass for 9--31 W/cm(2), respectively. Irradiated specimens did not return to their original shape after immersion in saline (48 hours) in contrast to air-dried specimens (24 hours), which returned to their original shape and size. CONCLUSION: These observations suggest that photothermal heating results in irreversible matrix alteration causing shape change and volume reduction (observed on video and evidenced by the increase in tissue tension) taking place at approximately 65 degrees C. Inasmuch as high laser power results in vapor bubble formation and specimen tearing, the heating process must be controlled. Diffuse reflectance measurements provide a noncontact, highly sensitive means to monitor dynamically changes in tension of nucleus purposus.

Animals↗

PubMed2001

Motor impairment in the human hand following eccentric exercise.

Motor impairment was induced by having subjects perform two sets of 50 maximal contractions, using the first dorsal interosseus (FDI) muscle to abduct the index finger, while the muscle was being stretched. Tests were conducted prior to the exercise (pre-exercise) and 24 h following the exercise (post-exercise). There were declines of 19% in maximal abduction torque and 15% in maximal flexion torque at the metacarpaphalangeal joint, during isometric contraction post-exercise compared to pre-exercise. The ability to stabilize the metacarpophalangeal joint about the abduction/adduction axis was reduced by 14% post-exercise, and the variability in tracking an isometric torque target increased by 30%. There was a decrement of 7%-10% in the median frequency of the power density spectrum of FDI electromyogram (EMG) throughout a 60 s maintained abduction at 50% maximal voluntary contraction. The mean rectified EMG, on the other hand, increased by 100%-175% for torque levels below 40% of maximal voluntary contraction, post-exercise. The results were consistent with preferential injury of type II muscle fibres in FDI. Although non-exercised synergist muscles appeared to be inhibited during maximal voluntary flexion, there was evidence that they compensated for injured FDI muscle fibres during maintained contraction at sub-maximal flexion torque.

Adult↗

PubMed2001

Non-contact measurement of thermal diffusivity in tissue.

We demonstrate the application of an infrared (IR) imaging technique for non-contact determination of thermal diffusivity in biological materials. The proposed method utilizes pulsed laser excitation to produce an initial three-dimensional temperature distribution in tissue, and records IR images of subsequent heat diffusion. The theoretical model assumes that the time-dependent temperature increase following pulsed laser exposure is due to independent heat diffusion in longitudinal and lateral directions. A nonlinear least-squares algorithm is used to compute the lateral thermal point spread function from a pair of recorded IR images and to determine the thermal diffusivity of a test specimen. The recorded time-sequence of IR images is used to compute thermal diffusivity as a function of increasing time interval between two IR emission images. Experimental application of the method was demonstrated using tissue phantoms, ex vivo samples of hydrated cartilage and in vivo epidermis.

Adult↗

PubMed2001

Muscle function at the wrist after eccentric exercise.

PURPOSE: The purpose of this experiment was to investigate the effects of eccentric exercise by the wrist extensor muscles on the function and motor control of synergist wrist extensor muscles and the antagonist wrist flexor muscles. METHODS: Ten subjects were tested repeatedly over a period of 11 d, once before and four times after a bout of strenuous eccentric exercise with the wrist extensor muscles. Tests performed as indicators of muscle injury were wrist extension MVC, ROM, and soreness. Tests performed as measures of function and motor control were maximum joint velocity, ability to sustain a constant torque, and the ability to track a changing torque. RESULTS: Indicators of muscle injury: subjects exhibited a decline in wrist extension MVC and ROM, which peaked on day 1, and reported that muscle soreness was greatest on day 2. All measures returned to baseline values by day 10. Measures of function and motor control: subjects exhibited a greater difficulty sustaining a submaximal contraction and tracking torque after eccentric exercise. Greater torque variances in these tests were most evident at high torque levels. Subjects exhibited the greatest difficulty 24 h after eccentric exercise and had recovered by day 10. There was no change in maximal wrist extension velocity. CONCLUSIONS: Strenuous eccentric exercise by wrist extensors had an effect on function and motor control of the wrist extensor muscles. The effect was most evident during contractions in which high torque was required. The response of all of the wrist extensors after the exercise bout was similar, suggesting that they operated in a synergistic manner. The antagonists wrist flexors showed increased coactivation after eccentric exercise.

Adult↗

PubMed2001

Soleus stretch reflex during cycling.

The modulation and strength of the human soleus short latency stretch reflex was investigated by mechanically perturbing the ankle during an unconstrained pedaling task. Eight subjects pedaled at 60 rpm against a preload of 10 Nm. A torque pulse was applied to the crank at various positions during the crank cycle, producing ankle dorsiflexion perturbations of similar trajectory. The stretch reflex was greatest during the power phase of the crank cycle and was decreased to the level of background EMG during recovery. Matched perturbations were induced under static conditions at the same crank angle and background soleus EMG as recorded during the power phase of active pedaling. The magnitude of the stretch reflex was not statistically different from that during the static condition throughout the power phase of the movement. The results of this study indicate that the stretch reflex is not depressed during active cycling as has been shown with the H-reflex. This lack of depression may reflect a decreased susceptibility of the stretch reflex to inhibition, possibly originating from presynaptic mechanisms.

Adult↗

PubMed2001

Primate retina imaging with polarization-sensitive optical coherence tomography.

Polarization-sensitive optical coherence tomography (PSOCT) is applied to determine the depth-resolved polarization state of light backreflected from the eye. The birefringence of the retinal nerve fiber layer (RNFL) was observed and measured from PSOCT images recorded postmortem in a Rhesus monkey. An image-processing algorithm was developed to identify birefringent regions in acquired PSOCT retinal images and automatically determine the thickness of the RNFL. Values of the RNFL thickness determined from histology and PSOCT were compared. PSOCT may provide a new method to determine RNFL thickness and birefringence for glaucoma diagnostics.

Algorithms↗

PubMed2000

Bioheat transfer analysis of cryogen spray cooling during laser treatment of port wine stains.

BACKGROUND AND OBJECTIVE: The thermal response of port wine stain (PWS) skin to a combined treatment of pulsed laser irradiation and cryogen spray cooling (CSC) was analyzed through a series of simulations performed with a novel optical-thermal model that incorporates realistic tissue morphology. STUDY DESIGN/MATERIALS AND METHODS: The model consisted of (1) a three-dimensional reconstruction of a PWS biopsy, (2) a Monte Carlo optical model, (3) a finite difference heat transfer model, and (4) an Arrhenius thermal damage calculation. Simulations were performed for laser pulses of 0.5, 2, and 10 ms and a wavelength of 585 nm. Simulated cryogen precooling spurts had durations of 0, 20, or 60 ms and terminated at laser onset. Continuous spray cooling, which commenced 60 ms before laser onset and continued through the heating and relaxation phases, was also investigated. RESULTS: The predicted response to CSC included maximal pre-irradiation temperature reductions of 27 degrees C at the superficial surface and 12 degrees C at the dermoepidermal junction. For shorter laser pulses (0.5, 2 ms), precooling significantly reduced temperatures in superficial regions, yet did not effect superficial vessel coagulation. Continuous cooling was required to reduce significantly thermal effects for the 10-ms laser pulse. CONCLUSIONS: For the PWS morphology and treatment parameters studied, optimal damage distributions were obtained for a 2-ms laser pulse with a 60-ms precooling spurt. Epidermal and vascular morphology as well as laser pulse duration should be taken into account when planning CSC/laser treatment of PWS. Our novel, realistic-morphology modeling technique has significant potential as a tool for optimizing PWS treatment parameters.

Biopsy↗

PubMed2000

Optical and thermal properties of nasal septal cartilage.

BACKGROUNDS AND OBJECTIVES: The aim of the study was to measure the spectral dependence of optical absorption and reduced scattering coefficients and thermal conductivity and diffusivity of porcine nasal septal cartilage. Values of optical and thermal properties determined in this study may aid in determining laser dosimetry and allow selection of an optical source wavelength for noninvasive diagnostics for laser-assisted reshaping of cartilage. MATERIALS AND METHODS: The diffuse reflectance and transmittance of ex vivo porcine nasal septal cartilage were measured in the 400- to 1,400-nm spectral range by using a spectrophotometer. The reflectance and transmittance data were analyzed by using an inverse adding-doubling algorithm to obtain the absorption (mu(a)) and reduced scattering (mu(a)') coefficients. A multichannel thermal probe controller system and infrared imaging radiometer methods were applied to measure the thermal properties of cartilage. The multichannel thermal probe controller system was used as an invasive technique to measure thermal conductivity and diffusivity of cartilage at three temperatures (27, 37, 50 degrees C). An infrared imaging radiometer was used as a noninvasive method to measure the thermal diffusivity of cartilage by using a CO(2) laser source (lambda = 10.6 microm) and an infrared focal plane array (IR-FPA) camera. RESULTS: The optical absorption peaks at 980 nm and 1,180 nm in cartilage were observed and corresponded to known absorption bands of water. The determined reduced scattering coefficient gradually decreased at longer wavelengths. The thermal conductivity values of cartilage measured by using an invasive probe at 27, 37, and 50 degrees C were 4.78, 5.18, and 5.76 mW/cm degrees C, respectively. The corresponding thermal diffusivity values were 1.28, 1.31, and 1.40x 10(-3) cm(2)/sec. Because no statistically significant difference in thermal diffusivity values with increasing temperature is found, the average thermal diffusivity is 1.32 x 10(-3) cm(2)/sec. The numerical estimate for thermal diffusivity obtained from infrared radiometry measurements was 1.38 x 10(-3) cm(2)/sec. CONCLUSION: Values of the spectral dependence of the optical absorption and reduced scattering coefficients, and thermal conductivity and diffusivity of cartilage were measured. The invasive and noninvasive diffusivity measurements were consistent and concluded that the infrared imaging radiometric technique has an advantage to determine thermal properties, because damage to the cartilage sample may be avoided. The measured values of absorption and reduced scattering coefficients can be used for predicting the optical fluence distribution in cartilage and determining optical source wavelengths for the laser-assisted cartilage reshaping studies. The thermal conductivity and diffusivity values can play role in understanding thermal-dependent phenomenon in cartilage during laser irradiation and determining laser dosimetry for the laser-assisted cartilage reshaping studies.

Animals↗

PubMed2000

Passive and active wrist joint stiffness following eccentric exercise.

The purpose of this study was to investigate the effects of exercise-induced muscle injury on passive and active wrist joint stiffness. Ten male subjects were repeatedly tested over a period of 11 days, once prior to, and four times following a bout of eccentric exercise with the wrist extensor muscles. Static wrist stiffness was measured by applying a 3 degrees ramp and hold displacement of the manipulandum, which stretched the wrist extensor muscles. Wrist extension maximum voluntary contraction (MVC) declined by 24.5% from pre-exercise to 24 h after the exercise bout (P < 0.001). There was a reduced passive range of motion (ROM) from 82.8 degrees pre-exercise to 70.2 degrees on day 1 (P < 0.01), but no change in the passive joint stiffness at the neutral joint position, suggesting mechanical changes in the non-contractile tissues, or swelling that only resisted movement at the extremes of the ROM. Active joint stiffness at 50% pre-exercise MVC declined from 0.299 Nm deg(-1) pre-exercise to 0.254 Nm deg(-1) on day 1 (P < 0.025). Active joint stiffness at 10% pre-exercise MVC did not change on any of the days of testing compared to pre-exercise. These findings may indicate that large muscle fibers were more affected by the injury than small muscle fibers.

Adult↗

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↗