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Belkacem AN, Jamil N, Khalid S, Alnajjar F. On closed-loop brain stimulation systems for improving the quality of life of patients with neurological disorders. Front Hum Neurosci 2023; 17:1085173. [PMID: 37033911 PMCID: PMC10076878 DOI: 10.3389/fnhum.2023.1085173] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/31/2022] [Accepted: 03/06/2023] [Indexed: 04/11/2023] Open
Abstract
Emerging brain technologies have significantly transformed human life in recent decades. For instance, the closed-loop brain-computer interface (BCI) is an advanced software-hardware system that interprets electrical signals from neurons, allowing communication with and control of the environment. The system then transmits these signals as controlled commands and provides feedback to the brain to execute specific tasks. This paper analyzes and presents the latest research on closed-loop BCI that utilizes electric/magnetic stimulation, optogenetic, and sonogenetic techniques. These techniques have demonstrated great potential in improving the quality of life for patients suffering from neurodegenerative or psychiatric diseases. We provide a comprehensive and systematic review of research on the modalities of closed-loop BCI in recent decades. To achieve this, the authors used a set of defined criteria to shortlist studies from well-known research databases into categories of brain stimulation techniques. These categories include deep brain stimulation, transcranial magnetic stimulation, transcranial direct-current stimulation, transcranial alternating-current stimulation, and optogenetics. These techniques have been useful in treating a wide range of disorders, such as Alzheimer's and Parkinson's disease, dementia, and depression. In total, 76 studies were shortlisted and analyzed to illustrate how closed-loop BCI can considerably improve, enhance, and restore specific brain functions. The analysis revealed that literature in the area has not adequately covered closed-loop BCI in the context of cognitive neural prosthetics and implanted neural devices. However, the authors demonstrate that the applications of closed-loop BCI are highly beneficial, and the technology is continually evolving to improve the lives of individuals with various ailments, including those with sensory-motor issues or cognitive deficiencies. By utilizing emerging techniques of stimulation, closed-loop BCI can safely improve patients' cognitive and affective skills, resulting in better healthcare outcomes.
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Affiliation(s)
- Abdelkader Nasreddine Belkacem
- Department of Computer and Network Engineering, College of Information Technology, UAE University, Al-Ain, United Arab Emirates
- *Correspondence: Abdelkader Nasreddine Belkacem
| | - Nuraini Jamil
- Department of Computer Science and Software Engineering, College of Information Technology, UAE University, Al-Ain, United Arab Emirates
| | - Sumayya Khalid
- Department of Computer Science and Software Engineering, College of Information Technology, UAE University, Al-Ain, United Arab Emirates
| | - Fady Alnajjar
- Department of Computer Science and Software Engineering, College of Information Technology, UAE University, Al-Ain, United Arab Emirates
- Center for Brain Science, RIKEN, Saitama, Japan
- Fady Alnajjar
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Wu J, Rountree CM, Kare SS, Ramkumar PK, Finan JD, Troy JB. Progress on Designing a Chemical Retinal Prosthesis. Front Cell Neurosci 2022; 16:898865. [PMID: 35774083 PMCID: PMC9239740 DOI: 10.3389/fncel.2022.898865] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/17/2022] [Accepted: 05/17/2022] [Indexed: 11/29/2022] Open
Abstract
The last major review of progress toward a chemical retinal prosthesis was a decade ago. Many important advancements have been made since then with the aim of producing an implantable device for animal testing. We review that work here discussing the potential advantages a chemical retinal prosthesis may possess, the spatial and temporal resolutions it might provide, the materials from which an implant might be constructed and its likely effectiveness in stimulating the retina in a natural fashion. Consideration is also given to implant biocompatibility, excitotoxicity of dispensed glutamate and known changes to photoreceptor degenerate retinas.
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Affiliation(s)
- Jiajia Wu
- Department of Biomedical Engineering, Robert R. McCormick School of Engineering and Applied Science, Northwestern University, Evanston, IL, United States
| | - Corey M. Rountree
- Department of Mechanical and Industrial Engineering, College of Engineering, University of Illinois at Chicago, Chicago, IL, United States
| | - Sai-Siva Kare
- Department of Mechanical and Industrial Engineering, College of Engineering, University of Illinois at Chicago, Chicago, IL, United States
| | - Pradeep Kumar Ramkumar
- Department of Mechanical and Industrial Engineering, College of Engineering, University of Illinois at Chicago, Chicago, IL, United States
| | - John D. Finan
- Department of Mechanical and Industrial Engineering, College of Engineering, University of Illinois at Chicago, Chicago, IL, United States
| | - John B. Troy
- Department of Biomedical Engineering, Robert R. McCormick School of Engineering and Applied Science, Northwestern University, Evanston, IL, United States
- *Correspondence: John B. Troy,
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Kare SS, Rountree CM, Troy JB, Finan JD, Saggere L. Neuromodulation using electroosmosis. J Neural Eng 2021; 18:10.1088/1741-2552/ac00d3. [PMID: 33984848 PMCID: PMC8177066 DOI: 10.1088/1741-2552/ac00d3] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/20/2020] [Accepted: 05/13/2021] [Indexed: 11/12/2022]
Abstract
Objective.Our laboratory has proposed chemical stimulation of retinal neurons using exogenous glutamate as a biomimetic strategy for treating vision loss caused by photoreceptor (PR) degenerative diseases. Although our previousin-vitrostudies using pneumatic actuation indicate that chemical retinal stimulation is achievable, an actuation technology that is amenable to microfabrication, as needed for anin-vivoimplantable device, has yet to be realized. In this study, we sought to evaluate electroosmotic flow (EOF) as a mechanism for delivering small quantities of glutamate to the retina. EOF has great potential for miniaturization.Approach.An EOF device to dispense small quantities of glutamate was constructed and its ability to drive retinal output tested in anin-vitropreparation of PR degenerate rat retina.Main results.We built and tested an EOF microfluidic system, with 3D printed and off-the-shelf components, capable of injecting small volumes of glutamate in a pulsatile fashion when a low voltage control signal was applied. With this device, we produced excitatory and inhibitory spike rate responses in PR degenerate rat retinae. Glutamate evoked spike rate responses were also observed to be voltage-dependent and localized to the site of injection.Significance.The EOF device performed similarly to a previously tested conventional pneumatic microinjector as a means of chemically stimulating the retina while eliminating the moving plunger of the pneumatic microinjector that would be difficult to miniaturize and parallelize. Although not implantable, the prototype device presented here as a proof of concept indicates that a retinal prosthetic based on EOF-driven chemical stimulation is a viable and worthwhile goal. EOF should have similar advantages for controlled dispensing of charged neurochemicals at any neural interface.
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Affiliation(s)
- Sai Siva Kare
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, IL, United States of America
| | - Corey M Rountree
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, IL, United States of America
| | - John B Troy
- Department of Biomedical Engineering, Northwestern University, Evanston, IL, United States of America
| | - John D Finan
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, IL, United States of America
| | - Laxman Saggere
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, IL, United States of America
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Rountree CM, Meng C, Troy JB, Saggere L. Mechanical Stimulation of the Retina: Therapeutic Feasibility and Cellular Mechanism. IEEE Trans Neural Syst Rehabil Eng 2019; 26:1075-1083. [PMID: 29752243 DOI: 10.1109/tnsre.2018.2822322] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
Retinal prostheses that seek to restore vision by artificially stimulating retinal neurons with electrical current are an emerging treatment for photoreceptor degenerative diseases but face difficulties achieving naturalistic vision with high spatial resolution. Here, we report the unexpected discovery of a technique for mechanically stimulating retinal neurons with the potential to bypass the limitations of electrical stimulation. We found that pulsatile injections of standard Ames medium solution into explanted retinas of wild type rats under certain injection conditions (pulse-width > 50ms at 0.69 kPa pressure) elicit spatially localized retinal responses similar to light-evoked responses. The same injections made into photoreceptor degenerated retinas of transgenic S334ter-3 rats also elicit robust neural responses. We investigated the cellular mechanism causing these responses, by repeating the injections after treating the retinas with a pharmacological blocker of the transient receptor potential vanilloid (TRPV) channel group, a common mechanoreceptor found on retinal neurons, and observed a significant reduction in retinal ganglion cell spike rate response amplitudes. Together, these data reveal that therapeutic mechanical stimulation of the retina, occurring in part through TRPV channel activation, is feasible and this little explored neurostimulation paradigm could be useful in stimulating photoreceptor degenerated retinas for vision restoration.
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Rountree CM, Troy JB, Saggere L. Investigation of Injection Depth for Subretinal Delivery of Exogenous Glutamate to Restore Vision via Biomimetic Chemical Neuromodulation. IEEE Trans Biomed Eng 2019; 67:464-470. [PMID: 31071013 DOI: 10.1109/tbme.2019.2915255] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
Chemical neuromodulation of the retina using native neurotransmitters to biomimetically activate target retinal neurons through chemical synapses is a promising biomimetic alternative to electrical stimulation for restoring vision in blindness caused by photoreceptor degenerative diseases. Recent research has shown that subretinal chemical stimulation could be advantageous for treating photoreceptor degenerative diseases but many of the parameters for achieving efficacious chemical neuromodulation are yet to be explored. In this paper, we investigated how the depth at which neurotransmitter is injected subretinally affects the success rate, spike rate characteristics (i.e., amplitude, response latency, and time width), and spatial resolution of chemical stimulation in wild-type Long Evans and photoreceptor degenerated S334ter-3 transgenic rat retinas in vitro. We compared the responses to injections of glutamate at the subretinal surface and two subsurface depths near the outer and inner plexiform layers and found that while injections at all depths elicited robust retinal ganglion cell responses, they differed significantly in terms of the spike rate characteristics and spatial resolutions across injection depths. Shallow subsurface injections near the outer plexiform layer evoked the highest spike rate amplitudes and had the highest spatial resolution and success rates, while deep subsurface injections near the inner plexiform layer elicited the shortest latencies and narrowest time widths. Our results suggest that surface injections are suboptimal for subretinal chemical neuromodulation, while shallow subsurface and deep subsurface injections may optimize high spatial and high temporal resolution, respectively. These findings have great significance for the design and development of a potential neurotransmitter-based subretinal prosthesis.
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Wu CY, Guan ZY, Lin PC, Chen ST, Lin PK, Chen PC, Chao PHG, Chen HY. Defined cell adhesion for silicon-based implant materials by using vapor-deposited functional coatings. Colloids Surf B Biointerfaces 2018; 175:545-553. [PMID: 30579055 DOI: 10.1016/j.colsurfb.2018.12.034] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/17/2018] [Revised: 12/11/2018] [Accepted: 12/12/2018] [Indexed: 01/01/2023]
Abstract
The field of implantable electronics relies on using silicon materials due to the merits of a well-established fabrication process and favorable properties; of particular interest is the surface modification of such materials. In the present study, we introduce a surface modification technique based on coatings of functionalized Parylene on silicon substrates, where the modified layers provide a defined cell adhesion capability for the resultant silicon materials/devices. Functionalization of Parylene was achieved during a one-step chemical vapor deposition (CVD) polymerization process, forming NHS ester-functionalized Parylene, and subsequent RGD attachment was enabled via a conjugation reaction between the NHS ester and amine groups. The modification procedures additionally provided a clean and gentle approach to avoid thermal excursions, intense irradiation, chemicals, or solvents that might damage delicate structures or sensitive molecules on the devices. The modification layers exhibited excellent mechanical strength on the substrate, meeting the high standards of the American Society for Testing and Materials (ASTM), and the resultant cell adherence property was verified by a centrifugation assay and the analysis of attached cell morphologies; the results collectively demonstrated robust and sustainable modification layers of the NHS ester-functionalized Parylene and confirmed that the cell-adherence property imparted by using this facile modification technique was effective. The modification technology is expected to benefit the design of prospective interface properties for silicon-based devices and related industrial products.
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Affiliation(s)
- Chih-Yu Wu
- Department of Chemical Engineering, National Taiwan University, Taipei 10617, Taiwan
| | - Zhen-Yu Guan
- Department of Chemical Engineering, National Taiwan University, Taipei 10617, Taiwan
| | - Pin-Chen Lin
- Department of Materials and Mineral Resources Engineering, National Taipei University of Technology, Taipei 10608, Taiwan
| | - Shih-Ting Chen
- Department of Chemical Engineering, National Taiwan University, Taipei 10617, Taiwan
| | - Po-Kang Lin
- Department of Ophthalmology, Taipei Veterans General Hospital, Taipei 11221, Taiwan
| | - Po-Chun Chen
- Department of Materials and Mineral Resources Engineering, National Taipei University of Technology, Taipei 10608, Taiwan.
| | - Pen-Hsiu Grace Chao
- Department of Biomedical Engineering, National Taiwan University, Taipei 10617, Taiwan.
| | - Hsien-Yeh Chen
- Department of Chemical Engineering, National Taiwan University, Taipei 10617, Taiwan; Advanced Research Center for Green Materials Science and Technology, National Taiwan University, Taipei 10617, Taiwan.
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Haq W, Dietter J, Bolz S, Zrenner E. Feasibility study for a glutamate driven subretinal prosthesis: local subretinal application of glutamate on blind retina evoke network-mediated responses in different types of ganglion cells. J Neural Eng 2018; 15:045004. [PMID: 29916398 DOI: 10.1088/1741-2552/aac811] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022]
Abstract
OBJECTIVE A feasibility study for a transmitter based subretinal prosthesis, generating visual responses in blind mouse retina is presented. APPROACH Degenerated rd1 mouse retina were stimulated in subretinal configuration by local glutamate (Glu) or NMDA application via micropipettes (~1.5 μm) and thereby the outer retinal activity was recorded by calcium-imaging or the ganglion cell (GC) activity was recorded by the multi-electrode array system. The network mediated activation of GC via bipolar cells was approved by the administration of Glu receptor blockers. MAIN RESULTS Data of the degenerated and blind rd1 mouse retina reveals that the outer retina is Glu sensitive and that the subretinal Glu stimulation promotes network mediated GC responses. Analysis of the spatial activity-spread indicates that the Glu induced cell activation radius in the outer retina (~12.5 μm) and postsynaptically activated GC (~40 μm) is focal to the stimulation pipette tip. Moreover, the application of NMDA in subretinal space also evoked network mediated GC responses. The Glu-activated GC were identified as ON-OFF, OFF and two ON cells types. SIGNIFICANCE This study evaluates the prerequisite for the function of a transmitter based implant, that after the loss of the photoreceptors, the remnant blind retinal network is Glu sensitive and functional, positively. The differential activation of ON (hyperpolarisation) and OFF (depolarisation) bipolar cells by transmitter Glu is a unique feature and of high interest for retinal implants. Therefore, the respective bipolar cell types could only be driven by glutamatergic stimulation accurately and not by electrical stimulation. The preserved functionality of the blind retina at the onset of complete blindness is motivating to continue research on a transmitter-based prosthesis. Since the artificial Glu stimulation mimics the natural retinal input, early implantation of a Glu-prosthesis might delay the devastating retinal remodelling positively, due to the neuronal-plasticity.
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Affiliation(s)
- Wadood Haq
- Centre for Ophthalmology, Institute for Ophthalmic Research, University of Tübingen, Elfriede-Aulhorn-Str. 5-7, D-72076 Tübingen, Germany
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Rountree CM, Troy JB, Saggere L. Methodology for Biomimetic Chemical Neuromodulation of Rat Retinas with the Neurotransmitter Glutamate In Vitro. J Vis Exp 2017. [PMID: 29286422 DOI: 10.3791/56645] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/31/2022] Open
Abstract
Photoreceptor degenerative diseases cause irreparable blindness through the progressive loss of photoreceptor cells in the retina. Retinal prostheses are an emerging treatment for photoreceptor degenerative diseases that seek to restore vision by artificially stimulating the surviving retinal neurons in the hope of eliciting comprehensible visual perception in patients. Current retinal prostheses have demonstrated success in restoring limited vision to patients using an array of electrodes to electrically stimulate the retina but face substantial physical barriers in restoring high acuity, natural vision to patients. Chemical neurostimulation using native neurotransmitters is a biomimetic alternative to electrical stimulation and could bypass the fundamental limitations associated with retinal prostheses using electrical neurostimulation. Specifically, chemical neurostimulation has the potential to restore more natural vision with comparable or better visual acuities to patients by injecting very small quantities of neurotransmitters, the same natural agents of communication used by retinal chemical synapses, at much finer resolution than current electrical prostheses. However, as a relatively unexplored stimulation paradigm, there is no established protocol for achieving chemical stimulation of the retina in vitro. The purpose of this work is to provide a detailed framework for accomplishing chemical stimulation of the retina for investigators who wish to study the potential of chemical neuromodulation of the retina or similar neural tissues in vitro. In this work, we describe the experimental setup and methodology for eliciting retinal ganglion cell (RGC) spike responses similar to visual light responses in wild-type and photoreceptor-degenerated wholemount rat retinas by injecting controlled volumes of the neurotransmitter glutamate into the subretinal space using glass micropipettes and a custom multiport microfluidic device. This methodology and protocol are general enough to be adapted for neuromodulation using other neurotransmitters or even other neural tissues.
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Affiliation(s)
- Corey M Rountree
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago
| | - John B Troy
- Department of Biomedical Engineering, Northwestern University
| | - Laxman Saggere
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago;
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Aebersold MJ, Dermutz H, Demkó L, Cogollo JFS, Lin SC, Burchert C, Schneider M, Ling D, Forró C, Han H, Zambelli T, Vörös J. Local Chemical Stimulation of Neurons with the Fluidic Force Microscope (FluidFM). Chemphyschem 2017; 19:1234-1244. [DOI: 10.1002/cphc.201700780] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/13/2017] [Revised: 10/06/2017] [Indexed: 01/06/2023]
Affiliation(s)
- Mathias J. Aebersold
- Laboratory of Biosensors and Bioelectronics; Institute for Biomedical Engineering, University and ETH Zurich; Gloriastrasse 35 8092 Zurich Switzerland
| | - Harald Dermutz
- Laboratory of Biosensors and Bioelectronics; Institute for Biomedical Engineering, University and ETH Zurich; Gloriastrasse 35 8092 Zurich Switzerland
| | - László Demkó
- Laboratory of Biosensors and Bioelectronics; Institute for Biomedical Engineering, University and ETH Zurich; Gloriastrasse 35 8092 Zurich Switzerland
| | - José F. Saenz Cogollo
- Laboratory of Biosensors and Bioelectronics; Institute for Biomedical Engineering, University and ETH Zurich; Gloriastrasse 35 8092 Zurich Switzerland
| | - Shiang-Chi Lin
- Laboratory of Biosensors and Bioelectronics; Institute for Biomedical Engineering, University and ETH Zurich; Gloriastrasse 35 8092 Zurich Switzerland
| | - Conrad Burchert
- Laboratory of Biosensors and Bioelectronics; Institute for Biomedical Engineering, University and ETH Zurich; Gloriastrasse 35 8092 Zurich Switzerland
| | - Moritz Schneider
- Laboratory of Biosensors and Bioelectronics; Institute for Biomedical Engineering, University and ETH Zurich; Gloriastrasse 35 8092 Zurich Switzerland
| | - Doris Ling
- Laboratory of Biosensors and Bioelectronics; Institute for Biomedical Engineering, University and ETH Zurich; Gloriastrasse 35 8092 Zurich Switzerland
| | - Csaba Forró
- Laboratory of Biosensors and Bioelectronics; Institute for Biomedical Engineering, University and ETH Zurich; Gloriastrasse 35 8092 Zurich Switzerland
| | - Hana Han
- Laboratory of Biosensors and Bioelectronics; Institute for Biomedical Engineering, University and ETH Zurich; Gloriastrasse 35 8092 Zurich Switzerland
| | - Tomaso Zambelli
- Laboratory of Biosensors and Bioelectronics; Institute for Biomedical Engineering, University and ETH Zurich; Gloriastrasse 35 8092 Zurich Switzerland
| | - János Vörös
- Laboratory of Biosensors and Bioelectronics; Institute for Biomedical Engineering, University and ETH Zurich; Gloriastrasse 35 8092 Zurich Switzerland
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Rountree CM, Raghunathan A, Troy JB, Saggere L. Prototype chemical synapse chip for spatially patterned neurotransmitter stimulation of the retina ex vivo. MICROSYSTEMS & NANOENGINEERING 2017; 3:17052. [PMID: 31057878 PMCID: PMC6445002 DOI: 10.1038/micronano.2017.52] [Citation(s) in RCA: 13] [Impact Index Per Article: 1.9] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/09/2016] [Revised: 04/06/2017] [Accepted: 07/02/2017] [Indexed: 05/04/2023]
Abstract
Biomimetic stimulation of the retina with neurotransmitters, the natural agents of communication at chemical synapses, could be more effective than electrical stimulation for treating blindness from photoreceptor degenerative diseases. Recent studies have demonstrated the feasibility of neurotransmitter stimulation by injecting glutamate, a primary retinal neurotransmitter, into the retina at isolated single sites. Here, we demonstrate spatially patterned multisite stimulation of the retina with glutamate, offering the first experimental evidence for applicability of this strategy for translating visual patterns into afferent neural signals. To accomplish pattern stimulation, we fabricated a special microfluidic device comprising an array of independently addressable microports connected to tiny on-chip glutamate reservoirs via microchannels. The device prefilled with glutamate was interfaced with explanted rat retinas placed over a multielectrode array (MEA) with the retinal ganglion cells (RGC) contacting the electrodes and photoreceptor surface contacting the microports. By independently and simultaneously activating a subset of the microports with modulated pressure pulses, small boluses of glutamate were convectively injected at multiple sites in alphabet patterns over the photoreceptor surface. We found that the glutamate-driven RGC responses recorded through the MEA system were robust and spatially laid out in patterns strongly resembling the injection patterns. The stimulations were also highly localized with spatial resolutions comparable to or better than electrical retinal prostheses. Our findings suggest that surface stimulation of the retina with neurotransmitters in pixelated patterns of visual images is feasible and an artificial chemical synapse chip based on this approach could potentially circumvent the limitations of electrical retinal prostheses.
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Affiliation(s)
- Corey M. Rountree
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, IL 60607, USA
| | - Ashwin Raghunathan
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, IL 60607, USA
| | - John B. Troy
- Department of Biomedical Engineering, Northwestern University, Evanston, IL 60208, USA
| | - Laxman Saggere
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, IL 60607, USA
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