Microelectrode Implants for Spinal Cord Stimulation in Rats
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Microelectrode Implants for Spinal Cord Stimulation in Rats Thesis by Mandheerej Singh Nandra In Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy California Institute of Technology Pasadena, California 2014 (Defended on Sept 24, 2014) ii © 2014 Mandheerej Nandra All Rights Reserved iii Acknowledgements First and foremost, I must express my most sincere gratitude towards my advisor, Prof. Yu-Chong Tai. Your depth of knowledge and sheer brilliance have guided and inspired me throughout my time at Caltech, and I will never forget your unwavering support for me through countless challenging times during this project, and the life lessons I have learned from you. It is truly my honor to be a part of your lab. This dissertation could only be achieved with the dedicated effort from the Edgerton lab at UCLA. I am grateful that Dr. Reggie Edgerton has given me this opportunity to join in the effort to push the boundaries of spinal cord research. I am forever in debt to the tireless work ethic of Parag Gad and Dr. Jaehoon Choe for their work with the animals used in this study and their concise analysis. I would like to thank my various colleagues through the years at the Caltech Micromachining Lab. None of the work in this thesis would be possible without Dr. Damien Rodger’s work in developing microelectrode fabrication technology at our lab. Dr. Angela Tooker and Dr. Wen Li were excellent mentors in teaching me all I needed to know in the lab. Thank you, Dr. Luca Giacchino and Dr. Ray Huang, for your friendship as we progressed through Caltech together. And to Dr. John Chen, Dr. Justin Young- Hyun Kim, Dr. Wendian Shi, Dr. Charles Deboer, Zhao Liu, Dongyang Kang, Yang Liu, Shell Zhang, and Nick Scianmarello: it was a privilege working alongside you all. A special thank you goes out to Dr. Yu Zhao of our lab for being an amazing lab mate and friend. I felt like every time I sat down to teach you something, I learned just as much in return, and will cherish all the discussions we had about science and life. Your warm spirit and exuberant energy have never failed to put a smile on my face. iv I am also grateful to Christine Garske for being so kind and helpful to both me and the rest of the lab with purchases and administration. Many thanks to Mr. Trevor Roper for his relentless work in keeping the lab equipment running smoothly. Finally, I wish to extend my most sincere thanks to my family. I cannot thank my parents enough for the support and love they gave me throughout my life and guiding me to my passion for engineering. To my sister Dr. Sukhjeen Nandra and brother Dr. Kiritpaul Nandra, thank you so much for the many long and heartfelt conversations we had over the years. And to my future wife Amarjit, thank you for your endless love and support, and most importantly putting a smile on my face whenever I needed it. I love you all, and truly would not have completed this journey without you. v Abstract Paralysis is a debilitating condition afflicting millions of people across the globe, and is particularly deleterious to quality of life when motor function of the legs is severely impaired or completely absent. Fortunately, spinal cord stimulation has shown great potential for improving motor function after spinal cord injury and other pathological conditions. Many animal studies have shown stimulation of the neural networks in the spinal cord can improve motor ability so dramatically that the animals can even stand and step after a complete spinal cord transaction. This thesis presents work to successfully provide a chronically implantable device for rats that greatly enhances the ability to control the site of spinal cord stimulation. This is achieved through the use of a parylene-C based microelectrode array, which enables a density of stimulation sites unattainable with conventional wire electrodes. While many microelectrode devices have been proposed in the past, the spinal cord is a particularly challenging environment due to the bending and movement it undergoes in a live animal. The developed microelectrode array is the first to have been implanted in vivo while retaining functionality for over a month. In doing so, different neural pathways can be selectively activated to facilitate standing and stepping in spinalized rats using various electrode combinations, and important differences in responses are observed. An engineering challenge for the usability of any high density electrode array is connecting the numerous electrodes to a stimulation source. This thesis develops several technologies to address this challenge, beginning with a fully passive implant that uses one wire per electrode to connect to an external stimulation source. The number of wires passing through the body and the skin proved to be a hazard for the health of the animal, vi so a multiplexed implant was devised in which active electronics reduce the number of wires. Finally, a fully wireless implant was developed. As these implants are tested in vivo, encapsulation is of critical importance to retain functionality in a chronic experiment, especially for the active implants, and it was achieved without the use of costly ceramic or metallic hermetic packaging. Active implants were built that retained functionality 8 weeks after implantation, and achieved stepping in spinalized rats after just 8-10 days, which is far sooner than wire-based electrical stimulation has achieved in prior work. vii Table of Contents 1. Introduction ................................................................................................................... 1 1.1 Paralysis and Spinal Cord Injury ................................................................... 1 1.2 Spinal Cord Stimulation ................................................................................. 3 1.3 Microelectrode Technology ........................................................................... 5 1.3.1 Introduction to MEMS ........................................................................ 5 1.3.2 Microelectrode arrays .......................................................................... 6 1.3.3 Flexible Microelectrodes and Parylene MEMS .................................. 8 2. Microelectrode Array for Spinal Cord Stimulation ...................................................... 9 2.1 Introduction .................................................................................................... 9 2.2 Design Constraints ....................................................................................... 10 2.3 Fully Microfabricated Implant ..................................................................... 11 2.3.1 Fabrication ......................................................................................... 13 2.3.2 Surgical Procedure ............................................................................ 15 2.3.2.1 Headplug and EMG wires .......................................................... 15 2.3.2.2 Spinal cord transection and array implantation .......................... 16 2.3.3 Initial Results and Analysis ............................................................... 18 2.4 Wired Microelectrode Array Implant .......................................................... 19 2.4.1 Spinal baseplate ................................................................................. 20 2.4.2 Epoxy and Silicone Encapsulation .................................................... 21 2.4.3 Headplug design ................................................................................ 23 2.4.4 Wire bundle design............................................................................ 24 2.4.5 Surgical Procedure ............................................................................ 25 viii 2.5 Optimization of Electrode Array ................................................................. 26 2.5.1 Electrode Delamination Prevention .................................................. 27 2.5.2 Stress Relief Structure ....................................................................... 29 2.5.3 Conductor Redundancy and Final Design ......................................... 30 2.6 Results .......................................................................................................... 32 2.6.1 Evoked Responses ............................................................................. 33 2.6.2 Stepping ............................................................................................. 34 2.6.3 Animal Health Issues ........................................................................ 34 2.7 Summary ...................................................................................................... 35 3. Multiplexed Microelectrode Array Implant ................................................................ 37 3.1 Introduction .................................................................................................. 37 3.2 Design Requirements ................................................................................... 38 3.3 Multiplexed Implant System ........................................................................ 40 3.3.1 Layout and Surgery ........................................................................... 41 3.3.2 Multiplexed implant .......................................................................... 42 3.3.3 Multiplexer Circuit ............................................................................ 43 3.3.3.1 Multiplexer Circuit Operation ...................................................