Eric M. Trautmann

Skilled movement often requires flexibly combining multiple subskills, each requiring dedicated control strategies and underlying computations. How the motor system achieves such versatility remains unclear. Using high-density Neuropixels recordings from primary motor cortex (M1) in macaques performing a challenging force-tracking task, we reveal that M1 activity is much higher-dimensional, and far more flexible, than traditionally assumed. Although our task employed only a single external degree of freedom, neural dynamics reflected transitions amongst many dimensions and multiple distinct computations. Different behavioral control strategies were associated with distinct neural locations and dimensions, sometimes used compositionally. Groups of population-level factors became active when a particular form of dynamics was needed, and remained silent otherwise. Neural activity was thus dominated by the engaged subskill, and could be very different even for matched motor output. These findings challenge prevailing views of M1, and reveal an unexpectedly flexible and high-dimensional neural system underlying skilled motor behavior.

High-density silicon probes have transformed neuroscience by enabling large-scale neural recordings at single-cell resolution. However, existing technologies have provided limited functionality in nonhuman primates (NHPs) such as macaques. In the present report, we describe the design, fabrication and performance of Neuropixels 1.0 NHP, a high-channel electrode array designed to enable large-scale acute recording throughout large animal brains. The probe features 4,416 recording sites distributed along a 45-mm shank. Experimenters can programmably select 384 recording channels, enabling simultaneous multi-area recording from thousands of neurons with single or multiple probes. This technology substantially increases scalability and recording access relative to existing technologies and enables new classes of experiments that involve electrophysiological mapping of brain areas at single-neuron and single-spike resolution, measurement of spike–spike correlations between cells and simultaneous brain-wide recordings at scale.

Neurobiological investigations of perceptual decision-making have furnished the first glimpse of a flexible cognitive process at the level of single neurons (Shadlen and Newsome, 1996; Shadlen and Kiani, 2013). Neurons in the parietal and prefrontal cortex (Kim and Shadlen, 1999; Romo et al., 2004; Hernández et al., 2002; Ding and Gold, 2012) are thought to represent the accumulation of noisy evidence, acquired over time, leading to a decision. Neural recordings averaged over many decisions have provided support for the deterministic rise in activity to a termination bound (Roitman and Shadlen, 2002). Critically, it is the unobserved stochastic component that is thought to confer variability in both choice and decision time (Gold and Shadlen, 2007). Here, we elucidate this drift-diffusion signal on individual decisions. We recorded simultaneously from hundreds of neurons in the lateral intraparietal cortex (LIP) of monkeys while they made decisions about the direction of random dot motion. We show that a single scalar quantity, derived from the weighted sum of the population activity, represents a combination of deterministic drift and stochastic diffusion. Moreover, we provide direct support for the hypothesis that this drift-diffusion signal approximates the quantity responsible for the variability in choice and reaction times. The population-derived signals rely on a small subset of neurons with response fields that overlap the choice targets. These neurons represent the integral of noisy evidence. Another subset of direction-selective neurons with response fields that overlap the motion stimulus appear to represent the integrand. This parsimonious architecture would escape detection by state-space analyses, absent a clear hypothesis.

High-density microelectrode arrays (MEAs) have opened new possibilities for systems neuroscience in human and non-human animals, but brain tissue motion relative to the array poses a challenge for downstream analyses, particularly in human recordings. We introduce DREDge (Decentralized Registration of Electrophysiology Data), a robust algorithm which is well suited for the registration of noisy, nonstationary extracellular electrophysiology recordings. In addition to estimating motion from spikes in the action potential (AP) frequency band, DREDge enables automated tracking of motion at high temporal resolution in the local field potential (LFP) frequency band. In human intraoperative recordings, which often feature fast (period <1s) motion, DREDge correction in the LFP band enabled reliable recovery of evoked potentials, and significantly reduced single-unit spike shape variability and spike sorting error. Applying DREDge to recordings made during deep probe insertions in nonhuman primates demonstrated the possibility of tracking probe motion of centimeters across several brain regions while simultaneously mapping single unit electrophysiological features. DREDge reliably delivered improved motion correction in acute mouse recordings, especially in those made with an recent ultra-high density probe. We also implemented a procedure for applying DREDge to recordings made across tens of days in chronic implantations in mice, reliably yielding stable motion tracking despite changes in neural activity across experimental sessions. Together, these advances enable automated, scalable registration of electrophysiological data across multiple species, probe types, and drift cases, providing a stable foundation for downstream scientific analyses of these rich datasets.

Neural decoding and its applications to brain computer interfaces (BCI) are essential for understanding the association between neural activity and behavior. A prerequisite for many decoding approaches is spike sorting , the assignment of action potentials (spikes) to individual neurons. Current spike sorting algorithms, however, can be inaccurate and do not properly model uncertainty of spike assignments, therefore discarding information that could potentially improve decoding performance. Recent advances in high-density probes (e.g., Neuropixels) and computational methods now allow for extracting a rich set of spike features from unsorted data; these features can in turn be used to directly decode behavioral correlates. To this end, we propose a spike sorting-free decoding method that directly models the distribution of extracted spike features using a mixture of Gaussians (MoG) encoding the uncertainty of spike assignments, without aiming to solve the spike clustering problem explicitly. We allow the mixing proportion of the MoG to change over time in response to the behavior and develop variational inference methods to fit the resulting model and to perform decoding. We benchmark our method with an extensive suite of recordings from different animals and probe geometries, demonstrating that our proposed decoder can consistently outperform current methods based on thresholding (i.e. multi-unit activity) and spike sorting. Open source code is available at https://github.com/yzhang511/density_decoding .

High-density, integrated silicon electrodes have begun to transform systems neuroscience, by enabling large-scale neural population recordings with single cell resolution. Existing technologies, however, have provided limited functionality in nonhuman primate species such as macaques, which offer close models of human cognition and behavior. Here, we report the design, fabrication, and performance of Neuropixels 1.0-NHP, a high channel count linear electrode array designed to enable large-scale simultaneous recording in superficial and deep structures within the macaque or other large animal brain. These devices were fabricated in two versions: 4416 electrodes along a 45 mm shank, and 2496 along a 25 mm shank. For both versions, users can programmatically select 384 channels, enabling simultaneous multi-area recording with a single probe. We demonstrate recording from over 3000 single neurons within a session, and simultaneous recordings from over 1000 neurons using multiple probes. This technology represents a significant increase in recording access and scalability relative to existing technologies, and enables new classes of experiments involving fine-grained electrophysiological characterization of brain areas, functional connectivity between cells, and simultaneous brain-wide recording at scale.

The rich repertoire of skilled mammalian behavior is the product of neural circuits that generate robust and flexible patterns of activity distributed across populations of neurons. Decades of associative studies have linked many behaviors to specific patterns of population activity, but association alone cannot reveal the dynamical mechanisms that shape those patterns. Are local neural circuits high-dimensional dynamical reservoirs able to generate arbitrary superpositions of patterns with appropriate excitation? Or might circuit dynamics be shaped in response to behavioral context so as to generate only the low-dimensional patterns needed for the task at hand? Here, we address these questions within primate motor cortex by delivering optogenetic and electrical microstimulation perturbations during reaching behavior. We develop a novel analytic approach that relates measured activity to theoretically tractable, dynamical models of excitatory and inhibitory neurons. This computational model captures the dynamical effects of these perturbations and demonstrates that motor cortical activity during reaching is shaped by a self-contained, low-dimensional dynamical system. The subspace containing task-relevant dynamics proves to be oriented so as to be robust to strong non-normal amplification within cortical circuits. This task dynamics space exhibits a privileged causal relationship with behavior, in that stimulation in motor cortex perturb reach kinematics only to the extent that it alters neural states within this subspace. Our results resolve long-standing questions about the dynamical structure of cortical activity associated with movement, and illuminate the dynamical perturbation experiments needed to understand how neural circuits throughout the brain generate complex behavior.

High-density electrophysiology probes have opened new possibilities for systems neuroscience in human and non-human animals, but probe motion (or drift) while recording poses a challenge for downstream analyses, particularly in human recordings. Here, we improve on the state of the art for tracking this drift with an algorithm termed DREDge ( D ecentralized R egistration of E lectrophysiology D ata) with four major contributions. First, we extend previous decentralized methods to exploit multiband information, leveraging the local field potential (LFP), in addition to spikes detected from the action potentials (AP). Second, we show that the LFP-based approach enables registration at sub-second temporal resolution. Third, we introduce an efficient online motion tracking algorithm, allowing the method to scale up to longer and higher spatial resolution recordings, which could facilitate real-time applications. Finally, we improve the robustness of the approach by accounting for the nonstationarities that occur in real data and by automating parameter selection. Together, these advances enable fully automated scalable registration of challenging datasets from both humans and mice.

Neurobiological investigations of perceptual decision-making have furnished the first glimpse of a flexible cognitive process at the level of single neurons ( Shadlen and Newsome, 1996 ; Shadlen and Kiani, 2013 ). Neurons in the parietal and prefrontal cortex ( Kim and Shadlen, 1999 ; Romo et al., 2004 ; Hernández et al., 2002; Ding and Gold, 2012 ) are thought to represent the accumulation of noisy evidence, acquired over time, leading to a decision. Neural recordings averaged over many decisions have provided support for the deterministic rise in activity to a termination bound ( Roitman and Shadlen, 2002 ). Critically, it is the unobserved stochastic component that is thought to confer variability in both choice and decision time ( Gold and Shadlen, 2007 ). Here, we elucidate this drift-diffusion signal on individual decisions. We recorded simultaneously from hundreds of neurons in the lateral intraparietal cortex (LIP) of monkeys while they made decisions about the direction of random dot motion. We show that a single scalar quantity, derived from the weighted sum of the population activity, represents a combination of deterministic drift and stochastic diffusion. Moreover, we provide direct support for the hypothesis that this drift-diffusion signal approximates the quantity responsible for the variability in choice and reaction times. The population-derived signals rely on a small subset of neurons with response fields that overlap the choice targets. These neurons represent the integral of noisy evidence. Another subset of direction-selective neurons with response fields that overlap the motion stimulus appear to represent the integrand. This parsimonious architecture would escape detection by state-space analyses, absent a clear hypothesis.

The brain makes decisions by accumulating evidence until there is enough to stop and choose. Neural mechanisms of evidence accumulation are well established in association cortex, but the site and mechanism of termination is unknown. Here, we elucidate a mechanism for termination by neurons in the primate superior colliculus. We recorded simultaneously from neurons in lateral intraparietal cortex (LIP) and the superior colliculus (SC) while monkeys made perceptual decisions, reported by eye-movements. Single-trial analyses revealed distinct dynamics: LIP tracked the accumulation of evidence on each decision, and SC generated one burst at the end of the decision, occasionally preceded by smaller bursts. We hypothesized that the bursts manifest a threshold mechanism applied to LIP activity to terminate the decision. Focal inactivation of SC produced behavioral effects diagnostic of an impaired threshold sensor, requiring a stronger LIP signal to terminate a decision. The results reveal the transformation from deliberation to commitment.