Basics of Dynamic Causal Modelling (DCM) Sudhir Shankar Raman Translational Neuromodeling Unit, UZH & ETH * Thanks to Klaas for the slides Methods & Models 2013 Overview • Brain connectivity: types & definitions – anatomical connectivity – functional connectivity – effective connectivity • Psycho-physiological interactions (PPI) • Dynamic causal models (DCMs) – DCM for fMRI: Neural and hemodynamic levels – Parameter estimation & inference • Applications of DCM to fMRI data – Design of experiments and models – Some empirical examples and simulations Connectivity A central property of any system Communication systems Social networks (internet) (Canberra, Australia) Figures by Stephen Eick and A. Klovdahl; see http://www.nd.edu/~networks/gallery.htm Structural, functional & effective connectivity anatomical/structural connectivity = presence of axonal connections functional connectivity = statistical dependencies between regional time series effective connectivity = causal (directed) influences between neurons or neuronal populations Sporns 2007, Scholarpedia, http://www.scholarpedia.org/article/Brain_connectivity Anatomical connectivity • neuronal communication via synaptic contacts • visualisation by tracing techniques • long-range axons “association fibres” Diffusion-weighted imaging Parker & Alexander, 2005, Phil. Trans. B Why would complete knowledge of anatomical connectivity not be enough to understand how the brain works? Connections are recruited in a context-dependent fashion 0.4 0.3 0.2 0.1 0 0 10 20 30 40 50 60 70 80 90 100 0 10 20 30 40 50 60 70 80 90 100 0 10 20 30 40 50 60 70 80 90 100 0.6 0.4 0.2 0 0.3 0.2 0.1 0 Synaptic strengths are context-sensitive: They depend on spatio-temporal patterns of network activity. Connections show plasticity • synaptic plasticity = change in the structure and transmission properties of a chemical synapse NMDA receptor critical for learning can occur both rapidly and slowly NMDA receptors play a critical role NMDA receptors are regulated by modulatory neurotransmitters like dopamine, serotonin, acetylcholine Gu 2002, Neuroscience Different approaches to analysing functional connectivity Seed voxel correlation analysis Eigen-decomposition (PCA, SVD), Independent component analysis (ICA) Clustering Approaches – fuzzy, hierarchical clustering any other technique describing statistical dependencies amongst regional time series Seed-voxel based correlation analysis SVCA Very simple idea: • hypothesis-driven choice of a seed voxel → extract reference time series • voxel-wise correlation with time series from all other voxels in the brain seed voxel Drug-induced changes in functional connectivity Finger-tapping task in firstepisode schizophrenic patients: • voxels that showed changes in functional connectivity (p<0.005) with the left ant. cerebellum after medication with olanzapine Stephan et al. 2001, Psychological Medicine. Does functional connectivity not simply correspond to co-activation in SPMs? No, it does not - see the fictitious example on the right: regional response A1 task T regional response A2 Here both areas A1 and A2 are correlated identically to task T, yet they have zero correlation among themselves: r(A1,T) = r(A2,T) = 0.71 but r(A1,A2) = 0 ! Stephan 2004, J. Anat. Pros & Cons of functional connectivity analyses Pros: • useful when we have no experimental control over the system of interest and no model of what caused the data (e.g. sleep, hallucinations, resting state etc.) Cons: • interpretation of resulting patterns is difficult / arbitrary • no mechanistic insight into the neural system of interest • usually suboptimal for situations where we have a priori knowledge and experimental control about the system of interest models of effective connectivity necessary For understanding brain function mechanistically, we need models of effective connectivity, i.e. models of causal interactions among neuronal populations. Some models for computing effective connectivity from fMRI data • Structural Equation Modelling (SEM) McIntosh et al. 1991, 1994; Büchel & Friston 1997; Bullmore et al. 2000 • regression models (e.g. psycho-physiological interactions, PPIs) Friston et al. 1997 • Volterra kernels Friston & Büchel 2000 • Time series models (e.g. MAR, Granger causality) Harrison et al. 2003, Goebel et al. 2003 • Dynamic Causal Modelling (DCM) bilinear: Friston et al. 2003; nonlinear: Stephan et al. 2008 Overview • Brain connectivity: types & definitions – anatomical connectivity – functional connectivity – effective connectivity • Psycho-physiological interactions (PPI) • Dynamic causal models (DCMs) – DCM for fMRI: Neural and hemodynamic levels – Parameter estimation & inference • Applications of DCM to fMRI data – Design of experiments and models – Some empirical examples and simulations Psycho-physiological interaction (PPI) Task factor factor Stim 2 Stimulus Stim 1 Task A TA/S1 TA/S2 Task B TB/S1 TB/S2 We can replace one main effect in the GLM by the time series of an area that shows this main effect. E.g. let's replace the main effect of stimulus type by the time series of area V1: Friston et al. 1997, NeuroImage GLM of a 2x2 factorial design: y (T A T B ) 1 main effect of task ( S1 S 2 ) β 2 main effect of stim. type (T A T B ) ( S 1 S 2 ) β 3 interaction e y (T A T B ) 1 V 1β 2 (T A T B ) V 1 β 3 e main effect of task V1 time series main effect of stim. type psychophysiological interaction Attentional modulation of V1→V5 Attention V1 V5 V5 activity SPM{Z} time V1 x Att. Friston et al. 1997, NeuroImage Büchel & Friston 1997, Cereb. Cortex V5 V5 activity = attention no attention V1 activity PPI: interpretation y (T A T B ) 1 V 1β 2 (T A T B ) V 1 β 3 Two possible interpretations of the PPI term: e attention V1 attention V5 Modulation of V1V5 by attention V1 V5 Modulation of the impact of attention on V5 by V1 Pros & Cons of PPIs Pros: • given a single source region, we can test for its context-dependent connectivity across the entire brain • easy to implement Cons: • very simplistic model: only allows to model contributions from a single area • ignores time-series properties of data • application to event-related data relies on deconvolution procedure (Gitelman et al. 2003, NeuroImage) • operates at the level of BOLD time series sometimes very useful, but limited causal interpretability; in most cases, we need more powerful models Gitelman et al. 2003, NeuroImage Overview • Brain connectivity: types & definitions – anatomical connectivity – functional connectivity – effective connectivity • Psycho-physiological interactions (PPI) • Dynamic causal models (DCMs) – DCM for fMRI: Neural and hemodynamic levels – Parameter estimation & inference • Applications of DCM to fMRI data – Design of experiments and models – Some empirical examples and simulations Dynamic causal modelling (DCM) •DCM framework was introduced in 2003 for fMRI by Karl Friston, Lee Harrison and Will Penny (NeuroImage 19:1273-1302) •part of the SPM software package •currently approx. 200 published papers on DCM Dynamic Causal Modeling (DCM) Hemodynamic forward model: neural activityBOLD Neural state equation: dx f ( x, u , ) dt fMRI simple neuronal model complicated forward model Stephan & Friston 2007, Handbook of Brain Connectivity Electromagnetic forward model: neural activityEEG MEG LFP EEG/MEG complicated neuronal model simple forward model inputs Bayesian inversion Neural dynamics u (t ) Design experimental inputs dx dt f ( x , u , ) Define likelihood model Observer function y g ( x, ) p ( y | , m ) N ( g ( ), ( )) p ( , m ) N ( , ) Inference on model structure Inference on parameters p( y | m) p ( y | , m ) p ( ) d p ( | y , m ) Specify priors Invert model p ( y | , m ) p ( , m ) p( y | m) Make inferences Example: a linear system of dynamics in visual cortex x3 x1 FG left LG left FG right LG right x4 LG = lingual gyrus FG = fusiform gyrus x2 Visual input in the - left (LVF) - right (RVF) visual field. RVF LVF u2 u1 x1 a 11 x1 a 12 x 2 a 13 x 3 c12 u 2 x 2 a 21 x1 a 22 x 2 a 24 x 4 c 21u1 x 3 a 31 x1 a 33 x 3 a 34 x 4 x 4 a 42 x 2 a 43 x 3 a 44 x 4 Example: a linear system of dynamics in visual cortex x3 x1 state changes effective connectivity x1 a 11 a 21 x2 x 3 a 31 x4 0 a 12 a 13 a 22 0 0 a 33 a 42 a 43 FG left FG right LG left LG right x4 LG = lingual gyrus FG = fusiform gyrus x2 Visual input in the - left (LVF) - right (RVF) visual field. RVF LVF u2 u1 system state 0 a 24 a 34 a 44 x1 x2 x3 x4 input parameters 0 c 21 0 0 external inputs c12 0 u1 0 u2 0 x Ax Cu { A, C } Extension: bilinear dynamic system x3 FG left FG right x4 m x (A u jB ( j) )x Cu j 1 x1 RVF u2 LG left LG right x2 LVF CONTEXT u1 u3 Modulatory connections x1 a 11 a x 2 21 x 3 a 31 x4 0 a 12 a 13 a 22 0 0 a 33 a 42 a 43 0 0 a 24 0 u 3 0 a 34 a 44 0 b12 ( 3) 0 0 0 0 0 0 0 0 0 ( 3) b34 0 x1 x 2 x3 x4 0 c 21 0 0 c12 0 0 0 0 u1 0 u 2 0 u 3 0 Bilinear DCM driving input Neural state equation: dx f ( x, u , ) dt Two-dimensional Taylor series (around x0=0, u0=0): dx dt f ( x, u ) f ( x0 , u 0 ) f x x f u 2 u f xu modulation A Bilinear state equation: A dt dx m uB i i 1 (i) x Cu B ( j) C x x x u j x x u ux ......... DCM- So far…. activity x2(t) x activity x3(t) activity x1(t) integration neuronal states modulatory input u2(t) driving input u1(t) Neural state equation t Stephan & Friston (2007), Handbook of Brain Connectivity A endogenous connectivity modulation of connectivity t ( j) x ( A u j B ) x Cu direct inputs B ( j) C x x x u j x x u DCM parameters = rate constants Integration of a first-order linear differential equation gives an exponential function: dx x ( t ) x 0 exp( at ) ax dt Coupling parameter a is inversely proportional to the half life of z(t): x ( ) 0.5 x 0 0.5 x 0 ln 2 x The coupling parameter thus describes the speed of the exponential change in x(t) x 0 exp( a ) a _ ln 2 a Example: context-dependent decay stimuli u1 _ + _ context u2 u1 u1 u2 u2 Z1 x Z2 1 x1 + x2 + x2 _ x𝑥 = A𝐴𝑥 x + u𝑢22B𝐵2 𝑥x+𝐶𝑢 C u1 (2) _ Penny, Stephan, Mechelli, Friston NeuroImage (2004) x1 x 2 a 21 2 a 12 b 11 x u 2 0 0 c1 x 2 b 22 0 0 u1 0 u2 Importance of Hemodynamic forward models for connectivity analyses of fMRI data Goebel et al. 2003, Magn. Res. Med. Granger causality David et al. 2008, PLoS Biol. DCM BOLD y y y y λ activity x2(t) x activity x3(t) activity x1(t) integration neuronal states modulatory input u2(t) driving input u1(t) hemodynamic model Neural state equation t Stephan & Friston (2007), Handbook of Brain Connectivity A endogenous connectivity modulation of connectivity t ( j) x ( A u j B ) x Cu direct inputs B ( j) C x x x u j x x u The hemodynamic model in DCM u stimulus functions t A dt dx • 6 hemodynamic parameters: m u j B j 1 ( j) x Cu neural state equation vasodilato ry signal h { , , , , , } s x s γ ( f 1) f s s flow induc tion (rCBF) important for model fitting, but of no interest for statistical inference f s h { , , , , , } τ v f v 1 /α v ( q, v ) v changes in dHb τ q f E ( f,E 0 ) qE 0 v 1 /α q/v q S q V0 k1 1 q k2 1 k3 1 v S0 v k1 4.30 E0TE Friston et al. 2000, NeuroImage Stephan et al. 2007, NeuroImage hemodynamic state equations Balloon model changes in volume • Computed separately for each area (like the neural parameters) region-specific HRFs! f k2 r0 E0TE k3 1 BOLD signal change equation u The hemodynamic model in DCM stimulus functions t A dt dx m u j B j 1 ( j) x Cu 0.4 0.2 0 vasodilato ry signal s x s γ ( f 1) f 0 2 4 6 8 10 12 14 RBM N, = 0.5 CBM , = 0.5 s s N RBM N, = 1 CBM , = 1 N RBM , = 2 1 flow induc tion (rCBF) 0.5 f s N CBM N, = 2 0 f Balloon model changes in volume τ v f v 1 /α v ( q, v ) v 0 2 4 6 8 10 12 14 0 2 4 6 8 10 12 14 0.2 0 changes in dHb -0.2 τ q f E ( f,E 0 ) qE 0 v 1 /α q/v q -0.4 -0.6 S q V0 k1 1 q k2 1 k3 1 v S0 v k1 4.30 E0TE k2 r0 E0TE k3 1 BOLD signal change equation Stephan et al. 2007, NeuroImage How interdependent are neural and hemodynamic parameter estimates? 1 A 0.8 5 0.6 10 B 0.4 15 C 0.2 20 0 25 -0.2 h ε 30 -0.4 35 -0.6 -0.8 40 5 10 15 20 25 h 30 35 40 { , , , , , } -1 Stephan et al. 2007, NeuroImage Bayesian statistics new data prior knowledge p( y | ) p ( ) p ( | y ) p ( y | ) p ( ) posterior likelihood ∙ prior Bayes theorem allows one to formally incorporate prior knowledge into computing statistical probabilities. In DCM: empirical, principled & shrinkage priors. The “posterior” probability of the parameters given the data is an optimal combination of prior knowledge and new data, weighted by their relative precision. stimulus function u Overview: parameter estimation • • • • A dt dx Combining the neural and hemodynamic states gives the complete forward model. An observation model includes measurement error e and confounds X (e.g. drift). Bayesian inversion: parameter estimation by means of Variational Bayes under Laplace approximation Result: Gaussian a posteriori parameter distributions, characterised by mean ηθ|y and covariance Cθ|y. m u jB ( j) j 1 neural state equation x Cu activity - dependent vasodilato ry signal s z s γ ( f 1) s s f parameters flow - induction (rCBF) hidden states f s z { x , s , f , v , q} f state equation h { , , , , } n { A , B ... B , C } 1 m { , } h z F ( x, u, ) changes in volume τv f v1 /α changes v n in dHb τ q f E ( f, ) q v 1 /α q/v q v ηθ|y y ( x) y h(u , ) X e modelled BOLD response observation model Inference about DCM parameters: Bayesian single-subject analysis • Gaussian assumptions about the posterior distributions of the parameters • Use of the cumulative normal distribution to test the probability that a certain parameter (or contrast of parameters cT ηθ|y) is above a chosen threshold γ: T c y p N c T C y c • By default, γ is chosen as zero ("does the effect exist?"). Bayesian single subject inference LD|LVF 0.13 0.19 FG left LD p(cT>0|y) = 98.7% 0.34 0.14 FG right 0.44 0.14 0.29 0.14 LG left 0.01 0.17 RVF stim. Stephan et al. 2005, Ann. N.Y. Acad. Sci. LD LG right -0.08 0.16 LD|RVF LVF stim. Contrast: Modulation LG right LG links by LD|LVF vs. modulation LG left LG right by LD|RVF Inference about DCM parameters: Bayesian fixed-effects group analysis Likelihood distributions from different subjects are independent Under Gaussian assumptions this is easy to compute: one can use the posterior from one subject as the prior for the next group posterior covariance p | y1 y N p y1 p yN N p p yi N i 1 N p y1 p y i 1 C | y ,..., y 1 N p y1 , y 2 p y i | y1 ,..., y N i3 p y1 1 C |y i i 1 i2 N individual posterior covariances y N 1 p y N N i 1 1 C |y |y i i C | y1 ,..., y N “Today’s posterior is tomorrow’s prior” group posterior mean individual posterior covariances and means Inference about DCM parameters: group analysis (classical) • In analogy to “random effects” analyses in SPM, 2nd level analyses can be applied to DCM parameters: Separate fitting of identical models for each subject Selection of parameters of interest one-sample t-test: parameter > 0 ? paired t-test: parameter 1 > parameter 2 ? rmANOVA: e.g. in case of multiple sessions per subject Overview • Brain connectivity: types & definitions – anatomical connectivity – functional connectivity – effective connectivity • Psycho-physiological interactions (PPI) • Dynamic causal models (DCMs) – DCM for fMRI: Neural and hemodynamic levels – Parameter estimation & inference • Applications of DCM to fMRI data – Design of experiments and models – Some empirical examples and simulations What type of design is good for DCM? Any design that is good for a GLM of fMRI data. GLM vs. DCM DCM tries to model the same phenomena (i.e. local BOLD responses) as a GLM, just in a different way (via connectivity and its modulation). No activation detected by a GLM → no motivation to include this region in a deterministic DCM. Stephan 2004, J. Anat. Multifactorial design: explaining interactions with DCM factor Task B Stim 1 Stimulus Task A TA/S1 TB/S1 Stim 2 Task factor TA/S2 TB/S2 Let’s assume that an SPM analysis shows a main effect of stimulus in X1 and a stimulus task interaction in X2. Stim1 How do we model this using DCM? Stim2 Stim1/ Task A Stim2/ Task A X1 X2 Stim 1/ Task B Stim 2/ Task B X1 X2 Task A Task B GLM DCM Simulated data X1 Stimulus 1 +++ – + X1 Stimulus 2 + – +++ +++ Task A X2 Stim 1 Task A + Task B X2 Stephan et al. 2007, J. Biosci. Stim 2 Task A Stim 1 Task B Stim 2 Task B X1 Stim 1 Task A Stim 2 Task A Stim 1 Task B Stim 2 Task B X2 plus added noise (SNR=1) Example studies of DCM for fMRI • DCM now an established tool for fMRI & M/EEG analysis • approx. 200 studies published • combinations of DCM with computational models Task-driven lateralisation Does the word contain the letter A or not? letter decisions > spatial decisions • • • group analysis (random effects), n=16, p<0.05 corrected analysis with SPM2 Is the red letter left or right from the midline of the word? spatial decisions > letter decisions Stephan et al. 2003, Science Theories on inter-hemispheric integration during lateralised tasks Information transfer Hemispheric recruitment T|RVF T (for left-lateralised task) + + T|LVF LVF Inhibition/Competition T + T − − T RVF Predictions: Predictions: Predictions: modulation by task conditional on visual field asymmetric connection strengths modulation by task only modulation by task only positive & symmetric connection strengths negative & symmetric connection strengths A FG left LG left LG right RVF stim. B C FG right FG left VF RVF LD LD VF LD Bind Bcond LD Bind LD,RVF LD,LVF Bcond LD|RVF LD|LVF LG left VF D VF LD Bind Bcond inter LVF LVF stim. intra FG right LVF LD LD LG right Bind Bcond LVF LD LD|LVF FG left FG right LG left LG right 16 models RVF RVF LD|RVF Ventral stream & letter decisions LD|LVF Left fusiform gyrus (FG) -44,-52,-18 0.12 0.02 FG left LD>SD, p<0.05 cluster-level corrected (p<0.001 voxel-level cut-off) LD Right fusiform gyrus (FG) 38,-52,-20 0.25 0.04 FG right 0.36 0.06 0.16 0.05 LG left Left lingual gyrus (LG) -12,-64,-4 0.02 0.02 RVF stim. LD LG right Right lingual gyrus (LG) 14,-68,-2 0.03 0.03 LD|RVF p<0.01 uncorrected LVF stim. mean parameter estimates SE (n=12) LD>SD masked incl. with RVF>LVF p<0.05 cluster-level corrected (p<0.001 voxel-level cut-off) Stephan et al. 2007, J. Neurosci. significant modulation (p<0.05, Bonferroni-corrected) significant modulation (p<0.05, uncorrected) non-significant modulation LD>SD masked incl. with LVF>RVF p<0.05 cluster-level corrected (p<0.001 voxel-level cut-off) Ventral stream & letter decisions Left MOG -38,-90,-4 Left FG -44,-52,-18 mean parameter estimates SE (n=12) significant modulation (p<0.05, corrected) significant modulation (p<0.05, uncorrected) non-significant Right FG 38,-52,-20 LD|LVF 0.20 0.04 0.00 0.01 0.07 0.02 LD>SD, p<0.05 cluster-level corrected (p<0.001 voxel-level cut-off) p<0.01 uncorrected MOG left LD Left LG -12,-70,-6 FG left FG right MOG right 0.27 0.06 0.11 0.03 0.00 0.04 0.01 0.03 LG left 0.01 0.01 LD>SD masked incl. with RVF>LVF p<0.05 cluster-level corrected (p<0.001 voxel-level cut-off) Right MOG -38,-94,0 RVF stim. 0.01 0.01 LG right LD Left LG -14,-68,-2 0.06 0.02 LD|RVF LVF stim. LD>SD masked incl. with LVF>RVF p<0.05 cluster-level corrected (p<0.001 voxel-level cut-off) Stephan et al. 2007, J. Neurosci. Asymmetric modulation of LG callosal connections is consistent across subjects 0.5 left to right right to left 0.4 MAP estimate 0.3 0.2 0.1 0.0 -0.1 1 2 3 4 5 6 7 8 9 10 11 12 -0.2 Subjects Stephan et al. 2007, J. Neurosci. y y Summary BOLD y y activity x2(t) λ activity x3(t) activity x1(t) x integration neuronal states modulatory input u2(t) driving input u1(t) Neural state equation t Stephan & Friston (2007), Handbook of Brain Connectivity ( j) x ( A u j B ) x Cu A endogenous connectivity modulation of connectivity t hemodynamic model direct inputs B ( j) C x x x u j x x u References • The first DCM paper: Dynamic Causal Modelling (2003). Friston et al. NeuroImage 19:1273-1302. • On the role of general system theory for functional neuroimaging (2004). Klaas Enno Stephan. J. Anat 205 , 443–470 • Statistical Parametric Mapping: The Analysis of Functional Brain Images. K.J. Friston, J. Ashburner, S.J. Kiebel, T.E. Nichols, and W.D. Penny, editors. Academic Press, 2007. • Hemodynamic model: Comparing hemodynamic models with DCM (2007). Stephan et al. NeuroImage 38:387-401 • Interhemispheric Integration of Visual Processing during Task-Driven Lateralization (2007). Stephan et al. The Journal of Neuroscience • Physiological validation of DCM for fMRI: Identifying neural drivers with functional MRI: an electrophysiological validation (2008). David et al. PLoS Biol. 6 2683–2697 • Nonlinear DCMs:Nonlinear Dynamic Causal Models for FMRI (2008). Stephan et al. NeuroImage 42:649662 • 10 Simple Rules for DCM (2010). Stephan et al. NeuroImage 52. Thank you