Parallel pathways coordinate crawling in the medicinal leech, Hirudo medicinalis

Feedback Signal from Motoneurons Influences a Rhythmic Pattern Generator

Motoneurons are not mere output units of neuronal circuits that control motor behavior but participate in pattern generation. Research on the circuit that controls the crawling motor behavior in leeches indicated that motoneurons participate as modulators of this rhythmic motor pattern. Crawling results from successive bouts of elongation and contraction of the whole leech body. In the isolated segmental ganglia, dopamine can induce a rhythmic antiphasic activity of the motoneurons that control contraction (DE-3 motoneurons) and elongation (CV motoneurons). The study was performed in isolated ganglia where manipulation of the activity of specific motoneurons was performed in the course of fictive crawling (crawling). In this study, the membrane potential of CV was manipulated while crawling was monitored through the rhythmic activity of DE-3. Matching behavioral observations that show that elongation dominates the rhythmic pattern, the electrophysiological activity of CV motoneurons dominates the cycle. Brief excitation of CV motoneurons during crawling episodes resets the rhythmic activity of DE-3, indicating that CV feeds back to the rhythmic pattern generator. CV hyperpolarization accelerated the rhythm to an extent that depended on the magnitude of the cycle period, suggesting that CV exerted a positive feedback on the unit(s) of the pattern generator that controls the elongation phase. A simple computational model was implemented to test the consequences of such feedback. The simulations indicate that the duty cycle of CV depended on the strength of the positive feedback between CV and the pattern generator circuit.SIGNIFICANCE STATEMENT Rhythmic movements of animals are controlled by neuronal networks that have been conceived as hierarchical structures. At the basis of this hierarchy, we find the motoneurons, few neurons at the top control global aspects of the behavior (e.g., onset, duration); and within these two ends, specific neuronal circuits control the actual rhythmic pattern of movements. We have investigated whether motoneurons are limited to function as output units. Analysis of the network that controls crawling behavior in the leech has clearly indicated that motoneurons, in addition to controlling muscle activity, send signals to the pattern generator. Physiological and modeling studies on the role of specific motoneurons suggest that these feedback signals modulate the phase relationship of the rhythmic activity.

Functional morphology of suction discs and attachment performance of the Mediterranean medicinal leech (Hirudo verbana Carena)

Medicinal leeches use their suction discs for locomotion, adhesion to the host and, in the case of the anterior disc, also for blood ingestion. The biomechanics of their suction-based adhesion systems has been little understood until now. We investigated the functional morphology of the anterior and posterior suckers ofH irudo verbena by using light and scanning electron microscopy. Furthermore, we analysed the adhesion qualitatively and quantitatively by conducting behavioural and mechanical experiments. Our high-speed video analyses provide new insights into the attachment and detachment processes and we present a detailed description of the leech locomotion cycle. Pull-off force measurements of the anterior and posterior suction organs on seven different substrates under both aerial and water-submersed conditions reveal a significant influence of the surrounding medium, the substrate surface roughness and the tested organ on attachment forces and tenacities.

Compensatory plasticity restores locomotion after chronic removal of descending projections

Homeostatic plasticity is an important attribute of neurons and their networks, enabling functional recovery after perturbation. Furthermore, the directed nature of this plasticity may hold a key to the restoration of locomotion after spinal cord injury. Here we studied the recovery of crawling in the leech Hirudo verbana after descending cephalic fibers were surgically separated from crawl central pattern generators shown previously to be regulated by dopamine. We observed that immediately after nerve cord transection leeches were unable to crawl, but remarkably, after a day to weeks, animals began to show elements of crawling and intersegmental coordination. Over a similar time course, excessive swimming due to the loss of descending inhibition returned to control levels. Additionally, removal of the brain did not prevent crawl recovery, indicating that connectivity of severed descending neurons was not essential. After crawl recovery, a subset of animals received a second transection immediately below the anterior-most ganglion remaining. Similar to their initial transection, a loss of crawling with subsequent recovery was observed. These data, in recovered individuals, support the idea that compensatory plasticity directly below the site of injury is essential for the initiation and coordination of crawling. We maintain that the leech provides a valuable model to understand the neural mechanisms underlying locomotor recovery after injury because of its experimental accessibility, segmental organization, and dependence on higher-order control involved in the initiation, modulation, and coordination of locomotor behavior.

Which way is up? Asymmetric spectral input along the dorsal-ventral axis influences postural responses in an amphibious annelid

Medicinal leeches are predatory annelids that exhibit countershading and reside in aquatic environments where light levels might be variable. They also leave the water and must contend with terrestrial environments. Yet, leeches generally maintain a dorsal upward position despite lacking statocysts. Leeches respond visually to both green and near-ultraviolet (UV) light. I used LEDs to test the hypothesis that ventral, but not dorsal UV would evoke compensatory movements to orient the body. Untethered leeches were tested using LEDs emitting at red (632 nm), green (513 nm), blue (455 nm) and UV (372 nm). UV light evoked responses in 100 % of trials and the leeches often rotated the ventral surface away from it. Visible light evoked no or modest responses (12-15 % of trials) and no body rotation. Electrophysiological recordings showed that ventral sensilla responded best to UV, dorsal sensilla to green. Additionally, a higher order interneuron that is engaged in a variety of parallel networks responded vigorously to UV presented ventrally, and both the visible and UV responses exhibited pronounced light adaptation. These results strongly support the suggestion that a dorsal light reflex in the leech uses spectral comparisons across the dorsal-ventral axis rather than, or in addition to, luminance.

The use of dendrograms to describe the electrical activity of motoneurons underlying behaviors in leeches

The present manuscript aims at identifying patterns of electrical activity recorded from neurons of the leech nervous system, characterizing specific behaviors. When leeches are at rest, the electrical activity of neurons and motoneurons is poorly correlated. When leeches move their head and/or tail, in contrast, action potential (AP) firing becomes highly correlated. When the head or tail suckers detach, specific patterns of electrical activity are detected. During elongation and contraction the electrical activity of motoneurons in the Medial Anterior and Dorsal Posterior nerves increase, respectively, and several motoneurons are activated both during elongation and contraction. During crawling, swimming, and pseudo-swimming patterns of electrical activity are better described by the dendrograms of cross-correlations of motoneurons pairs. Dendrograms obtained from different animals exhibiting the same behavior are similar and by averaging these dendrograms we obtained a template underlying a given behavior. By using this template, the corresponding behavior is reliably identified from the recorded electrical activity. The analysis of dendrograms during different leech behavior reveals the fine orchestration of motoneurons firing specific to each stereotyped behavior. Therefore, dendrograms capture the subtle changes in the correlation pattern of neuronal networks when they become involved in different tasks or functions.

Characterization of Drosophila larval crawling at the level of organism, segment, and somatic body wall musculature

Understanding rhythmic behavior at the developmental and genetic levels has important implications for neurobiology, medicine, evolution, and robotics. We studied rhythmic behavior--larval crawling--in the genetically and developmentally tractable organism, Drosophila melanogaster. We used narrow-diameter channels to constrain behavior to simple, rhythmic crawling. We quantified crawling at the organism, segment, and muscle levels. We showed that Drosophila larval crawling is made up of a series of periodic strides. Each stride consists of two phases. First, while most abdominal segments remain planted on the substrate, the head, tail, and gut translocate; this "visceral pistoning" moves the center of mass. The movement of the center of mass is likely powered by muscle contractions in the head and tail. Second, the head and tail anchor while a body wall wave moves each abdominal segment in the direction of the crawl. These two phases can be observed occurring independently in embryonic stages before becoming coordinated at hatching. During forward crawls, abdominal body wall movements are powered by simultaneous contraction of dorsal and ventral muscle groups, which occur concurrently with contraction of lateral muscles of the adjacent posterior segment. During reverse crawls, abdominal body wall movements are powered by phase-shifted contractions of dorsal and ventral muscles; and ventral muscle contractions occur concurrently with contraction of lateral muscles in the adjacent anterior segment. This work lays a foundation for use of Drosophila larva as a model system for studying the genetics and development of rhythmic behavior.

Developmentally regulated multisensory integration for prey localization in the medicinal leech

Medicinal leeches, like many aquatic animals, use water disturbances to localize their prey, so they need to be able to determine if a wave disturbance is created by prey or by another source. Many aquatic predators perform this separation by responding only to those wave frequencies representing their prey. As leeches' prey preference changes over the course of their development, we examined their responses at three different life stages. We found that juveniles more readily localize wave sources of lower frequencies (2 Hz) than their adult counterparts (8-12 Hz), and that adolescents exhibited elements of both juvenile and adult behavior, readily localizing sources of both frequencies. Leeches are known to be able to localize the source of waves through the use of either mechanical or visual information. We separately characterized their ability to localize various frequencies of stimuli using unimodal cues. Within a single modality, the frequency-response curves of adults and juveniles were virtually indistinguishable. However, the differences between the responses for each modality (visual and mechanosensory) were striking. The optimal visual stimulus had a much lower frequency (2 Hz) than the optimal mechanical stimulus (12 Hz). These frequencies matched, respectively, the juvenile and the adult preferred frequency for multimodally sensed waves. This suggests that, in the multimodal condition, adult behavior is driven more by mechanosensory information and juvenile behavior more by visual. Indeed, when stimuli of the two modalities were placed in conflict with one another, adult leeches, unlike juveniles, were attracted to the mechanical stimulus much more strongly than to the visual stimulus.

Neural circuits controlling behavior and autonomic functions in medicinal leeches

In the study of the neural circuits underlying behavior and autonomic functions, the stereotyped and accessible nervous system of medicinal leeches, Hirudo sp., has been particularly informative. These leeches express well-defined behaviors and autonomic movements which are amenable to investigation at the circuit and neuronal levels. In this review, we discuss some of the best understood of these movements and the circuits which underlie them, focusing on swimming, crawling and heartbeat. We also discuss the rudiments of decision-making: the selection between generally mutually exclusive behaviors at the neuronal level.

Functions of the subesophageal ganglion in the medicinal leech revealed by ablation of neuromeres in embryos

Two general trends in the evolution of the nervous system have been toward centralization of neuronal somata and cephalization of the central nervous system (CNS). These organizational trends are apparent in the nervous system of annelid worms, including leeches. To determine if the anterior brain of the leech serves functions similar to those of the brains of more complex organisms, including vertebrates, we ablated one of the two major regions of the cephalic brain--the subesophageal ganglion (SubEG). For anatomical reasons, ablations were performed in embryos, rather than in adults. At the end of embryonic development, we observed the leeches' spontaneous behaviour and their responses to moderate touch. We observed that, although the midbody ganglia of the leech CNS display a high degree of local autonomy, the cephalic brain provides generalized excitation to the rest of the CNS, is a source of selective inhibition that modulates behaviour, integrates sensory information from the head with signals from the rest of the body, and plays an important role in organizing at least some complicated whole-body behaviours. These roles of the leech cephalic brain are common features of brain function in many organisms, and our results are consistent with the hypothesis that they arose early in evolution and have been conserved in complex nervous systems.

Neuronal control of leech behavior

The medicinal leech has served as an important experimental preparation for neuroscience research since the late 19th century. Initial anatomical and developmental studies dating back more than 100 years ago were followed by behavioral and electrophysiological investigations in the first half of the 20th century. More recently, intense studies of the neuronal mechanisms underlying leech movements have resulted in detailed descriptions of six behaviors described in this review; namely, heartbeat, local bending, shortening, swimming, crawling, and feeding. Neuroethological studies in leeches are particularly tractable because the CNS is distributed and metameric, with only 400 identifiable, mostly paired neurons in segmental ganglia. An interesting, yet limited, set of discrete movements allows students of leech behavior not only to describe the underlying neuronal circuits, but also interactions among circuits and behaviors. This review provides descriptions of six behaviors including their origins within neuronal circuits, their modification by feedback loops and neuromodulators, and interactions between circuits underlying with these behaviors.

Sensory and central mechanisms control intersegmental coordination

Recent experiments on the sensory and central mechanisms that coordinate animal locomotory movements have advanced our understanding of the relative importance of these two components and overturned some previously held notions. In different experimental preparations, sensory inputs and central pattern generators have now been shown to play different roles in setting intersegmental phase lags.

Kinematics and modeling of leech crawling: evidence for an oscillatory behavior produced by propagating waves of excitation

Many well characterized central pattern generators (CPGs) underlie behaviors (e.g., swimming, flight, heartbeat) that require regular rhythmicity and strict phase relationships. Here, we examine the organization of a CPG for leech crawling, a behavior whose success depends more on its flexibility than on its precise coordination. We examined the organization of this CPG by first characterizing the kinematics of crawling steps in normal and surgically manipulated animals, then by exploring its features in a simple neuronal model. The behavioral observations revealed the following. (1) Intersegmental coordination varied considerably with step duration, whereas the rates of elongation and contraction within individual segments were relatively constant. (2) Steps were generated in the absence of both head and tail brains, implying that midbody ganglia contain a CPG for step production. (3) Removal of sensory feedback did not affect step coordination or timing. (4) Imposed stretch greatly lengthened transitions between elongation and contraction, indicating that sensory pathways feed back onto the CPG. A simple model reproduced essential features of the observed kinematics. This model consisted of an oscillator that initiates propagating segmental waves of activity in excitatory neuronal chains, along with a parallel descending projection; together, these pathways could produce the observed intersegmental lags, coordination between phases, and step duration. We suggest that the proposed model is well suited to be modified on a step-by-step basis and that crawling may differ substantially from other described CPGs, such as that for swimming in segmented animals, where individual segments produce oscillations that are strongly phase-locked to one another.

Relative roles of the S cell network and parallel interneuronal pathways in the whole-body shortening reflex of the medicinal leech

The whole-body shortening reflex of the medicinal leech Hirudo medicinalis is a withdrawal response produced by anterior mechanical stimuli. The interneuronal pathways underlying this reflex consist of the S cell network (a chain of electrically coupled interneurons) and a set of other, parallel pathways. We used a variety of techniques to characterize these interneuronal pathways further, including intracellular stimulation of the S cell network, photoablation of the S cell axon, and selective lesions of particular connectives (the axon bundles that link adjacent ganglia in the leech nerve cord). These experiments demonstrated that the S cell network is neither sufficient nor necessary for the production of the shortening reflex. The axons of the parallel pathways were localized to the lateral connectives (whereas the S cell axon runs through the medial connective). We used physiological techniques to show that the axons of the parallel pathways have a larger diameter in the anterior connective and to demonstrate that the parallel pathways are activated selectively by anterior mechanosensory stimuli. We also presented correlative evidence that the parallel pathways, along with activating motor neurons during shortening, are responsible for inhibiting a higher-order "command-like" interneuron in the neuronal circuit for swimming, thus playing a role in the behavioral choice between swimming and shortening.

Behavioral hierarchy in the medicinal leech, Hirudo medicinalis: feeding as a dominant behavior

The effect of feeding behavior on other behaviors (swimming, crawling and shortening) was investigated in the leech, Hirudo medicinalis. The stimulus locations and intensities required to produce mechanically elicited behaviors were first determined in the non-feeding leech. Stimuli were delivered while the leech was in various body positions to determine whether stimulus location affected behavioral response. Response thresholds were determined for the mechanically elicited behaviors. The same stimuli were then applied to feeding leeches to determine if response thresholds had changed. A solution with NaCl and arginine was used to elicit feeding. The same sets of stimuli were applied at intervals for an hour after feeding, to determine the duration of feeding-induced changes in behavior. Depending on the body position and stimulus location, stimuli produced different combinations of behaviors that included shortening, swimming and crawling. Anterior stimuli generally elicited shortening, whereas posterior stimuli generally elicited crawling and swimming, with swimming more likely to ventral stimulation than to dorsal stimulation. Having the front sucker attached changed these behavioral patterns. During feeding, the response thresholds changed dramatically, from 3-5 V to greater than 9 V. This increase in threshold began with the start of feeding, even before ingestion commenced. Suppression of the behaviors lasted up to 1 h after the end of feeding, with the effect on swimming being the most pronounced and longest lasting.

Temporal correlation between neuronal tail ganglion activity and locomotion in the leech, Hirudo medicinalis

Intracellular and extracellular recordings were performed in the posterior ventral nerve cord of restrained crawling preparations of the medicinal leech, Hirudo medicinalis. Short-latency neuronal activities in the tail ganglion nerves correlated with different phases of crawling behavior. Eight neurons with characteristic activation patterns during crawling were identified morphologically and physiologically in the tail ganglia of 23 preparations. The axons of four of these neurons projected through posterior tail brain nerves; four ascending interneurons had projections in the connectives or in Faivre's nerve. These interneurons are suitable candidates for carrying information between the front end and the tail end of the animal to coordinate the behavioral components during a crawling step.

CCD imaging of the electrical activity in the leech nervous system

A single ganglion of the nervous system of the leech Hirudo medicinalis was isolated. One or both roots emerging from each side of the ganglion were sucked into suction pipettes used either for extracellular stimulation or for recording the gross electrical activity. The ganglion was stained with the fluorescence voltage sensitive dye Di-4-Anepps. The fluorescence was measured with a nitrogen cooled CCD camera. Our recording system allowed us to measure in real time slow optical signals corresponding to changes in light intensity of at least 5/1000. These signals were caused by the direct polarization of neuronal structures, the afterhyperpolarization or the afterdischarge induced by a prolonged stimulation. When images were acquired at fixed times, several of them could be averaged and optical signals of at least 2/1000 could be reliably measured. These optical signals originated from well identified neurons, such as T, P and N sensory neurons. By taking images at different times and at different focal planes, electrical events could be followed at a temporal resolution of 50 Hz. The three dimensional dynamics of electrical events, initiated by a specific stimulation, was imaged and the spread of excitation among leech neurons was followed. When two roots were selectively stimulated, their neuronal interactions could be imaged and the linear and non-linear terms of the interaction could be characterized.